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Design, implementation, and verification of a low-cost terminal guidance system for small fixed-wing UAVs

机译：用于小型固定翼无人机的低成本终端引导系统的设计，实施和验证

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摘要

A terminal guidance control system for small fixed-wing unmanned aerial vehicles (SUAV, with a wingspan of around 1.5 m) is proposed in this paper based on a visible light strap-down seeker. The system is implemented using low-cost, open-source components with a cost less than $2000 and proved to be feasible, transplantable and effective for different types of SUAVs, achieving a good terminal guidance accuracy (circular error probable = 1.5 m) against a nonmaneuvering target on the ground. Impacts of low-cost and low-precision electrical modules mainly include influence on terminal guidance information, measurement of SUAV state values and the presented system's time-delay. We examine the practical median flow algorithm for target tracking, the attitude pursuit guidance law for terminal guidance control and the pursuit image frame method for large delay interception to eliminate adverse effects. Furthermore, the performance and robustness are evaluated by laboratory tests as well as field flight trials on two different SUAV platforms. This paper provides a robust, effective and proven reference for the development of the aggressive SUAV for SUAV swarms.
机译：本文基于可见光带羽绒搜索器，提出了一种用于小型固定翼无人空中航空车辆（Suav）的终端引导控制系统（Suav，苏瓦，大约1.5米）。该系统采用低成本，开源组件实现，成本不到2000美元，并证明是可行的，可移植和有效的不同类型的素寿，实现良好的终端引导精度（圆形误差可能= 1.5米）在地面上的非管理目标。低成本和低精度电模块的影响主要包括对终端引导信息的影响，苏别夫州值的测量和所呈现的系统的延时。我们研究了目标跟踪的实用中值流量算法，态度追求终端引导控制指导法以及追踪图像框架方法，用于大规模延迟拦截消除不良反应。此外，性能和稳健性通过实验室测试评估以及两个不同的苏瓦平台上的田间飞行试验。本文为苏瓦群的侵略性绥诺斯开发提供了强大，有效，有效的探索。

著录项

  • 来源
    《Journal of Field Robotics》 |2021年第5期|801-827|共27页
  • 作者

    Yachao Yang; Chang Liu; Jie Li; Yu Yang; Juan Li; Zhidong Zhang; Bobo Ye;

  • 作者单位

    Intelligent Unmanned System Group School of Mechatronical Engineering Beijing Institute of Technology Beijing China;

    Intelligent Unmanned System Group School of Mechatronical Engineering Beijing Institute of Technology Beijing China;

    Intelligent Unmanned System Group School of Mechatronical Engineering Beijing Institute of Technology Beijing China;

    Intelligent Unmanned System Group School of Mechatronical Engineering Beijing Institute of Technology Beijing China;

    Intelligent Unmanned System Group School of Mechatronical Engineering Beijing Institute of Technology Beijing China;

    Intelligent Unmanned System Group School of Mechatronical Engineering Beijing Institute of Technology Beijing China;

    Intelligent Unmanned System Group School of Mechatronical Engineering Beijing Institute of Technology Beijing China;

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  • 原文格式 PDF
  • 正文语种 eng
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  • 关键词

    small fixed-wing unmanned aerial vehicle; terminal guidance; visible optical strap-down seeker;

    机译：小型固定翼无人机车辆;终端指导;可见光板羽绒搜索者;

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