Research On Multi-information Fusion And Adaptive Control Technology Of Carrier-based Unmanned Helicopter

The carrier-based unmanned helicopter is one of the focuses of the current naval equipment research and development and it is capable of playing a significant role in naval operations.With respect to the estimation of carrier-based unmanned helicopter's close-range safe landing position and the demand of carrier landing control technology,this article presents the research on close-range and multi-guidance information fusion technology based on Bayesian estimation and unscented Kalman particle filter,unmanned helicopter's attitude control law based on model reference adaptive sliding mode,robust differentiator based on super-twisiting sliding mode and trajectory tracking control law based on twisting method,and establishes an unmanned helicopter landing simulation verification platform.Firstly,the mathematical model of unmanned helicopters and its carrier landing environment is established,and the natural characteristics of unmanned helicopters such as stability and coupling are analyzed.In addition,an automatic close-range carrier landing process based on sensor fusion is designed.Secondly,with respect to the demands of high accuracy and high reliability for close range guidance of unmanned helicopters,this article presents the close-range guidance based on information fusion of vision and lidar sensors.The multisensor fusion algorithm based on Bayesian estimation and unscented Kalman particle filter estimation algorithm are designed.The experimental results show that this designed multisensor information fusion algorithm can be used to greatly improve guidance accuracy.Then,specific to the problems of strong coupling and external disturbance as well as model uncertainty in the landing process of unmanned helicopters,the attitude control law based on model reference adaptive sliding mode is designed.The adaptive term is used to compensate the model uncertainties and external disturbances,and the decoupling between the channels is realized.With respect to the facts that the output of the fusion guidance system has relative position feedback and is lack of relative speed feedback,a robust differentiator based on super-twisting sliding mode algorithm and a trajectory tracking control law based on twisting method are designed.The simulation results show that this designed control law has nice traceability and decoupling to meet the requirements of fully automatic carrier landing.Finally,an ideal carrier landing trajectory of unmanned helicopters is designed and an unmanned helicopter landing simulation verification system is established.The autonomous landing process of unmanned helicopters is simulated and verified under the conditions of guidance system output error,model perturbation during landing and atmospheric turbulence disturbance respectively.