Abstract
Pursuer navigation is proposed based on the three-dimensional proportional navigation law, and this method presents a family of navigation laws resulting in a rich behavior for different parameters. Firstly, the kinematics model for the pursuer and the target is established. Secondly, the proportional navigation law is deduced through the kinematics model. Based on point-to-point navigation, obstacle avoidance is implemented by adjusting the control parameters, and the combination can enrich the application range of obstacle avoidance and guidance laws. Thirdly, information fusion weighted by diagonal matrices is used for decreasing the tracking precision. Finally, simulations are conducted in the MATLAB environment. Simulation results verify the availability of the proposed navigation law.
Highlights
TVarious navigation and obstacle avoidance methods are the important issues. e proportional navigation is a method well known and widely applied in the aerospace community
In [8], a modified cooperative proportional navigation is presented to avoid singularity, and the time-to-go control efficiency under the small leading angle is improved in this paper. e capturability of 3D PPN against the lower speed freely-maneuvering target for the homing phase is restudied in [9], extending the NOR method of the 2D PPN to 3D space
In [11], a novel augmented proportional navigation (APN) is proposed for midrange autonomous rendezvous, and the midrange autonomous rendezvous can be absolutely implemented. e application of proportional navigation to the pursuer requires improvements. e presentation of this paper is different from the classical presentation. e proportional navigation is proposed by using the flight path and heading angles of the pursuer. is presentation is more proper for the pursuer than the classical presentation, where proportional navigation is proposed in accordance with the lateral and vertical acceleration. en, the presentation of proportional navigation can be adapted to the collision avoidance mode since the Complexity proportional navigation is written as a function of the flight path and heading angles of the pursuer
Summary
TVarious navigation and obstacle avoidance methods are the important issues. e proportional navigation is a method well known and widely applied in the aerospace community. (1) e control law for the orientation angle can continue to be expanded (2) e proportional navigation was proposed by assuming no sensor noise (3) Information fusion is not combined with the proportional navigation to improve the tracking process. The proportional navigation is given in terms of the flight path and heading angles for the pursuer. The proportional navigation combined with information fusion weighted by diagonal matrices are used to implement more reasonable tracking performance. Control objective of this paper is to implement pursuer navigation and obstacle avoidance using a easy and valid model-based control law. E challenge of this paper is how to design the control law for proportional navigation and implement obstacle avoidance. E control law of proportional navigation is given in terms of the flight path and heading angles for the pursuer. LOS for target-pursuer is TP. σTP is the pitch angle of TP, and cTP is the yaw angle of TP. rTP is the relative distance pursuer-target
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