张艺严, 马巍, 李彬. 能量受限无人机与移动舰船通信中的轨迹优化[J]. 中国舰船研究, 2022, 17(4): 47–56. doi: 10.19693/j.issn.1673-3185.02764
引用本文: 张艺严, 马巍, 李彬. 能量受限无人机与移动舰船通信中的轨迹优化[J]. 中国舰船研究, 2022, 17(4): 47–56. doi: 10.19693/j.issn.1673-3185.02764
ZHANG Y Y, MA W, LI B. Trajectory optimization for communication between energy-constrained UAV and moving ship[J]. Chinese Journal of Ship Research, 2022, 17(4): 47–56. doi: 10.19693/j.issn.1673-3185.02764
Citation: ZHANG Y Y, MA W, LI B. Trajectory optimization for communication between energy-constrained UAV and moving ship[J]. Chinese Journal of Ship Research, 2022, 17(4): 47–56. doi: 10.19693/j.issn.1673-3185.02764

能量受限无人机与移动舰船通信中的轨迹优化

Trajectory optimization for communication between energy-constrained UAV and moving ship

  • 摘要:
      目的  无人机(UAV)可以为舰船提供目标区域详细图像并进行目标识别。在无人机与移动舰船通信过程中,为实现无人机数据的快速采集和卸载,以最小化通信任务时间为目标,在多约束条件下提出一种基于hp自适应伪谱法的无人机三维轨迹优化方法。
      方法  首先对三维空间下的固定翼无人机进行动力学建模,将其通信的轨迹优化问题描述为受状态约束的最优控制问题。然后基于舰船运动模型,结合移动目标存在定位误差建立信道模型,并考虑无人机能量受限,在原问题基础上增添通信约束和能量约束,提出一种基于hp自适应Radau伪谱法的轨迹优化方法,将原问题转化为有限维非线性规划问题进而求解。分别在5种约束场景下采用所提方法进行仿真分析,并与p伪谱法结果进行对比。
      结果  仿真结果表明,在给定定位误差时,无人机与舰船仍能在各类约束下以较短时间完成通信。
      结论  研究成果为海上通信系统提供了有效的解决方案,对无人机与舰船通信中的轨迹优化问题具有参考价值。

     

    Abstract:
      Objectives   Unmanned aerial vehicles (UAVs) can perform target identification and provide ships with detailed images of the target area. In order to realize the rapid data acquisition and unloading of UAVs as a means of high-altitude communication at sea, this paper proposes a 3D trajectory optimization method for UAVs based on the hp-adaptive pseudospectral method under multiple constraints with the goal of minimizing the communication task time.
      Methods  The method first models the dynamics of a fixed-wing UAV in 3D space and describes the trajectory optimization problem of its communication as a state-constrained optimal control problem. Based on the ship motion model, a channel model is established in combination with the positioning error of the moving target; considering the energy limitations of the UAV, the communication constraints and energy constraints are added on the basis of the original problem, and a trajectory optimization method based on the hp-adaptive Radau pseudospectral method is proposed, which transforms the original problem into a finite-dimensional nonlinear programming problem and solves it. The simulation analysis is carried out under five constraint scenarios, then compared with the results of the p-pseudospectral method.
      Results  Given positioning error, the UAV and ship can still communicate rapidly under various constraints.
      Conclusions  The results of this study provide an effective solution for maritime communication systems and provide references for the trajectory optimization problem in communication between UAVs and ships.

     

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