Research On Guidance Law Of UAV To Track Ground Target

Tracking ground targets is one of the important problems in the application phase of UAV,which has important theoretical significance and engineering application value.On the basis of the research of the existing UAV tracking guidance laws,this paper respectively presents two different tracking guidance laws,which make the UAV track ground target in the standoff and over-flight way,and proposes a Dual-UAV collision avoidance guidance law,in order to achieve the purpose of Dual-UAV cooperative tracking ground target.Firstly,the design methods of UAV tracking guidance law are summarized in this paper.Based on the Dubins model of UAV,the tracking problem in 3D space is transformed into a two dimensional particle tracking problem,which provides a theoretical basis for the design of tracking guidance law.Secondly,this paper presents a new standoff tracking guidance law based on range and range-rate for fixed target.When the ground target is in motion,the new guidance law is modified,which is extended to track ground moving target.And then,this paper presents a new over-flight tracking guidance law based on line of sight angle.On the basis of Lyapunov stability theory,the strict stability mathematical proof of two kinds of tracking guidance laws is respectively presented.Thirdly,In order to realize tracking ground target with Dual-UAV cooperative way,this paper presents a new collision avoidance guidance law based on range rate between two UAVs.On the basis of Lyapunov stability theory,the strict stability mathematical proof of new collision avoidance guidance law is presented.In the end,On the basis of existing laboratory system,the control law of UAV is designed,and UAV simulation and verification environment is built,the feasibility and rationality of the proposed guidance laws in the UAV 6DOF model are verified.