Research On UAV Path Planning Method Based On Trajectory Prediction

The formation of Unmanned Aerial Vehicles(UAVs)and human-machine cooperation is an effective way to solve current air ground combat missions.In this paper,the coordinated tracking and striking mission of manned helicopters and UAVs to ground moving targets requires that the UAVs be stably tracked on one side of the ground moving targets,and emit laser light on the targets.When the real-time distance and angle of the UAV and the ground moving target meet the requirements of the strike,the airborne laser weapon of helicopter will guide and strike the target according to the reflected laser.According to the task requirements,the Straight-line band algorithm is first proposed to estimate and predict the motion state of the ground moving target.Then,based on the control law of the fixed-wing UAVs,a route planning algorithm based on the second-order heading control law is proposed.Finally,the target tracking algorithm is proposed: the periodic route points are generated for the UAV according to the results of the Straight-line band method,and the route planning algorithm is used to plan the route that meets the tracking requirements and flightability.The main work of this paper is as follows:(1)The research background,research significance and research status of the algorithm related to the trajectory estimation and prediction of the ground motion target of the UAV and the related research of the route planning algorithm are briefly introduced,and the main work content and organizational structure of this paper are clarified.(2)Estimate and predict the target motion trajectory by using the Straight-line band method: Firstly,the latitude and longitude coordinates of the ground moving target provided by the UAV are converted into the coordinates of the UAV relative to the Cartesian coordinate system,then the track point data is preprocessed,and the track point is filtered by the Kalman filter method.The effective data is fitted to the straight line by the least squares method and expanded into a Straight-line band,and the Straight-line band is updated as the target moves.The final result is the direction and speed of the current motion of the output target,and the effectiveness of the Straight-line band method is verified by simulation experiments.(3)Aiming at the flightability problem of the flight path of the UAV,a route planning algorithm based on the second-order heading control law is proposed.Firstly,the related constraints,assumptions and second-order heading control law of the algorithm are described.Then the flightability of the route generated by the heading control law is proved and verified by experiments.Finally,the turning algorithm based on the second-order heading control law is studied on the premise of satisfying the navigability of the route and relevant restrictions to plan the flightable route for the UAV.(4)Finally,the target tracking algorithm of UAV for real-time stable tracking of ground moving targets under different motion states is given,and the effectiveness of the target tracking algorithm is verified by simulation experiments.