航空学报2025，Vol.46Issue(13)：147-166,20.DOI:10.7527/S1000-6893.2024.31116
固定翼无人机自主着舰分段动作引导策略
Segmented action guidance strategy for autonomous shipborne landing of fixed-wing UAV
摘要
Abstract
In order to land a fixed-wing Unmanned Aerial Vehicle(UAV)on a moving platform,serval problems should be addressed.For example,the landing platform moves rapidly,and the UAV has to maintain high speed to generate sufficient lift while it cannot brake in mid-air at will.A segmented guidance strategy is proposed based on ac-tion planning.The autonomous shipborne landing process is divided into two stages:transition guidance and ap-proach guidance.In the transition guidance stage,a finite state machine is utilized to guide the fixed-wing UAV from any initial state to a specific distance behind the moving deck.In the approach guidance stage,the action sampling is used to adjust the trajectory in real-time to guide the UAV to touch the deck accurately.Numerical simulation and FlightGear based semi-physical simulation demonstrate that the proposed strategy can effectively guide the fixed-wing UAV from any initial state to the carrier deck with different moving speeds and turbulence,and the landing error is within 2 m.关键词
固定翼无人机/舰载自动着陆/引导策略/运动规划/过渡引导/进近引导/半实物仿真Key words
fixed-wing UAV/autonomous shipborne landing/guidance strategy/motion planning/transition guid-ance/approach guidance/semi-physical simulation分类
航空航天引用本文复制引用
梁建建,汪首坤,何绍溟..固定翼无人机自主着舰分段动作引导策略[J].航空学报,2025,46(13):147-166,20.基金项目
国家自然科学基金(62473044) National Natural Science Foundation of China(62473044) （62473044）
