基于某型无人机飞行运动模型,研究设计了基于自主切换的无人机航向跟踪控制律。建立了无人机运动的数学模型,设计了飞行控制系统结构,以及纵向、横侧向控制律和自主导航功能模块,实现了无人机的基本飞行控制和自主导航功能。通过仿真验证,该无人机具有比较理想的飞行航线跟踪和飞行航线切换能力,自主导航功能模块达到了预期的设计要求。

A UAV heading track control law based on autonomous switching has been developed on the basis of flight model of the UAV. Firstly, the UAV mathematic model has been analyzed and set up. Secondly, the structure of flight control system has been designed. Finally, design the vertical and horizontal lateral control law and self-navigation module, realize basic flight control for UAV and self-navigation function. The simulation results verify UAV can receive almost perfect the track of trajectory and switch capability of flight trajectory, autonomous navigation function model achieve anticipated design requirement.