无人机在无GPS环境下通过仅距离测量绕行未知目标
UAV Circumnavigating an Unknown Target Under a GPS-denied Environment with Range-only Measurements
AI总结：
本文研究无人机在无GPS环境下利用仅距离测量实现绕行未知目标的控制方法，通过两步控制算法设计，首先假设具备距离和距离变化率测量，其次用滑模估计器估计距离变化率替代实际测量，以实现绕行任务。
摘要：
无人机的一种典型应用是情报、监视和侦察任务，其目标是通过信息采集提高态势感知。例如，一种高效获取目标信息的方法是将无人机以期望距离绕行目标。这种无人机运动称为绕行。本文的目标是设计一种无人机控制算法，使在无GPS环境下利用仅距离测量实现绕行任务。该控制算法分为两步。第一步是假设具备距离和距离变化率测量，其中关联的控制输入始终有界。第二步是进一步消除对距离变化率测量的依赖，通过滑模估计器使用距离测量获得估计的距离变化率来替代实际的距离变化率测量。这种控制器设计技术适用于在无GPS环境下其他无人机导航和控制任务的控制设计。
英文摘要：
One typical application of unmanned aerial vehicles is the intelligence, surveillance, and reconnaissance mission, where the objective is to improve situation awareness through information acquisition. For examples, an efficient way to gather information regarding a target is to deploy UAV in such a way that it orbits around this target at a desired distance. Such a UAV motion is called circumnavigation. The objective of the paper is to design a UAV control algorithm such that this circumnavigation mission is achieved under a GPS-denied environment using range-only measurement. The control algorithm is constructed in two steps. The first step is to design a UAV control algorithm by assuming the availability of both range and range rate measurements, where the associated control input is always bounded. The second step is to further eliminate the use of range rate measurement by using an estimated range rate, obtained via a sliding-mode estimator using range measurement, to replace actual range rate measurement. Such a controller design technique is applicable in the control design of other UAV navigation and control missions under a GPS-denied environment.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
