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首页> 外文会议>Congress of the International Council of the Aeronautical Sciences; 20060903-08; Hamburg(DE) >OPTIMUM FLIGHT TRAJECTORIES AND SENSITIVITY ANALYSIS FOR TERRAIN COLLISION AVOIDANCE SYSTEMS
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OPTIMUM FLIGHT TRAJECTORIES AND SENSITIVITY ANALYSIS FOR TERRAIN COLLISION AVOIDANCE SYSTEMS

机译：地面避撞系统的最佳飞行轨迹和灵敏度分析

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摘要

Military aircraft are often flown in close proximity to terrain, which can result in controlled collision into terrain. In this paper, various methodologies are presented for computing optimal trajectories within a digital terrain 3D map to avoid collision. Two main issues are addressed in this paper. Firstly, various optimal flight trajectories are computed subject to different objectives, eg terrain following, minimum time, etc. while avoiding collision. These simulations show that it is possible to generate flyable trajectories within terrain to avoid collision. In practice, flight instruments are not fully accurate and the question is how sensitive is the optimum flight trajectory to input errors. This is essential to understand as terrain clearances can be small. To assess this, the optimal flight trajectories are flown again with a small change in the initial conditions. Optimal terrain following is considered as a minimax optimal control problem, which is solved using direct Within a very general framework for solving such problems, we are able to transform the non-smooth cost function into a constrained nonlinear programming problem. In the formulation, we are also able to solve optimal terrain avoidance manoeuvres. To ensure smooth derivatives of the terrain, we approximate it using B-Splines. The implementation and numerical case studies for different constraints, and initial aircraft position/velocity and the errors in trying to follow the optimal trajectory are discussed.
机译：军用飞机经常在紧靠地形的地方飞行，这可能导致受控的碰撞进入地形。在本文中，提出了各种方法来计算数字地形3D地图中的最佳轨迹以避免碰撞。本文解决了两个主要问题。首先，在避免碰撞的情况下，根据不同的目标（例如地形跟随，最短时间等），计算出各种最佳飞行轨迹。这些仿真表明，可以在地形内生成可飞行的轨迹以避免碰撞。在实践中，飞行仪表并不完全准确，问题是最佳飞行轨迹对输入错误的敏感程度。了解这一点非常重要，因为地形间隙可能很小。为了对此进行评估，最优飞行轨迹会在初始条件发生微小变化的情况下再次飞行。最优地形跟随被认为是极小极大最优控制问题，可以使用直接解决。在解决此类问题的非常通用的框架内，我们能够将非平滑成本函数转换为约束非线性规划问题。在制定过程中，我们还能够解决最佳的避免地形操作。为了确保地形的平滑导数，我们使用B样条曲线对其进行近似。讨论了不同约束条件，初始飞机位置/速度以及尝试遵循最佳轨迹的误差的实现和数值案例研究。

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