复杂运动学模型模拟近似解法研究

WenJing Qu, Zhongsheng Wang
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摘要

为了满足军事、道路建设、多媒体产业等方面的需求,无人机逐渐被赋予了更多的功能。作为无人机应用的基本功能,定点投放问题模型对精度的要求越来越高。然而,在实际场景中,无人机投放问题受到飞行高度、空气阻力、俯冲角度等多种因素的交互影响,难以实现高稳定性和高命中精度。本文将分析基于无人机定点投放炸药的复杂运动模型,研究无人机投放稳定性与命中精度之间的关系,并通过建模分析相关参数对问题的影响。本文提出了一个多变量非线性连续时变模型,并引入连续时间片离散化思想运算模型,对无人机发射运动内部的时间片分割进行近似运算。其次,设计量化评价指标反应炸药初速、发射角度、离地高度等参数,对模型进行分析。最后,利用变量遍历的思想,通过试错仿真,得到并验证了最佳调度策略。实验结果表明,无人机飞行高度、速度、俯仰角等干扰因素的变化与预测得分和命中精度是一致的,根据该模型的环境设置,当无人机离地300米,距离目标水平位置290米,投放速度为250m/s,俯仰角约为27°时,定点投放炸药是最佳策略。
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Research on Simulation Approximate Solution Strategy for Complex Kinematic Models
In order to meet the needs of military, road construction, multimedia industry and other aspects, UAVs are gradually given more functions. As the basic function of UAV applications, the fixed-point delivery problem model has higher and higher accuracy requirements. However, in the actual scene, the UAV delivery problem is affected by the interaction of various factors such as flight height, air resistance, and dive angle, which makes it difficult to achieve high stability and high hit accuracy. This paper will analyze the complex motion model based on the fixed-point delivery of explosives by UAV, study the relationship between the stability of UAV delivery and the hit accuracy, and analyze the influence of relevant parameters on the problem by using modeling. In this paper, a multivariate nonlinear continuous time change model is proposed, and a continuous time slice discretization idea operation model is introduced to approximate the time slice splitting inside the UAV launch motion. Secondly, the design quantified evaluation index reaction the initial velocity of the explosive, the launch Angle, the height off the ground and other parameters to analyze the model. Finally, the best scheduling strategy is obtained and verified by using the idea of variable traversal and trial- and-error simulation. The experimental results show that the variation of UAV flying height, speed, depression and other interference factors is consistent with the prediction of score and hit accuracy, according to the environment setting of this model, when the UAV is 300 meters above the ground and 290 meters away from the target horizontal position, the delivery speed is 250m/s, and the pitch angle is about 27°, the fixed-point delivery of explosives is the best strategy.
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