Online trajectory planning for UCAV performing ground attacks based on threat modeling

基于威胁建模的UCAV武器投放在线航迹规划

¹ Naval Aviation University, Yantai 264001, China
² Naval Research Academy, Beijing 100422, China

Received: 20 July 2020

Abstract

The paper studies how to plan the trajectories of an unmanned combat aerial vehicle (UCAV) that releases its airborne weapons and presents an online trajectory planning method based on threat modeling. Firstly, it analyzes the aerodynamic characteristics, engine thrust and fuel characteristics of the UCAV and builds its dynamic and kinematic models. Secondly, the trajectory planning model of the UCAV is formulated with flight performance constraints and battlefield threat constraints considered. To improve the accuracy of ground attacks, the envelope of a guided bomb's acceptable region of weapon release is studied, and the release center and posture of the guided bomb work as terminal planning conditions. Thirdly, an online trajectory planning method is proposed. With the help of threat modeling, the complicated trajectory planning problem is transformed into a simplified situation classification. Finally, the simulation results demonstrate that the online planning method proposed in the paper can provide feasible trajectories for a UCAV to succeed in releasing its airborne weapons.

摘要

针对无人作战飞机（UCAV）执行对地攻击任务时的武器投放航迹规划问题，提出了一种基于环境威胁建模的在线航迹规划方法。通过对UCAV气动力、发动机推力及油耗等特性进行分析，建立了UCAV质点运动学和动力学模型；考虑UCAV性能和战场环境威胁约束，通过计算求解机载制导炸弹的可投放区包络，将可投放区中心和投放姿态作为末端约束条件，构造了UCAV武器投放航迹规划模型；提出了一种基于威胁建模的在线航迹规划方法，将航迹规划问题转换为飞行过程中的威胁态势划分问题进行求解。仿真结果表明，所提方法可有效实现静态与动态场景下UCAV武器投放在线航迹规划。