Aerial Rendezvous of Small Unmanned Aircraft Using a Passive Towed Cable System

被引：35

作者：

Nichols, Joseph W. ^{[1
]}

Sun, Liang ^{[1
]}

Beard, Randal W. ^{[1
]}

McLain, Timothy ^{[1
]}

机构：

[1] Brigham Young Univ, Provo, UT 84602 USA

来源：

JOURNAL OF GUIDANCE CONTROL AND DYNAMICS | 2014年 / 37卷 / 04期

基金：

美国国家科学基金会;

关键词：

MICRO AIR VEHICLES; VISUAL TRACKING; RECOVERY; DYNAMICS; TARGET; FLIGHT; WIND;

D O I：

10.2514/1.62220

中图分类号：

V [航空、航天];

学科分类号：

08 ; 0825 ;

摘要：

A method for aerial rendezvous of small unmanned aircraft systems is proposed. The system includes placing a passively towed drogue into an orbit that is suitable for a small unmanned aircraft systems to follow, and a seeker guidance method for use with a monocular camera mounted on the centerline of the unmanned aircraft systems. The principle contributions of the work include a method for controlling the drogue path in moderate winds by manipulating the mothership orbit and airspeed, and a vision-based nonlinear pursuit tracking method that uses pitch rate and roll commands to guide the unmanned aircraft systems to an aerial rendezvous with the drogue. Simulation and flight-test results are presented to demonstrate the suitability of these methods.

引用

页码：1131 / 1142

页数：12

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