Research On Automatic Carrier Landing Technology Guided By Laser Arrays For Fixed Wing UAV

In recent years,as the world’s military powers attach more importance to aircraft carrier technology,the development of carrier-based unmanned aircraft is also in full swing.As the main technology,automatic carrier landing guidance and control technology has been widely researched by scholars at home and abroad.This paper presents a carrier landing guidance method based on laser arrays for a high-speed fixed wing UAV,and the layout of the laser arrays is optimized.A landing control law aiming at improving system robustness is designed with LQG/LTR.The full landing process is simulated in a hardware-in-the-loop simulation system.Firstly,the nonlinear mathematical model of UAV dynamics and kinematics is established and linearized at the landing equilibrium point under low dynamic pressure.The deck motion and airwake disturbance are also modeled and simulated.All of these lay the foundation for simulation and verification of UAV landing guidance and control.Secondly,to reach the requirements of high precision and high reliability of carrier landing,a guidance system based on laser arrays is designed.Genetic algorithm is used to optimize the layout of the laser arrays according to the solution equation and error function,and the minimum guidance error layout is derived.Thirdly,to satisfy the robustness requirements of UAV landing control,the LQG / LTR vertical and horizontal attitude control law,trajectory control law and deck motion compensator are designed and simulated.Compared with the simulation results of PID controller,the control performance of the LQG / LTR controller is superior in automatic carrier landing.Finally,the flight control system based on STM32 and the simulation computer based on Simulink Desktop Real-time are combined with the three-axis motion turntable,which is used to build the Hardware-in-the-loop simulation environment of the automatic carrier landing guidance and control system.The simulation of landing process considering the guidance error of the laser array and the complex environment of the aircraft landing is carried out.The comparative simulations show that the laser arrays and the control law designed in this paper still have high control accuracy and landing success rate in harsh sea conditions.