CN107808550B - Plant protection unmanned aerial vehicle management system - Google Patents
Plant protection unmanned aerial vehicle management system Download PDFInfo
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- CN107808550B CN107808550B CN201711030784.2A CN201711030784A CN107808550B CN 107808550 B CN107808550 B CN 107808550B CN 201711030784 A CN201711030784 A CN 201711030784A CN 107808550 B CN107808550 B CN 107808550B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/003—Flight plan management
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Systems or methods specially adapted for specific business sectors, e.g. utilities or tourism
- G06Q50/02—Agriculture; Fishing; Mining
Abstract
The utility model provides a plant protection unmanned aerial vehicle management system, includes main control unit, ground station equipment and cloud, its characterized in that: the ground station equipment is connected with a cloud network through the Internet, the cloud network comprises a resource management module, an operation module and an order task module, and the resource management module comprises user management, airplane management and plot management; the operation module comprises: the system comprises an operation map, an operation list, operation screening and operation details, wherein administrators, plant protection teams and flight users can check operation geographic distribution, the operation list and the operation details through an operation module; the order task module is used for generating and managing orders.
Description
Technical Field
The invention relates to a management system, in particular to a plant protection unmanned aerial vehicle management system.
Background
China, as a big agricultural country, 18 hundred million mu of basic farmland need a large amount of agricultural plant protection operations every year, and small-size rotor unmanned aerial vehicle has highly low, and the drift is few, can hover in the air, need not special airport of taking off and land, and the downward air current that the rotor produced helps increasing the penetrability of fog flow to the crop, and prevention and cure effect is high, sprays the operation personnel and has avoided exposing in the danger of pesticide, has improved a great deal of advantages such as spraying operation security. And the function and the performance of the unmanned aerial vehicle flight control system play a decisive role in the unmanned aerial vehicle operation capacity.
At present, the remote monitoring management system for the unmanned aerial vehicle is lacked, the real-time supervision is lacked, and the problems of incomplete operation matching function and the like exist
Disclosure of Invention
The invention provides a technical scheme of a plant protection unmanned aerial vehicle management system in order to overcome the defects of the prior technical scheme.
In order to achieve the purpose, the technical scheme of the invention is as follows: the utility model provides a plant protection unmanned aerial vehicle management system, includes main control unit, ground station equipment and cloud, its characterized in that: the ground station equipment is connected with a cloud network through the Internet, the cloud network comprises a resource management module, an operation module and an order task module, and the resource management module comprises user management, airplane management and plot management; the operation module comprises: the system comprises a job map, a job list, job screening and job details, wherein managers, plant protection teams and flight users can check the geographical distribution, the job list and the job details (completed job/in-progress job) through a job module; the order task module is used for generating and managing orders, and the orders comprise plant protection team orders and flight hand tasks.
The invention has the following beneficial effects compared with the prior art:
1. the invention can effectively realize the function of the Internet of things in the field of unmanned aerial vehicles;
2. the invention realizes the customization of the remote flight task of the user;
3. the invention realizes the overall management of unmanned aerial vehicles, unmanned aerial vehicle tasks, operation plots and personnel and provides detailed and real-time data support for plant protection users.
Drawings
FIG. 1 is a schematic view of a plant protection unmanned aerial vehicle system of the present invention;
fig. 2 is a schematic diagram of the connection between the plant protection unmanned aerial vehicle system and the cloud network according to the present invention;
FIG. 3 is a schematic diagram of a cloud network according to the present invention;
Detailed Description
The invention is further described with reference to the following figures and examples.
As shown in the figures 1-3 of the drawings,
a plant protection unmanned aerial vehicle management system comprises a main controller, an execution mechanism, communication equipment, ground station equipment and a cloud network,
the main controller comprises a data acquisition module, a data processing module and a communication module, realizes the flight control and flight management function requirements of unmanned aerial vehicles of different models by modifying the internal program and peripheral circuits of the main controller,
the data acquisition module acquires measurement signals of each sensor, wherein the measurement signals comprise a gyro signal, a course signal, a rudder deflection angle signal, a liquid level signal and a height-fixed radar signal and are uploaded to the data processing module;
the communication module receives a control command transmitted by the ground station equipment uplink channel and transmitted by the communication equipment, and simultaneously transmits the attitude data of the unmanned aerial vehicle and the working state parameters of the actuating mechanism to the ground station equipment in real time through the communication equipment;
the data processing module is used for generating the flight state, attitude parameters and flight parameters of the unmanned aerial vehicle according to the measurement signals, combining the control commands, calculating and processing the control commands, and outputting switching value signals, analog signals and PWM pulse signals to the actuating mechanism to realize control of various flight modes in the unmanned aerial vehicle and management and control of the actuating mechanism;
the actuating mechanism comprises a motor electric adjusting device and a spraying device;
the communication equipment comprises a receiver module, a data transmission machine-mounted end, a data transmission ground end, a satellite navigation module and a data transmission Bluetooth relay box;
the ground station equipment comprises a remote controller, a PC ground station and a mobile phone ground station, and carries out flight monitoring through a wireless data channel;
the method is characterized in that: the ground station equipment is connected with a cloud network through the internet, the cloud network comprises a resource management module, an operation module and an order task module,
the resource management module comprises user management, airplane management and plot management; the operation module comprises an operation map, an operation list, operation screening and operation details, and administrators, plant protection teams and flight users can check the geographic distribution, the operation list and the operation details (completed operation/operation in progress) through the operation module; the order task module is used for generating and managing orders, and the orders comprise plant protection team orders and flight hand tasks.
Wherein the content of the first and second substances,
the operation of all users is realized through user management, which comprises the following steps: the method comprises the following steps of logging in, logging out, modifying user information and modifying a password, wherein the users are divided into a flyer user, an administrator user and a plant protection team user according to authority users, and the administrator user can operate the administrator user and the plant protection team user, and the method comprises the following steps: newly-built, look for, modify, enable and forbid, plant protection team user can operate the femto user, include: creating, viewing, modifying, enabling and disabling; the user information comprises a user name, an account type, a contact name, a mobile phone number and an updater.
The user of the plant protection team can manage the airplane in the team through the airplane management, and the method comprises the following steps: registering the aircraft, viewing a list of aircraft, viewing details of the aircraft, editing the aircraft, disabling/enabling the aircraft, wherein the operation of the registered aircraft is completed on ground station equipment, and the registered aircraft can be viewed by a plant protection team user.
Each row in the airplane list represents an airplane, and the page lists the brief information of the airplane, which comprises the following steps: name, flight control number, operating state, cumulative operating area, enable/disable state.
The plant protection team user can edit the airplane information and disable/enable the airplane, and after the airplane is disabled, the airplane cannot upload the operation data.
The operation of the operation area is realized through the plot management, the operation comprises plot type information and the plot management, the plot type information is used for displaying basic information of the plot, the basic information comprises a work area, a surveying mode, an enabling/disabling state, uploading time upload people and reference information, wherein the work area is formed by the plot name, the plot number, the address, the boundary and an obstacle area, and the surveying mode adopts RTK (real time kinematic) or common surveying or screen point taking surveying; and the flier user uploads and downloads the plot information through plot management, and the plant protection team user checks the plot list, the plot distribution and the plot details through the plot management and deletes or enables/disables the plot.
Wherein the content of the first and second substances,
the operation map displays the operation in the map according to the geographic position, automatically aggregates the adjacent operation according to the zoom precision of the map, provides condition screening to quickly search the operation, and can also switch between a satellite mode or a map mode. The method comprises the steps of displaying the operation information of all plant protection teams on the same day, the operation information of all flying hands on the same day and the operation information of the current flying hands on the same day in a map mode, and displaying the information of the operation including operation names, plant protection teams, application rates, operated areas, operation distances and flight time by clicking airplane marks in the map.
And the operation list displays the operation information of all plant protection teams on the day, the operation information of all flying hands on the day and the operation information of the current flying hands on the day in a map form, and the operation information in the list can be derived.
And in the job screening, the screening of job information is supported by both the job map and the job list, and the screening conditions of different roles (administrator/plant protection team/flight hand) are different. The screening conditions were as follows:
1) the administrator can screen: plant protection team, job type, job status, time;
2) the plant protection team can screen: flyer, airplane, operation type, operation state, time;
3) the flyer can screen: job type, job status, time.
The operation details, the user can check the operation basic information, the operation real-time data and the flight track of the airplane. The operation is divided into: real-time jobs and completed jobs. The real-time operation can only check the current operation and flight track; the whole operation and the flight track can be checked after the operation is finished, and the operations of playing, pausing and stopping are supported; through real-time operation, a user can check operation basic information, operation real-time data and an airplane flight track; the user can view the completed job information by playing back the completed job, including: the operation basic information, the operation real-time data and the flight track video of the airplane support the operations of playing, pausing and stopping.
The operation information comprises an operation name, an address, an operation number, an airplane name, a flyer name, an operation state (real-time or completed), an affiliated task, GPS starting time, GPS ending time, an affiliated plant protection team, a flight record and operation accumulated information,
the flight records comprise flight, flight modes (comprising attitude keeping, GNSS, position keeping, autonomous operation, altitude keeping and hovering waiting), attitude information tracks (comprising pitching, rolling and yawing), space information (comprising tracks with operation information coordinate points, flight speed, radar altitude and air pressure altitude), flight time, sensor information (comprising data of a spraying amplitude, a water pump valve, a flowmeter, an accelerator amount, battery voltage, liquid medicine level, a gyroscope, a remote controller, an accelerometer, a magnetic compass, vibration and GNSS);
the operation accumulated information comprises total application amount, unit application amount, flight time, flight distance, operation distance and operation area, wherein the total application amount is the flow speed measured by the flowmeter, the operation time and the unit application amount is the total application amount/operation area.
The ground station equipment carries out track planning, formation and heterogeneous multi-unmanned aerial vehicle collaborative planning on the multi-unmanned aerial vehicle according to data provided by the cloud network, the main controller realizes the control of the unmanned aerial vehicle imitating the ground flight, the high-reliability fault-tolerant control and the autonomous obstacle avoidance, and the specific steps are as follows:
step 1, establishing a work prescription chart and a three-dimensional microtopography;
step 2, planning a flight path based on the operation prescription chart and the three-dimensional microtopography;
the method specifically comprises the following steps: the ground station equipment carries out autonomous flight path planning according to the operation prescription diagram and the three-dimensional micro-terrain, and adopts a Delaunay diagram method, a Warshall-Floyd algorithm and a multi-population mixed particle swarm genetic algorithm to plan an optimal path of unmanned aerial vehicle plant protection operation;
step 3, forming a plurality of unmanned aerial vehicles, controlling the plurality of unmanned aerial vehicles by ground station equipment, generating a flight track of each unmanned aerial vehicle in real time according to a parallel operation process, and uploading the flight tracks to the unmanned aerial vehicles for operation;
the method specifically comprises the following steps: and (3) the ground station equipment establishes an automatic farmland operation planning scheme and a one-station multi-machine cooperative control scheme under the constraint of the most energy-saving and shortest-distance targets according to the three-dimensional microtopography and the operation prescription diagram in the step (1) and based on a sparse A-Star algorithm and multi-machine coordinated flight path planning of a master-slave model, controls a plurality of unmanned aerial vehicles to take off from the same place and reach the position of an irregular farmland edge aggregation area, and then performs plant protection operation in an expected formation form.
By the method, automatic planning of farmland operation energy load matching and one-station multi-machine cooperative control functions are realized, farmland operation working efficiency and traversal coverage rate are improved, and the requirement of simultaneous arrival and mutual collision avoidance among unmanned aerial vehicles is met.
Step 4, performing heterogeneous multi-unmanned aerial vehicle collaborative planning;
the method specifically comprises the following steps: the heterogeneous multi-unmanned aerial vehicle collaborative planning of the ground station equipment comprises a code division multiple access system, dynamic random access and communication control of a dynamic reconstruction technology, the ground station equipment and an unmanned aerial vehicle cluster share a mesh communication network, the unmanned aerial vehicle can dynamically and randomly log in and log out of the communication network, and the unmanned aerial vehicle has a link function dynamic reconstruction function and realizes interconnection and intercommunication of the unmanned aerial vehicles with different address codes; the coordinated information transmission among the multiple unmanned aerial vehicles enables the obstacle information detected by any single unmanned aerial vehicle to be transmitted to other unmanned aerial vehicles and ground station equipment through a mesh communication network;
thereby greatly improving the safety of the whole unmanned aerial vehicle cluster.
Step 5, controlling the unmanned aerial vehicle to fly in a ground imitation manner;
the main controller determines the distance between the unmanned aerial vehicle and the ground through a fixed-height radar signal, compares the distance with the design top height of a flight route to obtain an initial height, corrects the initial height through measuring the vertical acceleration of the acceleration, and measures the current altitude as a standby height by using the air pressure.
According to the scheme, the multiple sensors are adopted for fitting application, so that the accuracy of ground-attached flight is guaranteed, the airplane can realize quick lifting and slow descending (accelerometer correction) under certain complex conditions (such as a large pit, a deep ridge and the like in the ground), and the safe flight protection can be carried out by using the pressure data when the radar is in high failure.
Step 6, performing high-reliability fault-tolerant control on the unmanned aerial vehicle based on self-adaptive fault tolerance;
the main controller adopts a model reference adaptive inverse control algorithm based on a neural network to realize the high-reliability fault-tolerant control of the unmanned aerial vehicle, the controller part of the neural network model reference adaptive inverse system is composed of the neural network, the parameters of the neural network controller are adjusted by utilizing errors, meanwhile, an inverse model is added to realize linearization and decoupling, and the inverse model is compensated by the neural network, so that the system achieves satisfactory dynamic characteristics.
The high-reliability fault-tolerant control of the unmanned aerial vehicle is realized by adopting a model reference adaptive inverse control algorithm based on a neural network, the aim of model reference adaptive control is to make a tracking error converge to zero, and a deviation signal between the actual output of the system and the output of a reference model is input into an adaptive mechanism so as to adjust parameters in a control law.
Step 7, controlling the unmanned aerial vehicle to avoid obstacles;
the method specifically comprises the following steps: during autonomous flight, the unmanned aerial vehicle temporarily bypasses the obstacle point through manual flight, meanwhile, the unmanned aerial vehicle records the position of the next target point, and the unmanned aerial vehicle continues to perform spraying action after bypassing the obstacle point;
the method can effectively avoid obstacles such as trees, telegraph poles and the like frequently appearing in agricultural plots, and ensures the safe operation of the plant protection operation process.
The plant protection team order comprises basic information, money, contacts, operation time, system records, operation land information (including land addresses, crop names and crop heights), medicament types, field assistance and settlement bases.
The above-described embodiment merely represents one embodiment of the present invention, but is not to be construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.
Claims (1)
1. A plant protection unmanned aerial vehicle management system comprises a main controller, an execution mechanism, communication equipment, ground station equipment and a cloud network,
the main controller comprises a data acquisition module, a data processing module and a communication module, realizes the flight control and flight management function requirements of unmanned aerial vehicles of different models by modifying the internal program and peripheral circuits of the main controller,
the data acquisition module acquires measurement signals of each sensor, wherein the measurement signals comprise a gyro signal, a course signal, a rudder deflection angle signal, a liquid level signal and a height-fixed radar signal and are uploaded to the data processing module;
the communication module receives a control command transmitted by the ground station equipment uplink channel and transmitted by the communication equipment, and simultaneously transmits the attitude data of the unmanned aerial vehicle and the working state parameters of the actuating mechanism to the ground station equipment in real time through the communication equipment;
the data processing module is used for generating the flight state, attitude parameters and flight parameters of the unmanned aerial vehicle according to the measurement signals, combining the control commands, calculating and processing the control commands, and outputting switching value signals, analog signals and PWM pulse signals to the actuating mechanism to realize control of various flight modes in the unmanned aerial vehicle and management and control of the actuating mechanism;
the actuating mechanism comprises a motor electric adjusting device and a spraying device;
the communication equipment comprises a receiver module, a data transmission machine-mounted end, a data transmission ground end, a satellite navigation module and a data transmission Bluetooth relay box;
the ground station equipment comprises a remote controller, a PC ground station and a mobile phone ground station, and carries out flight monitoring through a wireless data channel;
the ground station equipment is connected with a cloud network through the internet, the cloud network comprises a resource management module, an operation module and an order task module,
the resource management module comprises user management, airplane management and plot management; the operation module comprises an operation map, an operation list, operation screening and operation details, and administrators, plant protection teams and flight users can check the geographic distribution of the operation, check the operation list and check the operation details of completed operation/operation in progress through the operation module; the order task module is used for generating and managing orders, and the orders comprise plant protection team orders and flight hand tasks;
wherein, the operation to all users is realized through user management, including: the method comprises the following steps of logging in, logging out, modifying user information and modifying a password, wherein the users are divided into a flyer user, an administrator user and a plant protection team user according to authority users, and the administrator user operates the administrator user and the plant protection team user, and the method comprises the following steps: newly-built, look for, modify, enable and forbid, the plant protection team user operates the femto user, include: creating, viewing, modifying, enabling and disabling; the user information comprises a user name, an account type, a contact name, a mobile phone number and an updater;
managing airplanes in a plant protection team user management team by airplanes, comprising: registering the airplane, checking an airplane list, checking the details of the airplane, editing the airplane, disabling/enabling the airplane, wherein the operation of the registered airplane is finished on ground station equipment, and a plant protection team user can check the registered airplane;
each row in the airplane list represents an airplane, and the page lists the brief information of the airplane, which comprises the following steps: name, flight control number, operating state, accumulated operating area, enabled/disabled state;
the plant protection team user edits airplane information and disables/enables the airplane, and after the airplane is disabled, the airplane cannot upload operation data;
the operation of the operation area is realized through the plot management, the operation comprises plot type information and the plot management, the plot type information is used for displaying basic information of the plot, the basic information comprises a work area, a surveying mode, an enabling/disabling state, uploading time upload people and reference information, wherein the work area is formed by the plot name, the plot number, the address, the boundary and an obstacle area, and the surveying mode adopts RTK (real time kinematic) or common surveying or screen point taking surveying; the method comprises the following steps that a flier user uploads and downloads plot information through plot management, and a plant protection team user checks a plot list, plot distribution and plot details through the plot management and deletes or enables/disables the plot;
wherein the content of the first and second substances,
the operation map displays the operation in the map according to the geographic position, automatically aggregates the adjacent operation according to the zoom precision of the map, provides condition screening to quickly search the operation and switches between a satellite mode and a map mode; displaying the operation information of all plant protection teams on the same day, the operation information of all flying hands on the same day and the operation information of the current flying hands on the same day in a map form, and displaying the operation name, the plant protection teams, the pesticide application amount, the operated area, the operation distance and the flight time of the operation by clicking the airplane identifier in the map;
the operation list displays the operation information of all plant protection teams on the day, the operation information of all flying hands on the day and the operation information of the current flying hands on the day in a map form, and the operation information in the list can be derived;
the method comprises the following steps of job screening, wherein job information is screened by both a job map module and a job list module, and screening conditions of different roles are different; the screening conditions were as follows:
1) the administrator can screen: plant protection team, job type, job status, time;
2) the plant protection team can screen: flyer, airplane, operation type, operation state, time;
3) the flyer can screen: job type, job status, time;
the operation details are that a user can check operation basic information, operation real-time data and an airplane flight track; the operation is divided into: real-time jobs and completed jobs; the real-time operation can only check the current operation and flight track; the whole operation and the flight track can be checked after the operation is finished, and the operations of playing, pausing and stopping are supported; through real-time operation, a user can check operation basic information, operation real-time data and an airplane flight track; the user can view the completed job information by playing back the completed job, including: the operation basic information, the operation real-time data and the flight track video of the airplane support the operations of playing, pausing and stopping;
the operation information comprises an operation name, an address, an operation number, an airplane name, a flyer name, a real-time or finished operation state, an affiliated task, GPS starting time, GPS ending time, an affiliated plant protection team, a flight record and operation accumulated information,
the flight record comprises a flight mode, attitude information, space information, flight time and sensor information; the flight mode comprises flight attitude keeping, GNSS, position keeping, autonomous operation, altitude keeping and hovering, attitude information comprises pitching, rolling and yawing, spatial information comprises a flight path with an operation information coordinate point, flight speed, radar altitude and air pressure altitude, and sensor information comprises a spraying amplitude, a water pump valve, a flow meter, an accelerator amount, battery voltage, liquid medicine liquid level, a gyroscope, a remote controller, an accelerometer, a magnetic compass, vibration and GNSS data;
the operation accumulated information comprises total application amount, unit application amount, flight time length, flight distance, operation distance and operation area, wherein the total application amount is the flow speed measured by the flowmeter and the operation time length, and the unit application amount is the total application amount/operation area;
the plant protection team orders comprise basic information, money, contacts, operation time, system records, operation land information, medicament types, on-site assistance and settlement basis; the operation land information comprises a land address, a crop name and a crop height;
the ground station equipment carries out track planning, formation and heterogeneous multi-unmanned aerial vehicle collaborative planning on the multi-unmanned aerial vehicle according to data provided by the cloud network, the main controller realizes the control of the unmanned aerial vehicle imitating the ground flight, the high-reliability fault-tolerant control and the autonomous obstacle avoidance, and the specific steps are as follows:
step 1, establishing a work prescription chart and a three-dimensional microtopography;
step 2, planning a flight path based on the operation prescription chart and the three-dimensional microtopography;
the method specifically comprises the following steps: the ground station equipment carries out autonomous flight path planning according to the operation prescription diagram and the three-dimensional micro-terrain, and adopts a Delaunay diagram method, a Warshall-Floyd algorithm and a multi-swarm hybrid particle swarm genetic algorithm to plan the optimal path of the unmanned aerial vehicle plant protection operation;
step 3, forming a plurality of unmanned aerial vehicles, controlling the plurality of unmanned aerial vehicles by ground station equipment, generating a flight track of each unmanned aerial vehicle in real time according to a parallel operation process, and uploading the flight tracks to the unmanned aerial vehicles for operation;
the method specifically comprises the following steps: the ground station equipment establishes an automatic farmland operation planning scheme and a one-station multi-machine cooperative control scheme under the constraint of the most energy-saving and shortest-distance targets according to the three-dimensional microtopography and the operation prescription diagram in the step 1 and based on a sparse A-Star algorithm and multi-machine coordinated flight path planning of a master-slave model, controls a plurality of unmanned aerial vehicles to take off from the same place and reach the position of an irregular farmland edge aggregation area, and then performs plant protection operation in an expected formation;
step 4, performing heterogeneous multi-unmanned aerial vehicle collaborative planning;
the method specifically comprises the following steps: the heterogeneous multi-unmanned aerial vehicle collaborative planning of the ground station equipment comprises a code division multiple access system, dynamic random access and communication control of a dynamic reconstruction technology, the ground station equipment and an unmanned aerial vehicle cluster share a mesh communication network, the unmanned aerial vehicle can dynamically and randomly log in and log out of the communication network, and the unmanned aerial vehicle has a link function dynamic reconstruction function and realizes interconnection and intercommunication of the unmanned aerial vehicles with different address codes; the coordinated information transmission among the multiple unmanned aerial vehicles enables the obstacle information detected by any single unmanned aerial vehicle to be transmitted to other unmanned aerial vehicles and ground station equipment through a mesh communication network;
step 5, controlling the unmanned aerial vehicle to fly in a ground imitation manner;
the main controller determines the distance between the unmanned aerial vehicle and the ground through a fixed-height radar signal, obtains an initial height through comparison with the designed top height of a flight path, corrects the initial height through the vertical acceleration measured by the accelerometer, and uses the current altitude measured by the air pressure as a standby height;
step 6, performing high-reliability fault-tolerant control on the unmanned aerial vehicle based on self-adaptive fault tolerance;
the main controller adopts a model reference adaptive inverse control algorithm based on a neural network to realize the high-reliability fault-tolerant control of the unmanned aerial vehicle, the controller part of the neural network model reference adaptive inverse system is composed of the neural network, the parameters of the neural network controller are adjusted by using errors, meanwhile, an inverse model is added to realize linearization and decoupling, and the inverse model is compensated by the neural network, so that the system achieves satisfactory dynamic characteristics;
the high-reliability fault-tolerant control of the unmanned aerial vehicle is realized by adopting a model reference adaptive inverse control algorithm based on a neural network, the target of the model reference adaptive inverse control is to make the tracking error converge to zero, and a deviation signal between the actual output of the system and the output of a reference model is input into an adaptive mechanism so as to adjust parameters in a control law;
step 7, controlling the unmanned aerial vehicle to avoid obstacles;
the method specifically comprises the following steps: during autonomic flight, temporarily walk around the obstacle through manual flight, unmanned aerial vehicle remembers next target point position simultaneously, walks around obstacle point back unmanned aerial vehicle and continues to carry out and spray the action.
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