察打一体无人机末端突防路径规划方法研究
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摘要
针对无人机战场环境的航迹规划问题,研究了在有地形遮蔽的雷达探测空间中,规划出一条最优无人机路径的方法。首先建立以飞行路径最短和被探测概率最小为目标的最优化模型;然后将原始的数字高程数据进行插值预处理,生成可以供无人机飞行的三维地形图,并采用基于混合采样的方法对雷达进行三维建模,将无人机的威胁信息通过雷达的探测区域表现出来,实现了对最优化模型的具体化;最后,使用基于模拟退火的双向RRT算法,求解出无人机的最优攻击轨迹。仿真实验结果表明,论文研究的路径规划方法,可以在有地形遮蔽的雷达探测空间中快速地找出一条路径最短和被探测概率小的航迹。
Aiming at the problem of motion planning at the end of the attacking unit,the method of planning an optimal path in the radar detection space with terrain obscuration is studied. Firstly,the optimal model with the shortest path and the minimum probability of detection is established. Then the original digital elevation data is interpolated and preprocessed to generate a three-dimensional topographic map that can be used for drone flight,and the method based on hybrid sampling is adopted. The radar is three-dimensionally modeled,and the threat information is expressed through the detection area of the radar,and the optimization model is realized. Finally,the bidirectional RRT algorithm based on simulated annealing is used to solve the optimality of the drone.The simulation results of the attack trajectory show that the motion planning method of the paper can quickly find a track with the shortest path and low probability of detection in the radar detection space with terrain cover.
Aiming at the problem of motion planning at the end of the attacking unit,the method of planning an optimal path in the radar detection space with terrain obscuration is studied. Firstly,the optimal model with the shortest path and the minimum probability of detection is established. Then the original digital elevation data is interpolated and preprocessed to generate a three-dimensional topographic map that can be used for drone flight,and the method based on hybrid sampling is adopted. The radar is three-dimensionally modeled,and the threat information is expressed through the detection area of the radar,and the optimization model is realized. Finally,the bidirectional RRT algorithm based on simulated annealing is used to solve the optimality of the drone.The simulation results of the attack trajectory show that the motion planning method of the paper can quickly find a track with the shortest path and low probability of detection in the radar detection space with terrain cover.
引文
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[2]李猛,王道波,盛守照.采用多重启发蚁群优化算法的无人机航迹规划[J].华南理工大学学报(自然科学版),2011,39(10):37-43.
[3]杨超,陈鹏,魏迎梅.雷达最大探测范围三维可视化研究与实现[J].计算机工程与应用,2007,43(11):245-248.
[4]叶文,马登武,范洪达.基于改进蚁群算法的飞机低空突防航路规划[J]. Chinese Journal of Aeronautics,2005,18(4):35-38.
[5]Deb K. Optimization for Engineering Design:Algorithms and Examples[J]. Cose.math.bas.bg,1996.
[6]彭建亮,戴通伟,孙秀霞,等.基于Voronoi图和遗传算法的航迹规划[J].电光与控制,2009,16(3):9-12.
[7]Stentz A. Optimal and Efficient Path Planning for Partially Known Environments[C]//IEEE International Conference on Robotics and Automation,1994. Proceedings. IEEE,2002:3310-3317 vol.4.
[8]Kuffner J J,Lavalle S M. RRT-connect:An efficient approach to single-query path planning[C]//IEEE International Conference on Robotics and Automation,2000. Proceedings. ICRA. IEEE,2002:995-1001.
[9]翁兴伟,董康生,陈诚,等.无人机地形预处理低空突防轨迹规划技术[J].现代防御技术,2015,43(4).
[10]张厚道.基于数字地图的无人战斗机低空突防轨迹规划方法研究[D].西安:西北工业大学,2004.
[11]Qiu H,Chen L T,Qiu G P,et al. 3D Visualization of radar coverage considering electromagnetic interference[J]. Wseas Transactions on Signal Processing,2014,10(1):460-470.
[12]白玉兵.复杂环境下雷达探测范围可视化研究[D].长沙:湖南大学,2013.
[13]齐锋,刘雅奇,娄宁.一种简化的雷达三维探测数据生成方法研究[J].计算机仿真,2010,27(3):12-15.
[14]Bassem R. Mahafza,Atef Z. Elsherbeni.雷达系统设计MATLAB仿真[M].北京:电子工业出版社,2009.
[15]Parl S. A new method of calculating the generalized Q function(Corresp.)[J]. IEEE Transactions on Information Theory,1980,26(1):121-124.
[16]Scheiner B. A MATLAB Radar Range Equation and Probability of Detection Evaluation Tool[J]. A Matlab Radar Range Equation&Probability of Detection Evaluation Tool,1999.