CN101893892A - A control method for automatic parachute recovery of unmanned aerial vehicles - Google Patents

Abstract

The invention discloses a control method for automatic parachute recovery of unmanned aerial vehicles. The invention makes full use of airspeed, ground speed, pitch angle, heading angle and other information to estimate the horizontal wind speed and direction in the air, and on this basis, according to the recovery field The central solution calculates a parachute opening point, and controls the flight height through the aileron control lateral moment and the elevator, guides and controls the aircraft to reach this point to open the parachute, and completes the parachute recovery control. Utilizing the automatic parachute recovery control method provided by the present invention can Improve the recovery accuracy of the aircraft after the parachute is opened in the case of wind, and more adapt to the recovery requirements of complex environments, thereby improving the safety of aircraft recovery.

Description

A control method for automatic parachute recovery of unmanned aerial vehicles

technical field

The invention belongs to the field of unmanned aerial vehicle flight control, and specifically refers to an automatic parachute recovery control method of an unmanned aerial vehicle with a parachute recovery mode.

Background technique

With the increasing development of UAV application technology, the UAV recycling technology has also been further developed. In order to improve the safety of the aircraft, the single recycling method has gradually changed to the composite recycling method. The recovery methods of UAVs generally include wheel slide recovery, parachute recovery, and net collision recovery. , but compared with the wheeled sliding recovery method, it has lower requirements on the runway, flight control, and airborne equipment, so it is widely used in small and medium-sized UAVs.

Usually, the general unmanned aerial vehicle parachute recovery process is shown in Figure 1. After the drone completes the task, it descends to the predetermined recovery field and decelerates at the same time. After reaching the parachute opening point, the engine is stopped, and the parachute is automatically opened according to the command of the measurement and control ground station. If there is a deceleration parachute, first Open the deceleration parachute, open the large parachute after falling to the specified speed, and open the parachute directly if there is no deceleration parachute; after that, the plane falls freely until it lands, and cuts the parachute as needed, and the parachute recovery is completed. Since the aircraft is no longer controlled after the parachute is opened, the aircraft falls with the wind, and its landing point is greatly affected by the geographical environment, wind, etc., which greatly reduces the accuracy of parachute recovery and brings inconvenience to users. Trouble, especially when the area around the recovery site is not open enough, the aircraft falling into the trees or falling on the roof ahead of time will cause certain damage to the aircraft body or equipment, resulting in economic losses.

As shown in Figure 1, the parachute opening point of the general parachute recovery UAV is selected at a certain safe height H, which coincides with the center of the recovery field. Under ideal conditions, the recovery accuracy of this method when there is no wind interference is Higher, however, the actual situation will be windy, especially when the wind speed is relatively high, if the parachute is opened over the center of the recovery site, the deviation between the landing point of the aircraft and the center of the recovery site will be relatively large.

Contents of the invention

The purpose of the present invention is to solve the technical problem of large parachute error and low safety when there is wind, and proposes a method for automatic parachute recovery control of UAV, which can make UAV parachute It still has good recovery accuracy and adaptability to parachute in the case of unmanned aerial vehicles, which improves the accuracy of parachute recovery of UAVs and improves the safety of UAV recovery.

The invention utilizes the flight height and flight speed information of the UAV, and according to the recovery command, automatically calculates the position of the parachute opening point according to the wind speed and wind direction of the recovery field, guides the UAV to this point for parachute opening, and realizes automatic parachute guidance Recycle. Realizing the automatic parachute recovery control of UAVs specifically includes the following six steps:

Step 1: Send a "recovery" command to the UAV through the measurement and control ground station, and estimate the horizontal wind speed V _w and wind direction ψ _w of the recovery site;

Step 2: Obtain the distance D between the opening point A and the center S of the recycling field;

Step 3: Determine the longitude and latitude of the opening point A;

然后利用无人机的飞行高度h、升降速度

横滚角γ、横滚角速率ω_x、俯仰角θ、俯仰角速率ω_z信息，及相应的控制系数X_γ、k_g1、k_g2、K_θ、K_h、K_hI、K_hd、K_ωz，得到副翼控制指令和升降舵控制指令，根据副翼控制指令和升降舵控制指令通过升降舵控制和副翼控制使得无人机飞向开伞点A，到达开伞点后，执行开伞，完成伞降回收。Step 4: Output the longitude L ₀ and latitude B ₀ of the parachute opening point A to the navigation device of the UAV as the arrival point coordinates, and the navigation device calculates the lateral deviation moment Dz and the lateral deviation speed

Then use the drone's flight height h, lift speed

Roll angle γ, roll rate ω _x , pitch angle θ, pitch rate ω _z information, and corresponding control coefficients X _γ , k _g1 , k _g2 , K _θ , K _h , K _hI , K _hd , K _ωz , get the aileron control command and the elevator control command, according to the aileron control command and the elevator control command, through the elevator control and the aileron control, the UAV flies to the parachute opening point A. After reaching the parachute opening point, execute the parachute opening and complete Parachute recovery.

The advantages of the present invention are:

(1) Make full use of the airspeed, ground speed, pitch angle, and heading angle of the aircraft to estimate the wind speed and wind direction of the recovery field, and then obtain a suitable parachute opening point, which improves the accuracy of parachute recovery in windy conditions and is effective Improve aircraft recovery safety;

(2) The calculation method of the parachute opening point of the present invention is to use the geocentric coordinates for calculation under the earth coordinate system, which can improve the calculation accuracy of the parachute opening point, thereby improving the accuracy of navigation control.

Description of drawings

Fig. 1 is a schematic diagram of the existing unmanned aerial vehicle parachute recovery process;

Fig. 2 is a schematic diagram of unmanned aerial vehicle parachute recovery in the present invention;

Fig. 3 is a method flowchart of the present invention;

Detailed ways

The automatic parachute recovery control method of the unmanned aerial vehicle of the present invention will be further described below in conjunction with the accompanying drawings and examples.

H为开伞点A高度、V_w为风速，V_y为无人机开伞后的下降速度。这时，可找到唯一一个由夹角ψ₀和距离D确定一个开伞点A。Figure 2 is a schematic diagram of the automatic parachute recovery of the UAV in the present invention. As shown in Figure 2, if the parachute opening point A coincides with the center S of the recovery field, then in the case of wind interference, the aircraft will float with the wind after opening the parachute. Can not fall to the recovery field center; The parachute opening point found by the method of the present invention is such: the connection line between the parachute opening point and the recovery field center S is parallel to the wind direction, and the included angle ψ ₀ =ψ _w +180 degrees with the north direction, and The distance from the center of the recycling yard is D,

H is the height of the parachute opening point A, V _w is the wind speed, and V _y is the descending speed of the UAV after the parachute is opened. At this time, it is possible to find the only opening point A determined by the included angle ψ ₀ and the distance D.

Fig. 3 is a flow chart of the automatic parachute recovery control method. The present invention first estimates the horizontal wind speed and wind direction of the recovery site; then calculates the distance D between the parachute opening point A and the center S of the recovery site; then according to D and ψ _w , the solution is obtained The longitude L ₀ and latitude B ₀ of umbrella point A, and finally output the longitude L ₀ and latitude B ₀ to the navigation device, so as to obtain the side deviation moment and side deviation speed, control the side deviation moment through the aileron, and control the height of the elevator, so that Realize guiding the UAV to the parachute opening point A to open the parachute, and complete the automatic parachute recovery process.

A kind of unmanned aerial vehicle automatic parachute recovery control method of the present invention, as shown in flow chart 3, comprises the following several steps:

Step 1: Send a "recovery" command to the UAV through the measurement and control ground station, and estimate the horizontal wind speed V _w and wind direction ψ _w of the recovery site;

1) According to the UAV's airspeed V _k , pitch angle θ, heading angle ψ , eastward ground speed V _e , and northward ground speed V _n , obtain the eastward component V _we and northward component V _wn of the wind speed in the air at this time, As shown in formulas (1) and (2):

_Vwn ＝ _Vdn - _Vk ·cosθ·cosψ (1)

V _we ＝V _de -V _k ·cosθ·sinψ (2)

2) Obtain the wind speed V w and wind direction ψ _w according to the eastward component V _we and northward component _{V wn} of the wind speed, as shown in equations (3) and (4):

${\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; w</span>}}<span\; class="notranslate">\; =</span>\sqrt{{{\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; wn</span>}}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{{\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; we</span>}}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 3</span>}<span\; class="notranslate">\; )</span>$

${\mathrm{<span\; class="notranslate">\; \&psi;</span>}}_{\mathrm{<span\; class="notranslate">\; w</span>}}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; arctg</span>}<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; we</span>}}}{{\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; wn</span>}}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 4</span>}<span\; class="notranslate">\; )</span>$

Step 2: Obtain the distance D between the opening point A and the center S of the recycling field;

The distance D between the parachute opening point A and the center S of the recovery field is obtained through the descending speed V _y of the UAV after parachute opening and the height H of the parachute opening point A, as shown in formula (5):

$\mathrm{<span\; class="notranslate">\; D.</span>}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; h</span>}<span\; class="notranslate">\; \&CenterDot;</span>{\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; w</span>}}}{{\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 5</span>}<span\; class="notranslate">\; )</span>$

Step 3: Determine the longitude and latitude of the opening point A;

According to the longitude L ₁ , latitude B ₁ , wind direction ψ _w , and the distance D between the parachute opening point A and the recycling field center S, the longitude L ₀ and latitude B ₀ of the parachute opening point A are obtained, as shown in formula (6) , (7) shown:

Latitude B ₀ of opening point A is:

In the formula,

B _C1 is the geocentric latitude of the recycling center S,

B ₁ is the latitude of the recycling center S;

_{The length of} R is the semi-major axis of the earth, and _{the length of} R is 6378137.0m;

R _short is the minor semi-axis of the earth, R _long = 6356752.3m;

E _D is the ellipticity of the earth, E _D =0.003352811 (1/298.25722);

The longitude L ₀ of the opening point A is:

In the formula,

L ₁ is the longitude of the center S of the recovery site;

$\mathrm{<span\; class="notranslate">\; \&Delta;L</span>}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; D.</span>}\mathrm{<span\; class="notranslate">\; sin</span>}{\mathrm{<span\; class="notranslate">\; \&psi;</span>}}_{\mathrm{<span\; class="notranslate">\; w</span>}}}{{\mathrm{<span\; class="notranslate">\; R</span>}}_{\mathrm{<span\; class="notranslate">\; p</span>}}\mathrm{<span\; class="notranslate">\; cos</span>}{\mathrm{<span\; class="notranslate">\; B</span>}}_{\mathrm{<span\; class="notranslate">\; C</span>}\mathrm{<span\; class="notranslate">\; 1</span>}}}<span\; class="notranslate">\; ;</span>$

然后利用无人机的飞行高度h、升降速度

横滚角γ、横滚角速率ω_x、俯仰角θ、俯仰角速率ω_z信息，及相应的控制系数K_γ、k_g1、k_g2、K_θ、K_h、K_hI、K_hd、K_ωz，得到副翼控制指令和升降舵控制指令，如式(8)、(9)所示：Step 4: Output the longitude L ₀ and latitude B ₀ of the parachute opening point A to the navigation device of the UAV as the arrival point coordinates, and the navigation device calculates the lateral deviation moment Dz and the lateral deviation speed

Then use the drone's flight height h, lift speed

Roll angle γ, roll rate ω _x , pitch angle θ, pitch rate ω _z information, and corresponding control coefficients K _γ , k _g1 , k _g2 , K _θ , K _h , K _hI , K _hd , K _ωz , get the aileron control command and the elevator control command, as shown in equations (8) and (9):

${\mathrm{<span\; class="notranslate">\; \&delta;</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; K</span>}}_{\mathrm{<span\; class="notranslate">\; \&gamma;</span>}}<span\; class="notranslate">\; [</span>\mathrm{<span\; class="notranslate">\; \&gamma;</span>}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; g</span>}\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; g</span>}\mathrm{<span\; class="notranslate">\; 2</span>}}\mathrm{<span\; class="notranslate">\; Z</span>}<span\; class="notranslate">\; +</span>\stackrel{<span\; class="notranslate">\; \&CenterDot;</span>}{\mathrm{<span\; class="notranslate">\; D.</span>}}\mathrm{<span\; class="notranslate">\; z</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; ]</span><span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; K</span>}}_{\mathrm{<span\; class="notranslate">\; \&omega;x</span>}}{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 8</span>}<span\; class="notranslate">\; )</span>$

${\mathrm{<span\; class="notranslate">\; \&delta;</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; K</span>}}_{\mathrm{<span\; class="notranslate">\; \&theta;</span>}}<span\; class="notranslate">\; [</span>\mathrm{<span\; class="notranslate">\; \&theta;</span>}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; K</span>}}_{\mathrm{<span\; class="notranslate">\; h</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; h</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; h</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; K</span>}}_{\mathrm{<span\; class="notranslate">\; h</span>}}{<span\; class="notranslate">\; \&Integral;</span>}_{\mathrm{<span\; class="notranslate">\; 0</span>}}^{\mathrm{<span\; class="notranslate">\; t</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; h</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; h</span>}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; dt</span>}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; K</span>}}_{\mathrm{<span\; class="notranslate">\; hz</span>}}\stackrel{<span\; class="notranslate">\; \&Center\; Dot;</span>}{\mathrm{<span\; class="notranslate">\; h</span>}}<span\; class="notranslate">\; ]</span><span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; K</span>}}_{\mathrm{<span\; class="notranslate">\; \&omega;z</span>}}{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 9</span>}<span\; class="notranslate">\; )</span>$

Among them, δ _x is the aileron control command, δ _z is the elevator control command, K _γ is the roll angle control coefficient, k _g1 is the side deviation speed control coefficient, k _g2 is the side deviation distance control coefficient, K _θ is the pitch angle control K _h is the height control coefficient, K _hI is the height integral control coefficient, K _hd is the height differential control coefficient, K _ωz is the pitch angle rate control coefficient;

According to the aileron control command and the elevator control command, the drone is controlled by the elevator and the aileron to make the UAV fly to the parachute opening point A. After reaching the parachute opening point, the parachute is opened to complete the parachute recovery.

In Step 4, the methods for obtaining the control coefficients K _γ , k _g1 , k _g2 , K _θ , K _h , K _hI , K _hd , and K _ωz are as follows:

According to the aerodynamic data of the UAV, the corresponding full-quantity mathematical model is established, and the corresponding linearization equation is obtained according to the small disturbance linearization method, and the control coefficients K _γ , k _g1 , k _g2 , K _θ are selected using the classical control method in control theory , K _h , K _hI , K _hd , K _ωz , and then use the full mathematical model of the UAV to verify whether the designed control structure and control parameters can make the system meet the control requirements. If the system is satisfied, the control coefficient is obtained. , reselect. Among them, the establishment of the full mathematical model of the UAV, the small disturbance linearization method, and the classic control method are all described in detail in related books on flight control.

The UAV automatic parachute recovery control method described in the present invention makes full use of the pitch angle, course angle, airspeed, and ground speed information of the UAV to estimate the horizontal wind speed and wind direction of the recovery field, and then according to the recovery field center S 、Find a suitable parachute opening point A, through the aileron control and elevator control, the aircraft can open the parachute at this point, which improves the recovery accuracy of the aircraft after parachute deployment in the case of wind, and is more suitable for the recovery requirements of complex environments. Thereby improving the safety of aircraft recovery.

Claims (6)

1. control method for automatic parachute landing recovery of unmanned aerial vehicle is characterized in that: comprise following step:

Step 1: by observing and controlling land station, send " recovery " instruction, carry out recovery site horizontal wind speed V to unmanned plane _w, wind direction ψ _wEstimation;

Step 2: the distance D of obtaining parachute-opening point A and recovery site center S;

Step 3: longitude, the latitude of determining parachute-opening point A;

Step 4: the longitude L that parachute-opening is put A ₀, latitude B ₀As the guider that exports unmanned plane to the point coordinate position to, guider calculates lateral deviation square Dz and lateral deviation is moved speed

, utilize flying height h, the rising or falling speed of unmanned plane then

Roll angle γ, roll angle speed ω _x, pitching angle theta, angle of pitch speed ω _zInformation, and corresponding roll angle control coefrficient K _γ, lateral deviation moves the speed control coefficient k _G1, lateral deviation is apart from control coefrficient k _G2, angle of pitch control coefrficient K _θ, height control coefrficient K _h, height integral control coefficient K _HI, height derivative control coefficient K _HdAngle of pitch rate controlled COEFFICIENT K _{ω z}, obtain aileron steering order and elevating rudder steering order; Make unmanned plane fly to parachute-opening point A according to aileron steering order and elevating rudder steering order by elevating rudder control and aileron control, behind the arrival parachute-opening point, carry out parachute-opening, finish parachuting and reclaim.

2. a kind of control method for automatic parachute landing recovery of unmanned aerial vehicle according to claim 1 is characterized in that: described step 1 sends " recovery " instruction by observing and controlling land station to unmanned plane, carries out recovery site horizontal wind speed V _w, wind direction ψ _wEstimation be specially:

1) according to the air speed V of unmanned plane _k, pitching angle theta, course angle ψ, east orientation ground velocity V _e, north orientation ground velocity V _n, obtain at this moment the east component V of wind speed in the air _We, north component V _Wn, as follows:

V _wn＝V _dn-V _k·cosθ·cosψ (1)

V _we＝V _de-V _k·cosθ·sinψ (2)

2) according to the east component V of wind speed _WeAnd north component V _WnObtain wind speed V _wWith wind direction ψ _w, as follows:

$V_w=\sqrt{{V_{\mathrm{wn}}}^2+{V_{\mathrm{we}}}^2}---\left(3\right)$

${\mathrm{\&psi;}}_w=\mathrm{arctg}\left(\frac{V_{\mathrm{we}}}{V_{\mathrm{wn}}}\right)---\left(4\right).$

3. a kind of control method for automatic parachute landing recovery of unmanned aerial vehicle according to claim 1 is characterized in that: the distance D that described step 2 is obtained parachute-opening point A and recovery site center S is specially:

By the decline rate V after the unmanned plane parachute-opening _yAnd the height H of parachute-opening point A, obtain the distance D of parachute-opening point A and recovery site center S, as follows:

$D=\frac{H\&CenterDot;V_w}{V_y}---\left(5\right).$

4. a kind of control method for automatic parachute landing recovery of unmanned aerial vehicle according to claim 1 is characterized in that: described step 3 is specially:

Longitude L by recovery site center S ₁, latitude B ₁, wind direction ψ _w, parachute-opening point A and recovery site center S distance D, obtain the longitude L of parachute-opening point A ₀, latitude B ₀, as follows:

The latitude B of parachute-opening point A ₀For:

In the formula,

B _C1Be the geocentric latitude of recovery site center S,

B ₁Latitude for recovery site center S;

R _LongBe semimajor axis of ellipsoid, R _Long=6378137.0m;

R _ShortBe semiminor axis of ellipsoid, R _Long=6356752.3m;

E _DBe the ellipse degree of bias of the earth, E _D=0.003352811 (1/298.25722);

The longitude L of parachute-opening point A ₀For:

In the formula,

L ₁Longitude for recovery site center S;

$\mathrm{\&Delta;L}=\frac{D\sin {\mathrm{\&psi;}}_w}{R_p\cos B_{C1}}.$

5. a kind of control method for automatic parachute landing recovery of unmanned aerial vehicle according to claim 1 is characterized in that: described step 4 aileron steering order and elevating rudder steering order are specially:

${\mathrm{\&delta;}}_x=K_{\mathrm{\&gamma;}}[\mathrm{\&gamma;}+k_{g1}(k_{g2}\mathrm{Dz}+\stackrel{\&CenterDot;}{D}z)]+K_{\mathrm{\&omega;x}}{\mathrm{\&omega;}}_x---\left(8\right)$

${\mathrm{\&delta;}}_z=K_{\mathrm{\&theta;}}[\mathrm{\&theta;}-K_h(H-h)+K_{\mathrm{hI}}{\&Integral;}_0^t(H-h)\mathrm{dt}+K_{\mathrm{hz}}\stackrel{\&CenterDot;}{h}]+K_{\mathrm{\&omega;z}}{\mathrm{\&omega;}}_z---\left(9\right)$

Wherein, δ _xBe aileron steering order, δ _zBe elevating rudder steering order, K _γBe roll angle control coefrficient, k _G1For lateral deviation is moved speed control coefficient, k _G2For lateral deviation apart from control coefrficient, K _θBe angle of pitch control coefrficient, K _hBe height control coefrficient, K _HIBe height integral control coefficient, K _HdBe height derivative control coefficient, K _{ω z}Be angle of pitch rate controlled coefficient.

6. a kind of control method for automatic parachute landing recovery of unmanned aerial vehicle according to claim 1 is characterized in that: in the described step 4, and control coefrficient K _γ, k _G1, k _G2, K _θ, K _h, K _HI, K _Hd, K _{ω z}Acquisition methods be:

Set up corresponding full dose mathematical model according to the aerodynamic data of unmanned plane, and obtain the corresponding linear equation, utilize the classical control method in the control theory to choose control coefrficient K according to the microvariations linearization technique _γ, k _G1, k _G2, K _θ, K _h, K _HI, K _Hd, K _{ω z}, utilize designed control structure of unmanned plane full dose mathematical model checking and the controlled variable system that whether can make to satisfy the control requirement then, if satisfy, then obtain control coefrficient, if do not satisfy, choose again.

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