无人机自主飞行控制与管理决策技术研究

南京航空航天大学硕士学位论文无人机自主飞行控制与管理决策技术研究姓名：鲍帆申请学位级别：硕士专业：模式识别与智能系统指导教师：姜长生20080201iLPA*D*LitePetriStateflowGUIWindowsMultiGenCreatorVegaVC++/iiABSTRACTUAVplaysanirreplaceableroleinthecurrentwar.Thisthesisworksonkeyissuesoftheautonomousflightcontrolandmanagementdecision-makingtechnologiesofUAV.Firstly,theUAVautonomousflightmanagementsystemstructure,whichisbasedontheopenhierarchicalstructure,isstudied.Alsostructureandfunctionofkeymodulesarestudies.Secondly,wedesignthekeysoftheabovestructure.First,routeplanningmoduleandtheroutetrackingmodulearedesigned.Therouteplanningissplitintotwosteps:a2Ditineraryplanninganda3Dtrajectoryplanningbetweeneachcoupleof2Dpointsaccordingtofactualneeds.Analgorithmof3DLPA*basedondynamicweightingispresentedtodothe3D-routeplanning.TheD*Litealgorithmisusedtodothereal-timere-planningtoavoidnewthreats.Afterwardatrackangletrackingflightcontrollerisdesignedforthecompletelynon-linearcharacteristicsoftheveryslowmode.ThenakeytechnologyofUAVautonomouscontrol,theautonomoustake-offandlandingcontroltechnologyisstudied.Thelongitudinalcontrollawsofthree-wheelgroundsliding,two-wheelgroundslidingandclimbingprocessesaredesigned.Thesettinghighsystem,glidebeamguidingsystem,theautolevelingcontrolsystemandlateralbeamguidingsystemaredesignedandsimulatedseparately.ThenthemissionmanagementsystemisestablishedforthemissionplanningandschedulingoftheUAVflightmanagementsystem.Acompleteflighttaskisdecomposedintoanumberofsub-tasks,usingthePetrinetsthrougheventstriggeredtodothemanagementandscheduling.StateflowrealizescomplexlogicjudgmentoftheUAVtoensurethecorrectimplementation.MeanwhileGUIachievesafriendlyman-machineinterface.Finally,basedonWindowsplatform,thethreedimensionvisualsimulationoftheentireprocessofUAVflightisdevelopedbyusingMultiGenCreatorandVegasoftwares,whichshowtheprocessesoftake-off,flightandlandingvividly.KeyWords:Autonomousflightmanagementsystem,Hierarchical,Routeplanning,Routetracking,TakeoffandLanding,Missionmanagementsystems,3DVisualSimulation.vii1.1...................................................................................................41.2...................................................................................51.3/FMS.....................................................................................52.1...............................................................................92.2.................................................................................102.3.....................................132.4.........................................................................................................142.5.....................................................................................152.6.........................................................................................162.7.................................................................................................173.1.................................................................................................213.2.....................................................................................................223.3.....................................................................................................233.4.........................................................................................................273.5.........................................................................................................283.6D*Lite..........................................................303.7.........................................................................................................303.8.....................................................................................................313.9.....................................................................................................313.10...........................................................................323.11...............................................................................................................373.12...................................................................................383.13.......................................................................................383.14...........................................................................................383.15...................................................................................414.1.................................................................................................444.2.................................................................................................444.3.........................................................................................464.4LCDCα.........................................................................................474.5.............................................................................48viii4.6RBFPID..................................................................................494.7........................................................