无人机定向天线自跟踪系统研究

发布时间：2018-06-06 13:30

本文选题：定向天线 + 自跟踪　；参考：《北京航空航天大学学报》2016年04期

【摘要】：为了满足无人机(UAV)远距离通信的需要,设计研制了以无人机位置信息为引导的地面定向天线自跟踪系统。基于实时获取定向天线载车位置、速度、方位和俯仰角等信息,实现了定向天线在运动中对目标进行自动跟踪的能力,提高了系统的机动性和隐蔽性。针对目前利用2点位置来计算目标角的方法存在需要通过相对位置才能确定实际目标角的不足,提出了一种不需要考虑2点相对位置就能直接计算出目标角的计算方法,为工程应用带来了方便。针对定向天线地面载车在机动时GPS信号容易受干扰,从而造成跟踪目标丢失,以及因无人机位置信息更新频率较低而造成的跟踪系统运动抖动、跟踪误差较大等问题,提出了一种基于速度对位置进行预测平滑的控制策略,有效解决了以上问题,并显著提高了跟踪精度。设计研制了定向天线自跟踪系统的软硬件,并进行了测试,结果表明:研制的定向天线具有机动跟踪能力和较高的跟踪精度,能满足无人机对定向天线自跟踪的需要。
[Abstract]:In order to meet the needs of unmanned aerial vehicle (UAV) long distance communication, a self tracking system of ground directional antenna is designed, which is guided by the position information of unmanned aerial vehicle (UAV). Based on the real-time acquisition of information such as position, speed, azimuth and pitch angle of the directional antenna, the ability of the directional antenna to automatically track the target in the movement is realized, and the system is improved. In order to calculate the target angle by using the relative position to determine the actual target angle, a method to calculate the target angle directly without considering the relative position of 2 points is proposed, which is convenient for the ground load of the directional antenna. When the vehicle is maneuvering, the GPS signal is easily disturbed, resulting in the loss of the tracking target and the motion jitter of the tracking system caused by the low updating frequency of the UAV position information, and the tracking error is large. A control strategy based on the speed to predict the position is proposed, which effectively solves the above problems and improves significantly. The software and hardware of the directional antenna self tracking system are designed and developed and tested. The results show that the developed directional antenna has the ability of maneuvering tracking and high tracking precision, and can meet the needs of the unmanned aerial vehicle to track the directional antenna.
【作者单位】：北京航空航天大学机器人研究所;中国兵器工业计算机应用技术研究所;
【基金】：国家自然科学基金(50975008) 国家杰出青年科学基金(51125020)~~
【分类号】：V279

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