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首页> 外文期刊>The Aeronautical Journal >Three-dimensional guidance and control for ground moving target tracking by a quadrotor
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Three-dimensional guidance and control for ground moving target tracking by a quadrotor

机译：四脚踏运动目标跟踪的三维指导和控制

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摘要

This paper develops a three-dimensional guidance and control algorithm to ensure that a manoeuverable target is preserved by a quadrotor in a long-term tracking scenario. The proposed guidance approach determines the desired altitude of the quadrotor to adjust the field of view (FOV) to the union of two desired trusted and critical regions. The dimensions of the desired trusted region depend on the controller performance that is evaluated by the distance of the target from the center of the FOV. The critical region is a predefined margin around the trusted region that is defined by the operator based on the upper bounds of the quadrotor and target localisation errors. It also depends on the duration and magnitude of the temporal increase in the target velocity compared to the quadrotor velocity. A sufficient condition is provided for the minimum desired altitude of the quadrotor to ensure that the target is maintained in the FOV. Furthermore, a model predictive control (MPC) is employed to preserve the target at the center of the aerial image and the desired altitude determined by the guidance law. Also, the integrals of the position errors are used to achieve null steady-state errors in the presence of wind disturbances. The simulation results show the effectiveness of the proposed approach in preserving the manoeuverable target in the FOV in the presence of the wind, the uncertainty of the target and quadrotor localisation, accelerations estimation errors, and terrain altitude variation.
机译：本文开发了三维引导和控制算法，以确保在长期跟踪场景中由四足电池保存了一种可处理的目标。所提出的指导方法确定了四元电流器的所需海拔高度，以将视野（FOV）调整为两个所需可信和关键区域的联盟。所需可信区域的尺寸取决于由目标从FOV中心的距离评估的控制器性能。临界区域是围绕的受信任区域周围的预定级裕度，该预定裕度基于轮廓仪的上限和目标本地化错误来定义。与四峰球速度相比，它还取决于目标速度的时间增加的持续时间和大小。提供足够的条件，用于足够的最小期望的高度，以确保目标保持在FOV中。此外，采用模型预测控制（MPC）来保护在航拍图像的中心处的目标，并且由引导法确定的期望高度。而且，在存在风扰动的情况下，使用位置误差的积分来实现空稳态误差。仿真结果表明，在风的存在下，在风中保护了对FOV中的可加油目标的效果，目标和四轮压发电路风定位的不确定性，加速估计误差和地形高度变化。

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