种基于正实B样条的飞行器轨迹优化方法

• Format: Patent
• Language: Chinese
• Published: 23.10.2018
• Subjects: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TOTRANSPORTATION; CONTROL OR REGULATING SYSTEMS IN GENERAL; CONTROLLING; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS; PHYSICS; REGULATING; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS; TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINSTCLIMATE CHANGE

本发明涉及种基于正实B样条的飞行器轨迹优化方法；首先，针对飞行器飞行轨迹规划问题，搭建飞行器飞行的运动学模型和动力学模型，并将其转化为微分平坦系统模型；其次，针对飞行器飞行速度约束问题，将其由非凸约束转化为分段凸约束问题，利用正实B样条性质，将其转化为B样条函数控制点的优化问题；再次，针对飞行器地理环境约束问题，将其转化为B样条函数控制点的优化问题；最后，将系统轨迹规划问题转化为LMI优化问题，得到符合约束的控制点的最优解，并利用B样条函数得到飞行器的最优轨迹。此方法可用于飞行器飞行路径规划过程。 The invention relates to an aircraft trajectory optimization method based on positive real B-spline. The method comprises the steps that firstly, for a flight trajectory planning problem of the aircraft, a kinematic model and a dynamic model of the flying aircraft, and the models are transformed into a differential flatness system model; secondly, for a flight speed constraint problem of the aircraft, the problem is transformed into a segmented convex constraint problem from a non-convex constraint problem, and then the problem is transformed into a B-spline function control point optimization problem with the properties of positive real B-spline; then for a geographical environment constraint problem of the aircraft, the problem is transformed into a B-spline f