摘要
针对滑翔中段多飞行器协同编队轨迹规划问题,提出一种基于“协同集结-编队保持”策略的两段式协同编队轨迹规划方法。在协同集结段,设计了基于协调-执行双层架构的轨迹规划方法。其中,协调层包括时空能力边界预示、集结点信息解算与分配、集结点信息适应性修正三个模块,以在考虑飞行器调控能力情况下快速确定集结点信息;执行层则设计了一种考虑时空全状态约束的轨迹规划方法,以实现多飞行器高精度集结,进而为编队保持提供有利初始态势。在编队保持段,以虚拟高度和航向角为协调信息,设计了基于固定时间一致性的轨迹规划方法,从而实现长航程编队保持。仿真结果表明,所提轨迹规划方法具有良好的高精度协同集结能力、长航程编队保持能力与多任务适应能力。
For the problem of trajectory planning for multi-vehicle collaborative formation in the gliding mid-flight phase,a two-phase cooperative formation trajectory planning method based on the"coordinated assembly and formation maintenance"strategy was proposed.In the coordinated assembly segment,a trajectory planning method based on a coordination-execution dual-layer framework was designed.The coordination layer included three modules:spatiotemporal capability boundary forecasting,rendezvous point information calculation and distribution,and adaptive correction of rendezvous point information,to quickly determine the rendezvous point information while considering the vehicles′control capabilities.The execution layer then designed a trajectory planning method considering space-time full state constraints to achieve high-precision assembly of multiple vehicles,providing a favorable initial situation for formation maintaining.In the formation maintenance segment,using virtual altitude and heading angle as coordination information,a trajectory planning method based on fixed-time consistency was designed to realize long-range formation maintenance.Simulation results show that the proposed trajectory planning method demonstrates excellent high-precision assembly capability,long-range formation maintaining ability,and adaptability to multiple tasks.
作者
南汶江
闫循良
霍清华
NAN Wenjiang;YAN Xunliang;HUO Qinghua(School of Astronautics,Northwestern Polytechnical University,Xi′an 710072,China)
出处
《国防科技大学学报》
北大核心
2026年第1期125-138,共14页
Journal of National University of Defense Technology
基金
国家自然科学基金资助项目(11602296)
陕西省自然科学基础研究计划资助项目(2019JM-434)
智控实验室开放基金资助项目(2023-ZKSYS-KF04-02)。
关键词
再入协同编队
协同集结
编队保持
时空全状态约束
reentry coordinated formation
coordinated assembly
formation maintenance
space-time full state constraints
