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分析了风场对无人机航迹角的影响,定义空速、风速、目标运动速度的合向量为参考速度,将风场情形运动目标跟踪问题转化为以参考速度跟踪静止目标的情形。在静止目标跟踪航向控制律基础上,设计了一种风场情形基于参考速度的无人机地面目标跟踪航向控制律,使参考速度与摄像机视线垂直且无人机与目标水平距离为指定值。不同风速条件下的目标跟踪仿真验证了控制律的有效性。
The influence of wind field on the trajectory angle of UAV is analyzed. The joint vector of airspeed, wind velocity and target velocity is defined as the reference velocity, and the tracking problem of moving target in wind field is transformed to the case of tracking stationary target at reference velocity. On the basis of the static target tracking heading control law, a wind field-based UAV ground target tracking heading control law based on the reference velocity is designed so that the reference velocity is perpendicular to the camera sight and the UAV-target horizontal distance is a specified value. The target tracking simulation under different wind speeds verifies the effectiveness of the control law.