提高空域安全性：针对空中目标的四旋翼制导
Toward Increased Airspace Safety: Quadrotor Guidance for Targeting Aerial Objects
摘要：
随着商用无人机（UAV）市场的蓬勃发展，在受保护或敏感空域中发现的小型遥控或自主飞机越来越多。移除这些飞机的现有解决方案要么是军用级的，对国内使用来说太具破坏性，要么是由在国内高调案例中被证明无效的令人不安的遥控反无人机车辆组成。在这项工作中，我们研究了使用四旋翼自主瞄准半静止和移动的空中物体，很少或没有先验知识的目标的飞行特性。制导和控制命令仅由机载单目摄像机提供的信息生成。我们从文献中的导弹制导的灵感，并证明了最佳的制导方法实施的四旋翼，但不能使用的导弹。结果首次通过命中成功和追求持续时间与各种方法。最后，我们介绍了CMU Team Tartan在MBZIRC 2020挑战1比赛中的参赛作品，展示了简单的视线引导方法在结构化比赛环境中的有效性。
英文摘要：
As the market for commercially available unmanned aerial vehicles (UAVs) booms, there is an increasing number of small, teleoperated or autonomous aircraft found in protected or sensitive airspace. Existing solutions for removal of these aircraft are either military-grade and too disruptive for domestic use, or compose of cumbersomely teleoperated counter-UAV vehicles that have proven ineffective in high-profile domestic cases. In this work, we examine the use of a quadrotor for autonomously targeting semi-stationary and moving aerial objects with little or no prior knowledge of the target's flight characteristics. Guidance and control commands are generated with information just from an onboard monocular camera. We draw inspiration from literature in missile guidance, and demonstrate an optimal guidance method implemented on a quadrotor but not usable by missiles. Results are presented for first-pass hit success and pursuit duration with various methods. Finally, we cover the CMU Team Tartan entry in the MBZIRC 2020 Challenge 1 competition, demonstrating the effectiveness of simple line-of-sight guidance methods in a structured competition setting.
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。
