张哲 , 吴剑 , 代冀阳 , 等 . 基于改进A * 算法的多无人机协同战术规划 [J ] . 兵工学报 , 2020 , 41 ( 12 ): 2530 - 2539 . DOI: 10.3969/j.issn.1000-1093.2020.12.019 http://doi.org/10.3969/j.issn.1000-1093.2020.12.019 多无人机协同作战是未来无人机作战方式的重要发展趋势。为增强多无人机系统的任务执行能力，提高系统整体作战效能并实现高效资源分配和调度，提出一种基于改进A^*算法的多无人机协同战术规划方法。按照离线规划和重规划两方面，设计战役层和战术层的作战目标迭代优化方案；建立编队协同作战的数学模型，以编队成员间的时间协同和碰撞协同代价为变量，得到多约束条件下的综合编队目标函数；结合多层变步长搜索策略和单步扩展的搜索方式，基于改进A^*算法，用于求解复杂战场环境下的多无人机编队协同作战航路。分别利用改进A^*算法和传统A^*算法进行对比仿真实验。仿真结果表明，多无人机协同战术规划方法能够较好地完成作战任务，改进A^*算法能够获得更优的航路，从而验证了所提算法的有效性。

ZHANG Z , WU J , DAI J Y , et al. Cooperative tactical planning for multi-uavs based on improved A * algorithm [J ] . Acta Armamentarii , 2020 , 41 ( 12 ): 2530 - 2539 . (in Chinese)

刘全攀 , 王正杰 , 王寰 . 基于双目视觉-惯性导航的轻型无人机导航算法 [J ] . 兵工学报 , 2020 , 41 ( 增刊2 ): 241 - 248 .

LIU Q P , WANG Z J , WANG H . Navigation algorithm of light UAV based on stereo visual inertial navigation odometer [J ] . Acta Armamentarii , 2020 , 41 ( S2 ): 241 - 248 . (in Chinese)

LI L , SOSKIN N L , JBARA A , et al . Model-based systems engineering for aircraft design with dynamic landing constraints using object-process methodology [J ] . IEEE Access , 2019 , 7 ( 1 ): 61494 - 61511 . DOI: 10.1109/Access.6287639 http://doi.org/10.1109/Access.6287639 https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=6287639 https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=6287639

SUN X J , LUO M Q , CUI Z Y , et al . An authoritative source of truth system for UCAV conceptual design [J ] . IEEE Access , 2021 , 9 ( 1 ): 145317 - 145333 . DOI: 10.1109/ACCESS.2021.3123348 http://doi.org/10.1109/ACCESS.2021.3123348 https://ieeexplore.ieee.org/document/9590556/ https://ieeexplore.ieee.org/document/9590556/

TODIC I , KUZMANOVIC V . Hardware in the loop simulation for homing missiles [J ] . Materials Today: Proceedings , 2019 , 12 ( 1 ): 514 - 520 . DOI: 10.1016/j.matpr.2019.03.157 http://doi.org/10.1016/j.matpr.2019.03.157 https://linkinghub.elsevier.com/retrieve/pii/S2214785319305164 https://linkinghub.elsevier.com/retrieve/pii/S2214785319305164

林传健 , 章卫国 , 史静平 , 等 . 无人机跟踪系统仿真平台的设计与实现 [J ] . 哈尔滨工业大学学报 , 2020 , 52 ( 10 ): 119 - 127 .

LIN C J , ZHANG W G , SHI J P , et al . Design and implementation of simulation platform for UAV tracking system [J ] . Journal of Harbin Institute of Technology , 2020 , 52 ( 10 ): 119 - 127 . (in Chinese)

孙旺 , 刘西 , 南英 . 基于MFC的Vega Prime航空飞行器动态视景仿真 [J ] . 指挥控制与仿真 , 2019 , 41 ( 5 ): 87 - 94 . DOI: 10.3969/j.issn.1673-3819.2019.05.018 http://doi.org/10.3969/j.issn.1673-3819.2019.05.018 简要介绍了Vega Prime的基本特性和场景生成过程,强调了飞行器动态视景仿真的重要意义。根据两个航空飞行器动态影视仿真Vega Prime开发实例,详细介绍了Vega Prime结合MFC应用程序的开发流程,包括航空飞行器在三维数字高程地图模型中的飞行轨迹展示,使用Creator解决了大范围地图在飞行仿真中的加载问题;海上空投救援包的过程展示,实现了在MFC中对于各个数据的实时刷新,视角的动态切换和目标帧的捕获。可为相关Vega Prime视景仿真的开发提供一定的参考。

SUN W , LIU X , NAN Y . Dynamic visual simulation of aviation aircraft using vega prime based on MFC [J ] . Command Control and Simulation , 2019 , 41 ( 5 ): 87 - 94 . (in Chinese)

KANELLAKIS C , NIKOLAKOPOULOS G . Survey on computer vision for UAVs: current developments and trends [J ] . Journal of Intelligent & Robotic Systems , 2017 , 87 ( 1 ): 141 - 168 .

钟林钢 , 降晶晶 , 叶超宇 . 基于Unity3D的无人机集群仿真平台设计 [J ] . 计算机科学与应用 , 2021 , 11 ( 9 ): 2242 - 2251 .

ZHONG L G , JIANG J J , YE C Y . Design of drone swarm simulation platform based on Unity3D [J ] . Computer Science and Application , 2021 , 11 ( 9 ): 2242 - 2251 . (in Chinese) DOI: 10.12677/CSA.2021.119229 http://doi.org/10.12677/CSA.2021.119229 https://www.HansPub.org/journal/doi.aspx?DOI=10.12677/CSA.2021.119229 https://www.HansPub.org/journal/doi.aspx?DOI=10.12677/CSA.2021.119229

李军伟 , 袁冬莉 . 基于VxWorks的无人机半物理仿真研究 [J ] . 测控技术 , 2008 , 27 ( 9 ): 92 - 94 .

LI J W , YUAN D L . Research on UAV semi-physical simulation based on VxWorks [J ] . Measurement & Control Technology , 2008 , 27 ( 9 ): 92 - 94 . (in Chinese)

TAO F , QI Q L , WANG L H , et al . Digital twins and cyber-physical systems toward smart manufacturing and industry 4.0: correlation and comparison [J ] . Engineering , 2019 , 5 ( 4 ): 653 - 661 . DOI: 10.1016/j.eng.2019.01.014 http://doi.org/10.1016/j.eng.2019.01.014 https://linkinghub.elsevier.com/retrieve/pii/S209580991830612X https://linkinghub.elsevier.com/retrieve/pii/S209580991830612X

FIGURA R , SHIH C Y , CERIOTTI M , et al . KASSANDRA: a framework for distributed simulation of heterogeneous cooperating objects [J ] . Journal of Systems Architecture , 2017 , 73 ( 1 ): 28 - 41 . DOI: 10.1016/j.sysarc.2016.11.012 http://doi.org/10.1016/j.sysarc.2016.11.012 https://linkinghub.elsevier.com/retrieve/pii/S138376211630234X https://linkinghub.elsevier.com/retrieve/pii/S138376211630234X

黄瑞松 , 李海凤 , 刘金华 , 等 . 飞行器半实物仿真技术现状与发展趋势分析 [J ] . 系统仿真学报 , 2019 , 31 ( 9 ): 1763 - 1774 . DOI: 10.16182/j.issn1004731x.joss.19-0373 http://doi.org/10.16182/j.issn1004731x.joss.19-0373 半实物仿真技术已经成为飞行器等复杂工程系统必不可少的重要仿真方法和手段,随着新兴技术的涌现,飞行器新概念新需求的不断提出,飞行器半实物仿真能力不断取得突破。分析了国外、国内近年来飞行器半实物仿真技术发展现状,提出了未来半实物仿真技术发展趋势。

HUANG R S , LI H F , LIU J H , et al . Status and development analysis of hardware-in-loop simulation technologies for the aircraft [J ] . Journal of System Simulation , 2019 , 31 ( 9 ): 1763 - 1774 . (in Chinese) DOI: 10.16182/j.issn1004731x.joss.19-0373 http://doi.org/10.16182/j.issn1004731x.joss.19-0373 Hardware-in-the-loop (HWIL) simulation technologies for complex engineering systems such as Aircraft has become an indispensable and important simulation method. With the emergence of new technologies, and the development of new concepts and requirements of Aircraft, HWIL simulation capability of Aircraft is constantly making breakthroughs. The current <em>status of HWIL simulation technologies for Aircraft is analyzed,</em> as well as <em>the proposals to the development of HWIL simulation technology.</em>

PETERSON R A , HOBSON J C . High-frequency motion simulator [C ] //Proceedings of Technologies for Synthetic Environments : Hardware-in-the-Loop Testing VI. Orlando, FL, US:SPIE, 2001 , 4366 : 225 - 238 .

EUN Y , PARK S Y , KIM G N . Development of a hardware-in-the-loop testbed to demonstrate multiple spacecraft operations in proximity [J ] . Acta Astronautica , 2018 , 147 ( 1 ): 48 - 58 . DOI: 10.1016/j.actaastro.2018.03.030 http://doi.org/10.1016/j.actaastro.2018.03.030 https://linkinghub.elsevier.com/retrieve/pii/S009457651731620X https://linkinghub.elsevier.com/retrieve/pii/S009457651731620X

李鹏 , 张杰 , 徐宏伟 , 等 . 低成本无人机载空地导弹姿态测量误差研究 [J ] . 西北工业大学学报 , 2022 , 40 ( 2 ): 377 - 383 .

LI P , ZHANG J , XU H W , et al . Error research of attitude measurements on low-cost UAV-borne missile [J ] . Journal of Northwestern Polytechnical University , 2022 , 40 ( 2 ): 377 - 383 . (in Chinese) DOI: 10.1051/jnwpu/20224020377 http://doi.org/10.1051/jnwpu/20224020377 https://www.jnwpu.org/10.1051/jnwpu/20224020377 https://www.jnwpu.org/10.1051/jnwpu/20224020377 The framed gyroscope can significantly reduce the cost of missile. However, the gyroscope error problem restricts the acquisition probability and guidance precision of air-to-ground missile. A gyroscope error compensation method based on Taylor series formula is proposed in this paper. Gyro output error sources are analysed in detail, and the gyro output error model of unmanned aerial vehicle load space missile is established, and the mathematical relationship between missile attitude angle and the gyroscope output is deduced. Through the gyroscope on three-axis turntable hardware-in-the-loop simulation test, the correctness and effectiveness of the gyro error model established is verified. The test results show that the proposed error compensation method can control yaw attitude angle error and oblique attitude angle error of UAV-borne missile within 1° respectively in 20 s, and easy to project implementation.

杨宝庆 , 马杰 , 姚郁 . 飞行器半实物仿真装备研究进展与展望 [J ] . 宇航学报 , 2020 , 41 ( 6 ): 657 - 665 .

YANG B Q , MA J , YAO Y . Research progress and prospects of flight vehicle simulators for HWIL simulation [J ] . Journal of Astronautics , 2020 , 41 ( 6 ): 657 - 665 . (in Chinese)

王慧东 , 周来宏 . 四旋翼无人机反步积分自适应控制器设计 [J ] . 兵工学报 , 2021 , 42 ( 6 ): 1283 - 1289 . DOI: 10.3969/j.issn.1000-1093.2021.06.019 http://doi.org/10.3969/j.issn.1000-1093.2021.06.019 针对四旋翼无人机在实际应用过程中出现质量变化的情况，基于自适应控制理论设计质量观测器，用于实时观测无人机的质量并修正其质量参数。在经典反步控制器 (CBC)基础上，结合质量观测器和第一类控制误差积分，提出反步积分自适应控制器 (BIAC), 用于无人机的轨迹跟踪控制。该控制器的设计过程基于Lyapunov稳定性理论，能够保证系统的控制误差渐进稳定。应用MATLAB/Simulink软件环境完成轨迹跟踪仿真实验。仿真结果表明：在无人机存在质量慢变或质量突变情况下，BIAC可以更好地估计无人机实时质量；与CBC相比，地球坐标系Exeyeze下ze轴 轨迹误差减小80%左右，跟踪精度大为提高。

WANG H D , ZHOU L H . Design of a backstepping integral adaptive controller for quadrotor UAV [J ] . Acta Armamentarii , 2021 , 42 ( 6 ): 1283 - 1289 . (in Chinese) DOI: 10.3969/j.issn.1000-1093.2021.06.019 http://doi.org/10.3969/j.issn.1000-1093.2021.06.019 For the quadrotor unmanned aerial vehicle (UAV) with mass varying in practical application, a mass observer based on adaptive control theory is designed to estimate the real-time mass and correct the mass parameter of UAV. A backstepping integral adaptive controller (BIAC) for trajectory tracking of UAV is developed with the mass observer and the first kind of control error integral on the basis of classical backstepping controller (CBC). The control errors of system are asymptotically stabilized because the design process of controller is based on Lyapunov theory. The trajectory tracking simulation experiment was made in MATLAB/Simulink simulation environment. The simulated results indicate that the real-time mass of UAV can be estimated by using BIAC very well in the case of slow mass change or mass mutation of UAV, and the track error of z_e-axis in earth coordinate system Exeyeze with BIAC is decreased by about 80% compared with CBC.

黄志坚 . 电气伺服控制技术及应用 [M ] . 北京 : 中国电力出版社 , 2016 .

HUANG Z J . Electrical servo control technology and application [M ] . Beijing : China Electric Power Press , 2016 . (in Chinese)

曾庆双 , 王茂 , 刘升才 . 三轴转台框架间动力学耦合及解耦研究 [J ] . 中国惯性技术学报 , 1997 ( 3 ): 44 - 49 .

ZENG Q S , WANG M , LIU S C . The study dynamics-coupling and decoupling between frames of three axis turn-table [J ] . Journal of Chinese Inertial Technology , 1997 ( 3 ): 44 - 49 . (in Chinese)