公开(公告)号：KR101260378B1

公开(公告)日：2013-05-07

申请号：KR1020110131107

申请日：2011-12-08

Applicant: 서울대학교산학협력단

Inventor： 김유단 ,  윤승호

IPC: B64C13/20 ,  G08G5/00

Abstract: PURPOSE: A method for guiding an unmanned aerial vehicle using a spherical pendulum motion is provided to generate a guidance command to stably turning the unmanned aerial vehicle within a velocity range even through the moving space of a moving target is increased. CONSTITUTION: A method for guiding an unmanned aerial vehicle using a spherical pendulum motion is as follows. A position vector and a velocity vector of the unmanned aerial vehicle are calculated in an inertial frame. The position vector and the velocity vector of a moving target are calculated in the inertial frame. A point right above the moving target in the inertial coordinate system is defined as an arbitrary center point of a spherical pendulum. The position of the unmanned aerial vehicle based on the arbitrary center point of the spherical pendulum is calculated as a pendulum variable(1). A guidance command of the unmanned aerial vehicle is calculated by the pendulum variable in the inertial frame(2). The calculated guidance command is converted to a guidance command of the unmanned aerial vehicle in an aircraft body frame(3). [Reference numerals] (1)) Calculate a pendulum variable; (2)) Calculate an inertial frame guidance command; (3)) Calculate an aircraft body frame guidance command; (AA) State variable of an aerial vehicle; (BB) Phase angle of a neighboring aerial vehicle; (CC) State variable of a moving target

Abstract translation: 目的：提供一种使用球形摆动作引导无人驾驶飞行器的方法，即使通过移动目标的移动空间增加，也能够在无人机速度范围内稳定地转动无人机。 构成：使用球形摆动作引导无人驾驶飞行器的方法如下。 在惯性框架中计算无人机的位置矢量和速度矢量。 在惯性框架中计算移动目标的位置矢量和速度矢量。 惯性坐标系中运动目标正上方的点被定义为球形摆的任意中心点。 基于球摆的任意中心点的无人机的位置被计算为摆锤变量（1）。 无人机的引导命令由惯性框架（2）中的摆锤变量计算。 计算出的引导命令被转换成飞机机身框架（3）中的无人机的引导命令。 [参考数字]（1））计算摆锤变量; （2））计算惯性框架引导命令; （3））计算飞机机身指导指令; （AA）航空器的状态变量; （BB）相邻航空器的相位角; （CC）移动目标的状态变量