CN105302126A - Control method of autonomously descending and landing on warship of unmanned shipboard helicopter - Google Patents

Abstract

The present invention discloses a control method of autonomously descending and landing on a warship of an unmanned shipboard helicopter, belonging to the field of flight guiding and control. At the beginning of descending and landing on the warship, a device on the warship is configured to continuously measure roll angles of a landing point of a deck on the warship, and the roll angles are stored to a shipboard computer; a desk roll estimator is configured to estimate the roll angle of the landing point of the deck on the warship at a future time to determine an optimal fall time and send the optimal fall time to the unmanned shipboard helicopter; and a descending control system of the unmanned shipboard helicopter is designed to control the falling speed of the unmanned shipboard helicopter so as to allow the unmanned shipboard helicopter to land on the warship according to the predicted minimum rating of the deck motion. According to the invention, an unmanned shipboard helicopter is safely guided to a landing point of a warship, and autonomous descending and safe landing on the warship of the unmanned shipboard helicopter are realized.

Description

Unmanned carrier-based helicopter independently declines the control method of warship

Technical field

The present invention relates to a kind of unmanned ship-board aircraft and warship control method, is specifically that a kind of unmanned carrier-based helicopter independently declines the control method of warship, belonging to flight and guiding and control field.

Background technology

Unmanned carrier-based helicopter autonomous landing on the ship is the process of an arduousness and complexity, due to the impact by marine stormy waves, the deck motion of six-freedom degree can be produced when naval vessel rides the sea, namely the rectilinear motion along three coordinate axis is comprised: surging, swaying, heave (hang down and swing) and the rotary motion around three coordinate axis: pitching (pitching), roll (rolling) and driftage (yawing), and there is the impact of gust disturbance and ground effect, warship is very difficult to make unmanned carrier-based helicopter successful.

Unmanned carrier-based helicopter success autonomous landing on the ship demand fulfillment requires as follows: must regulation warship platform touches warship; The Relative vertical speed in warship moment the harm avoided aircraft and naval vessel must be small enough to; The roll angle touching naval vessel during warship must be tried one's best little of to avoid accident.Various data show, affect deck motion mainly naval vessel rolling and the plunging motion of warship, therefore prediction rolling and plunging motion are caused to the attention of people.

Show deck roll motion data analysis, it has the sinuso sine protractor of relative smooth, is similar to the second-order model of band damping.And plunging motion is not similar to sinuso sine protractor, not easily grasp.If unmanned carrier-based helicopter enough accurately can follow the tracks of the vertical plunging motion on naval vessel, so just without the need to plunging motion prediction device, as long as system has enough bandwidth, be attainable to the tracking of deck plunging motion.In prior art, cannot estimate exactly the deck motion on naval vessel, and then uncontrollable unmanned carrier-based helicopter warship along the time point discretionary security that the speed of specifying is being estimated.

Summary of the invention

Technical matters to be solved by this invention is to overcome prior art defect, provides a kind of and can control unmanned carrier-based helicopter exactly and independently to decline the method for warship, warship speed and safety coefficient to improve unmanned carrier-based helicopter.

In order to solve the problems of the technologies described above, unmanned carrier-based helicopter provided by the invention independently declines the control method of warship, it is characterized in that comprising the steps:

1), continue to record roll motion signal and the plunging motion information that ship deck warship point;

2) the deck roll prediction device, on naval vessel is according to step 1) the roll motion signal that records and plunging motion information estimates the roll angle on certain moment deck following, to determine unmanned carrier-based helicopter fall time;

3), naval vessel is by the plunging motion information of warship point and the deck roll angle information estimated, send to unmanned carrier-based helicopter, the descending system guiding systems design control law of unmanned carrier-based helicopter controls the decline rate of unmanned carrier-based helicopter, with control unmanned carrier-based helicopter under the deck roll motion minimum state estimated warship;

4), by step 3) control law is input in the flight control system of unmanned carrier-based helicopter and performs, and control unmanned carrier-based helicopter and to decline warship by fall off rate instruction.

In the present invention, described step 2) in, warship upper deck roll prediction device is design based on improvement AR model to estimating of deck roll angle:

y(t)＝A(q ^-1)y(t)+B(q ^-1)u(t)+e(t)

$A\left(q^{-1}\right)=\underset{i=1}{\overset{m}{\Σ}}{a}_{(m,i)}{q}^{-i},m\∈N$

$B\left(q^{-1}\right)=\underset{j=0}{\overset{n-1}{\&Sigma;}}{b}_{(n,j)}{q}^{-j},n\&Element;N,n<m$

u(t)＝q ^-Ly(t),L＞m,L∈N

Wherein, the roll angle that y (t) is deck, q ^-1for unit time lag operator, parameter a _{(m, i)}, i=1 ..., m and b _{(n, j)}, j=0 ..., n-1 is the auto-adaptive parameter of AR model, and m is A (q ^-1) exponent number, n is B (q ^-1) exponent number, L is the step number estimated; Its concrete steps are as follows:

21), input measured data y (n), n=1,2 ..., N}, y (n) are the roll motion signal of warship point, determine modified AR model order maximal value m _maxand n _maxand the step number L estimated;

22), the least square method (FFRLS) adding forgetting factor is adopted to estimate the roll angle on naval vessel;

23), by the exponent number of BIC criterion determination modified AR model, AR model optimum under obtaining BIC criterion;

24), according to the AR model of optimum, the deck motion L in the moment obtained walks discreet value the i.e. roll angle on certain moment deck.

In the present invention, described step 3) in descending system guiding systems be divided into three phases:

31), loitering phase---unmanned carrier-based helicopter is empty above deck keeps safe altitude follow-up, and its control law is:

${\stackrel{\&CenterDot;}{h}}_c=K_{pz}\&CenterDot;(h_{ref}-h)$

Wherein, h _refbe altitude datum, h is the height of unmanned carrier-based helicopter under ground coordinate system, for the total distance passage fall off rate instruction under earth axes;

32) first stage, declined---when the roll angle estimating N afterdeck second is zero, unmanned carrier-based helicopter starts decline mode, and drop to the starting point highly exponentially declined, its control law is:

${\stackrel{\&CenterDot;}{h}}_C=\frac{h_{deck1}-k_{FL}\&CenterDot;{\stackrel{\&CenterDot;}{h}}_{TD}}{t_{FL}-t_2-k_{FL}}+{\stackrel{\&CenterDot;}{h}}_{ship}\&CenterDot;\frac{1}{T_{f}s+1}$

In formula: h _deck1---unmanned carrier-based helicopter is from the true altitude on deck;

T ₂---decline and start to the time variations contacted to earth;

T _fL---the start time highly exponentially declined;

---the tactile warship speed of requirement;

K _fL---exponential law time constant of fall;

---warship point plunging motion information;

$\frac{1}{T_{f}s+1}$ ---low-pass filter;

33) subordinate phase, declined---adopt the index decreased rule that is directly proportional to falling head of fall off rate, make unmanned carrier-based helicopter by normal tactile warship speed angle warship, its control law is:

${\stackrel{\&CenterDot;}{h}}_c={\stackrel{\&CenterDot;}{h}}_{TD}-\frac{h_{deck2}}{k_{FL}}+{\stackrel{\&CenterDot;}{h}}_{ship}\&CenterDot;\frac{1}{T_{f}s+1}$

In formula, h _deck2for decline subordinate phase aircraft is from altitude above deck.

In the present invention, also comprise step 5) perform and interrupt control law step: in decline process when the roll angle on naval vessel, relative to deck height speed and the horizontal level of warship point cannot meet safety warship time, interruption control law controls unmanned carrier-based helicopter and goes around, and re-executes step 3).

Beneficial effect of the present invention is: (1), the present invention estimate the roll angle on certain moment deck following according to ship deck, determine unmanned carrier-based helicopter fall time, the decline rate that warship point plunging motion information design control law controls unmanned carrier-based helicopter again in conjunction with deck, it roll motion signal and the plunging motion information at warship point place simultaneously in conjunction with ship deck, successfully unmanned carrier-based helicopter can be directed to safely naval vessel on warship point, realize the autonomous warship that declines of unmanned carrier-based helicopter, it is safe and efficient; (2), by performing interrupting control law, greatly can improve the safety coefficient of unmanned carrier-based helicopter in warship process, avoiding causing damage.

Accompanying drawing explanation

Fig. 1 is that the unmanned carrier-based helicopter of the present invention independently declines the overall construction drawing of control method of warship.

Fig. 2 is the prediction device schematic diagram in the present invention;

Fig. 3 is warship flow process and the interruption control law logical schematic of declining of the present invention;

Embodiment

Below in conjunction with accompanying drawing, the present invention is described in further detail.

As shown in Figure 1, a kind of unmanned carrier-based helicopter of the present invention independently declines the control method of warship, unmanned carrier-based helicopter is kept certain height in Zhe Jiandian overhead, deck and is flown and wait for decline, trigger decline control law when deck roll prediction device estimates zero crossing, descending system guiding systems exports fall off rate instruction to in flight control system, control unmanned carrier-based helicopter along the decline rate landing of specifying above deck, finally realize safely warship.Its concrete steps are as follows:

(1), declining before warship starts, warship equipment on board constantly records roll motion signal and the plunging motion information that deck warship point place, and by computing machine in these information storage to warship.

(2), on warship computing machine the roll motion signal at warship point place according to deck and plunging motion information design goes out the roll angle that deck roll prediction device estimates following certain moment deck, determines unmanned carrier-based helicopter best fall time with this; Usually be zero at unmanned carrier-based helicopter at the roll angle on warship moment deck.

On warship, computing machine designs based on improvement AR model estimating of deck roll angle, and the AR model representation of improvement is as follows:

y(t)＝A(q ^-1)y(t)+B(q ^-1)u(t)+e(t)(1)

$A\left(q^{-1}\right)=\underset{i=1}{\overset{m}{\&Sigma;}}{a}_{(m,i)}{q}^{-i},m\&Element;N---\left(2\right)$

$B\left(q^{-1}\right)=\underset{j=0}{\overset{n-1}{\&Sigma;}}{b}_{(n,j)}{q}^{-j},n\&Element;N,n<m---\left(3\right)$

u(t)＝q ^-Ly(t),L＞m,L∈N(4)

Wherein, y (t) is the roll angle of nail plate, q ^-1be unit time lag operator (such as: q ^-1y (t)=y (t-1)), parameter a _{(m, i)}, i=1 ..., m and b _{(n, j)}, j=0 ..., n-1 is the auto-adaptive parameter of AR model, and m is A (q ^-1) exponent number, n is B (q ^-1) exponent number; The step number of L representative prediction, according to sampling time and prediction step number, then can calculate the time of prediction.As, the sampling time is 0.25s, L=32, then the time 8s predicted.

First, input step (1) measured data y (n), n=1,2 ..., N}, y (n) are the roll motion signals of warship point, determine modified AR model order maximal value m _maxand n _maxand the step number L estimated:

For without loss of generality, hypothesized model exponent number is in following scope

m∈V ₁＝{m|1≤m≤m _max,m∈N}(5)

n∈V ₂＝{n|1≤n≤n _max,n∈N}(6)

Wherein m _maxand n _maxbe the upper bound of model order, in order to surely vertical good model order, rational border will be taken into account.The upper bound of model order must be enough large to ensure the accuracy estimated, but larger model order can bring higher model complexity, and calculated amount is increased, and causes the real-time of prediction device bad, also higher to the requirement of hardware.Therefore, the model order upper bound is defined as

$\begin{array}{cc}{m}_{\max }=O\left(\sqrt{T}\right)& n_{\max }=O(\sqrt{T}/2)\end{array}---\left(7\right)$

Wherein, T is the number of sample data, and O () represents the upper bound of expression formula.

By introducing time lag operator, define measurement data vector

And parameter vector

${\mathrm{\&theta;}}_r^T(m,n,t)=\&lsqb;a_{(m,1)}\left(t\right),...,a_{(m,m)}\left(t\right),b_{(n,0)}\left(t\right),...,b_{(n,n-1)}\left(t\right)\&rsqb;---\left(9\right)$

Then formula (1)-(4) can be changed to

Secondly, the least square method (FFRLS) adding forgetting factor is adopted to estimate the roll angle on naval vessel.Least square method is based on criterion of least squares, makes the weighted sum of squares J (θ of predictor error _r) minimum a kind of algorithm.

Wherein λ is forgetting factor, and it can make modeling process adapt to the variation of the data statistics in non-stationary situation better.Generally speaking, λ ∈ [0.98,0.995].

Therefore, the expression formula utilizing FFRLS method to carry out prediction model parameter is

Because above-mentioned formula is difficult to realize, therefore as recursive form can be write

θ _r(m,n,0)＝0P(m,n,0)＝αI(15)

Wherein, matrix P (m, n, t+1) is error co-variance matrix, and matrix M (m, n, t+1) is for upgrading matrix, and α is a large normal number, and I is unit battle array.

Definition predictor error is

The covariance of T moment maximal possibility estimation error is

${\mathrm{\&sigma;}}^2=\frac{1}{T-m-n}\underset{t=m+n+1}{\overset{T}{\&Sigma;}}{\mathrm{\&xi;}}^2(m,n,t)---\left(17\right)$

Again, determine that the BIC criterion of exponent number is

$BIC(m,n,T)={\mathrm{log\&sigma;}}^2(m,n,T)+\frac{(m+n)\log T}{T}---\left(18\right)$

Namely minimum BIC value correspond to optimum m ^*, n ^*.

When selecting exponent number, first it is considered that the precision estimated for a long time, then when precision allows, select to make the comparatively simple exponent number of model.

Concrete steps are as follows:

1, for each i=1 ..., n _max, obtain $m_i^{*}=\arg \left\{\min \right(BIC(j,i,T)\left)\right\},j=1,...,m_{max};$

2, optimum is obtained $m^{*}=max\left\{m_i^{*}\right\},i=1,...,n_{max};$

3, for m ^*, usually have several n ₁, n ₂..., n _r, n _r≤ n _max, in order to reduce model complexity, select n ^*=max{n _k, k=1,2 ..., r.

Finally, have selected optimum exponent number (m ^*, n ^*), and after corresponding FFRLS calculates model parameter, estimate dynamic ship deck movable information:

As shown in Figure 3, based on formula (1)-(4), predictor can be written as

$\begin{array}{c}\hat{y}\left(t+L|t\right)={\hat{a}}_{\left(m+1\right)}\hat{y}\left(t+L-1|t\right)+\mathrm{...}\\ +{\hat{a}}_{\left(m+m\right)}\hat{y}\left(t+L-m|t\right)+{\hat{b}}_{\left(n,0\right)}y\left(t\right)+{\hat{b}}_{\left(n,1\right)}y\left(t-1\right)+\mathrm{...}{\hat{b}}_{\left(n,n-1\right)}y\left(t-\left(n-1\right)\right)\end{array}---\left(19\right)$

Wherein, refer to that the deck motion L of t walks discreet value, it is the model parameter calculated with FFRLS.

(3), on warship computing machine by the plunging motion information of warship point and and the deck roll angle information estimated, send to the descending system guiding systems of unmanned carrier-based helicopter, the descending system guiding systems of unmanned carrier-based helicopter controls unmanned carrier-based helicopter decline rate by design control law and controls unmanned carrier-based helicopter and warship state in the best and warship, that is descends warship by the deck motion minimum state of prediction;

According to unmanned carrier-based helicopter initial choose suitable time period T from ship deck height, within T second, unmanned carrier-based helicopter completes warship, requires that the ship deck roll angle in warship moment at unmanned carrier-based helicopter is zero.Therefore the roll angle of ship deck after adopting deck roll prediction device to predict T from now on second, when estimating that naval vessel roll angle is zero after T second, unmanned carrier-based helicopter starts to start warship decline mode.In the present embodiment, according to unmanned carrier-based helicopter elemental height, choose T=8 second.By the fall off rate adjusting unmanned carrier-based helicopter control unmanned carrier-based helicopter the warship time, therefore adopt time-based fall off rate instruction realize fall time control.

The descending system guiding systems designed thus is divided into three phases

1) loitering phase---when the deck roll angle after roll prediction device in deck does not also estimate 8 seconds is zero, unmanned carrier-based helicopter needs to wait in Zhe Jiandian overhead, deck, now unmanned carrier-based helicopter keeps certain absolute altitude smooth flight, concrete height warship environment according to scene and is determined, select premised on the safety ensureing unmanned carrier-based helicopter as a principle height, its control law is:

${\stackrel{\&CenterDot;}{h}}_c-K_{pz}\&CenterDot;(h_{ref}-h)---\left(20\right)$

Wherein, h _refbe altitude datum, h is the height of unmanned carrier-based helicopter under ground coordinate system, for the total distance passage fall off rate instruction under earth axes, K _pzfor gain.

2) first stage declined---when after deck roll prediction device estimates 8 seconds, ship deck roll angle will be zero, unmanned carrier-based helicopter automatically starts decline mode, it drops to the starting point highly exponentially declined, and namely approximately also has 2 seconds that from deck.Now fall off rate instruction perform by following formula

${\stackrel{\&CenterDot;}{h}}_c=-\frac{h_{deck1}-h_{FL}}{t_2-t_{FL}}---\left(21\right)$

In formula: h _deck1---unmanned carrier-based helicopter is from the true altitude on deck;

H _fL---the starting altitude of decline subordinate phase;

T ₂---decline and start to the time variations contacted to earth;

T _fL---the start time (namely 2 seconds) highly exponentially declined;

Defined from index decreased rule, the starting altitude of unmanned carrier-based helicopter arrival decline subordinate phase should be the function of fall off rate, namely

$h_{FL}=k_{FL}({\stackrel{\&CenterDot;}{h}}_{TD}-{\stackrel{\&CenterDot;}{h}}_{deck})---\left(22\right)$

In formula: ---unmanned carrier-based helicopter is relative to the height change speed on deck;

---the tactile warship speed (-2 feet per second) of requirement;

K _fL---exponential law time constant of fall (second).

Suppose that unmanned carrier-based helicopter is total, apart from control channel, there is enough bandwidth, namely can obtain

${\stackrel{\&CenterDot;}{h}}_C=\frac{h_{deck1}-k_{FL}\&CenterDot;{\stackrel{\&CenterDot;}{h}}_{TD}}{t_{FL}-t_2-k_{FL}}---\left(23\right)$

Consider relative velocity requirement during tactile warship, introduce plunging motion rate signal and pass through low-pass filter eliminate high frequency noise, finally can obtain

${\stackrel{\&CenterDot;}{h}}_C=\frac{h_{deck1}-k_{FL}\&CenterDot;{\stackrel{\&CenterDot;}{h}}_{TD}}{t_{FL}-t_2-k_{FL}}+{\stackrel{\&CenterDot;}{h}}_{ship}\&CenterDot;\frac{1}{T_{f}s+1}---\left(24\right)$

3) subordinate phase declined---when warship precontract 2 seconds, in order to make unmanned carrier-based helicopter reduce fall off rate smoothly from the first stage declined, warship with the tactile warship speed required.Therefore adopt the index decreased rule that fall off rate is directly proportional to falling head, make the speed on contact deck be 2ft/s, this descending branch approximately continued for 2 seconds, was also

${\stackrel{\&CenterDot;}{h}}_c={\stackrel{\&CenterDot;}{h}}_{TD}-\frac{h_{deck2}}{k_{FL}}+{\stackrel{\&CenterDot;}{h}}_{ship}\&CenterDot;\frac{1}{T_{f}s+1}---\left(25\right)$

H in formula _deck2for the unmanned carrier-based helicopter of decline subordinate phase is from altitude above deck, its starting altitude should be h _fL.

(4) by fall off rate instruction be input in the flight control system of unmanned carrier-based helicopter and perform.

Warship risk to reduce unmanned carrier-based helicopter, improving warship safety coefficient, the present invention have also been devised interrupts rule.Process is fallen under control, when unmanned carrier-based helicopter exceedes the restriction of the state of flight limit, will triggered interrupts logic, thus order to make unmanned carrier-based helicopter get back to loitering phase with the positive climb rate, reselect the warship that declines suitable opportunity.Interruption should consider the Critical Criterion successfully reclaimed, and mainly contains following three aspects: the roll angle on naval vessel, relative to deck height speed and the horizontal level of warship point.

As shown in Figure 3, when unmanned carrier-based helicopter declines warship, due to the existence of various error and disturbance, the roll angle on deck during warship can be caused excessive, roll angle after now adopting roll prediction device in 2s deck to estimate 2s, if the roll angle estimating deck is greater than 6 °, will triggered interrupts rule.

The first stage declined, if speed is greater than 9.5ft/s, or the fall off rate that subordinate phase starts is greater than 3.5ft/s, also can triggered interrupts rule.

In addition, if aircraft can not remain on directly over warship deck after descending branch starts, also can triggered interrupts rule.

Above embodiment is only and technological thought of the present invention is described, can not limit protection scope of the present invention with this, and every technological thought proposed according to the present invention, any change that technical scheme basis is done, all falls within scope.

Claims (4)

1. unmanned carrier-based helicopter independently declines a control method for warship, it is characterized in that comprising the following steps:

1), continue to record roll motion signal and the plunging motion information that ship deck warship point;

2) the deck roll prediction device, on naval vessel is according to step 1) the roll motion signal that records and plunging motion information estimates the roll angle on certain moment deck following, to determine unmanned carrier-based helicopter fall time;

3), naval vessel is by the plunging motion information of warship point and the deck roll angle information estimated, send to unmanned carrier-based helicopter, the descending system guiding systems design control law of unmanned carrier-based helicopter controls the decline rate of unmanned carrier-based helicopter, with control unmanned carrier-based helicopter under the deck roll motion minimum state estimated warship;

4), by step 3) control law is input in the flight control system of unmanned carrier-based helicopter and performs, and control unmanned carrier-based helicopter and to decline warship by fall off rate instruction.

2. unmanned carrier-based helicopter according to claim 1 independently declines the control method of warship, it is characterized in that: described step 2) in, warship upper deck roll prediction device is design based on improvement AR model to estimating of deck roll angle:

y(t)＝A(q ^-1)y(t)+B(q ^-1)u(t)+e(t)

$A\left(q^{-1}\right)=\underset{i=1}{\overset{m}{\&Sigma;}}{a}_{(m,i)}{q}^{-i},m\&Element;N$

$B\left(q^{-1}\right)=\underset{j=0}{\overset{n-1}{\&Sigma;}}{b}_{(n,j)}{q}^{-j},n\&Element;N,n<m$

u(t)＝q ^-Ly(t),L＞m,L∈N

Wherein, the roll angle that y (t) is deck, q ^-1for unit time lag operator, parameter a _{(m, i)}, i=1 ..., m and b _{(n, j)}, j=0 ..., n-1 is the auto-adaptive parameter of AR model, and m is A (q ^-1) exponent number, n is B (q ^-1) exponent number, L is the step number estimated; Its concrete steps are as follows:

21), input measured data y (n), n=1,2 ..., N}, y (n) are the roll motion signal of warship point, determine modified AR model order maximal value m _maxand n _maxand the step number L estimated;

22), the least square method (FFRLS) adding forgetting factor is adopted to estimate the roll angle on naval vessel;

23), by the exponent number of BIC criterion determination modified AR model, AR model optimum under obtaining BIC criterion;

24), according to the AR model of optimum, the deck motion L in the moment obtained walks discreet value the i.e. roll angle on certain moment deck.

3. unmanned carrier-based helicopter according to claim 1 and 2 independently declines the control method of warship, it is characterized in that described step 3) in descending system guiding systems be divided into three phases:

31), loitering phase---unmanned carrier-based helicopter is empty above deck keeps safe altitude follow-up, and its control law is:

${\stackrel{\&CenterDot;}{h}}_c=K_{pz}\&CenterDot;(h_{ref}-h)$

Wherein, h _refbe altitude datum, h is the height of unmanned carrier-based helicopter under ground coordinate system, for the total distance passage fall off rate instruction under earth axes;

32) first stage, declined---when to estimate N afterdeck second roll angle be zero, unmanned carrier-based helicopter starts decline mode, and drop to the starting point highly exponentially declined, its control law is:

${\stackrel{\&CenterDot;}{h}}_C=\frac{h_{deck1}-k_{FL}\&CenterDot;{\stackrel{\&CenterDot;}{h}}_{TD}}{t_{FL}-t_2-k_{FL}}+{\stackrel{\&CenterDot;}{h}}_{ship}\&CenterDot;\frac{1}{T_{f}s+1}$

In formula: h _deck1---unmanned carrier-based helicopter is from the true altitude on deck;

T ₂---decline and start to the time variations contacted to earth;

T _fL---the start time highly exponentially declined;

---the tactile warship speed of requirement;

K _fL---exponential law time constant of fall;

---warship point plunging motion information;

---low-pass filter;

33) subordinate phase, declined---adopt the index decreased rule that is directly proportional to falling head of fall off rate, make unmanned carrier-based helicopter by normal tactile warship speed angle warship, its control law is:

${\stackrel{\&CenterDot;}{h}}_c={\stackrel{\&CenterDot;}{h}}_{TD}-\frac{h_{deck2}}{k_{FL}}+{\stackrel{\&CenterDot;}{h}}_{ship}\&CenterDot;\frac{1}{T_{f}s+1}$

In formula, h _deck2for decline subordinate phase aircraft is from altitude above deck.

4. unmanned carrier-based helicopter according to claim 3 independently declines the control method of warship, characterized by further comprising step 5) perform and interrupt control law step: in decline process when the roll angle on naval vessel, relative to deck height speed and the horizontal level of warship point cannot meet safety warship time, interruption control law controls unmanned carrier-based helicopter and goes around, and re-executes step 3).