CN111240348B - Unmanned aerial vehicle landing control method based on motion base, computer readable storage medium and control equipment - Google Patents
Unmanned aerial vehicle landing control method based on motion base, computer readable storage medium and control equipment Download PDFInfo
- Publication number
- CN111240348B CN111240348B CN202010073960.6A CN202010073960A CN111240348B CN 111240348 B CN111240348 B CN 111240348B CN 202010073960 A CN202010073960 A CN 202010073960A CN 111240348 B CN111240348 B CN 111240348B
- Authority
- CN
- China
- Prior art keywords
- unmanned aerial
- aerial vehicle
- motion base
- base
- landing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000033001 locomotion Effects 0.000 title claims abstract description 175
- 238000000034 method Methods 0.000 title claims abstract description 53
- 238000004590 computer program Methods 0.000 claims description 13
- 230000003068 static effect Effects 0.000 claims description 12
- 239000002131 composite material Substances 0.000 claims description 10
- 238000004364 calculation method Methods 0.000 claims description 7
- 238000013459 approach Methods 0.000 claims description 6
- 150000001875 compounds Chemical class 0.000 claims description 5
- 230000004888 barrier function Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention belongs to a control method of an aviation aircraft, in particular to a control method, a computer readable storage medium and control equipment for landing of a composite-configuration fixed-wing unmanned aerial vehicle based on a motion base, which solve the technical problem that the landing of the composite-configuration fixed-wing unmanned aerial vehicle on a motion base platform is difficult to carry out due to the fact that fixed position points are relied on in the taking-off and landing process of the composite-configuration fixed-wing unmanned aerial vehicle in the prior art, divide landing into four steps of approaching, guiding accompanying, lowering and completing landing, and control the lowering and the gesture and the heading of the unmanned aerial vehicle by a rotor wing, and simultaneously control the transverse relative position and the speed of the unmanned aerial vehicle and the motion base, and control the relative position and the speed of the unmanned aerial vehicle and the motion base along the longitudinal direction by an engine. The computer readable storage medium and the control device take corresponding hardware as a carrier to realize the landing control method of the invention.
Description
Technical Field
The invention belongs to a control method of an aviation aircraft, and particularly relates to a control method, a computer-readable storage medium and control equipment for a composite-configuration fixed-wing unmanned aerial vehicle landing based on a motion base.
Background
Conventional unmanned aerial vehicles are generally divided into fixed wings and multiple rotors. The fixed wing unmanned plane has the advantages of high flying speed, long endurance time and long voyage, but the fixed wing unmanned plane needs to run by utilizing a runway in the taking-off and landing process and cannot hover in the air; the multi-rotor unmanned aerial vehicle can take off and land vertically, has no special requirement on the take-off and landing site, and can hover in the air, but the flying speed and the endurance time are difficult to compare with those of the fixed-wing unmanned aerial vehicle.
The derived composite configuration fixed wing unmanned aerial vehicle is characterized in that a plurality of rotor wing mechanisms are added on the basis of the layout of a conventional fixed wing unmanned aerial vehicle, so that the fixed wing unmanned aerial vehicle has the capability of vertical take-off and landing. The existing compound fixed wing unmanned aerial vehicle takes off and land in-process all adopts many rotor modes to take off and land, and unmanned aerial vehicle closes at the in-process many rotors of aerial flight, adopts fixed wing mode flight, and this kind of unmanned aerial vehicle both possesses the advantage that fixed wing unmanned aerial vehicle flight speed is fast, duration is long and the range is far away, possesses the advantage that many rotor unmanned aerial vehicle can take off and land perpendicularly again, uses nimble convenience.
However, in the existing taking-off and landing process of the composite-configuration fixed-wing unmanned aerial vehicle, a multi-rotor mode is adopted for taking-off and landing, and the fixed-position point is relied on, and in the process that the composite-configuration fixed-wing unmanned aerial vehicle flies in a multi-rotor mode, the aircraft is complex in structure, the maximum flying speed in the horizontal direction can only be maintained to be about 5m/s generally, meanwhile, the maneuverability is limited, and taking-off and landing on a moving base platform are difficult.
Disclosure of Invention
The invention mainly aims to solve the technical problem that a fixed position point is dependent in the lifting process of a composite-configuration fixed-wing unmanned aerial vehicle in the prior art and the fixed-wing unmanned aerial vehicle is difficult to land on a moving base platform, and provides a moving base-based landing control method, a computer-readable storage medium and control equipment for the composite-configuration fixed-wing unmanned aerial vehicle.
In order to achieve the above purpose, the present invention provides the following technical solutions:
the unmanned aerial vehicle landing control method based on the motion base is characterized by comprising the following steps of:
The unmanned aerial vehicle flies to the rear of the motion base after receiving the landing instruction, and maintains the preset accompanying flying height until the unmanned aerial vehicle flies to reach the preset distance from the motion base, and then the rotor motor is started to be converted into a composite flying mode;
Maintaining the flying heading of the unmanned aerial vehicle to be consistent with the heading of the motion base, and enabling the unmanned aerial vehicle to fly to the position right above a drop point on the motion base; then, the unmanned aerial vehicle maintains a preset accompanying flight height, maintains relative static with the motion base, and maintains the consistent heading with the motion base until the unmanned aerial vehicle receives a descending instruction;
step 3, lowering the height of the unmanned aerial vehicle
The rotor wing of the unmanned aerial vehicle controls the gesture, heading, height and vertical speed of the unmanned aerial vehicle and the transverse relative positions of the unmanned aerial vehicle and the motion base; simultaneously, controlling the longitudinal relative position of the unmanned aerial vehicle and the motion base and the relative speed of the unmanned aerial vehicle and the motion base by an engine of the unmanned aerial vehicle; enabling the unmanned aerial vehicle to vertically land downwards, keeping relative static with the motion base in the horizontal direction, and keeping the heading of the unmanned aerial vehicle consistent with that of the motion base until the unmanned aerial vehicle reaches a landing point on the motion base;
After the unmanned aerial vehicle detects the ground contact, the rotor motor and the engine are closed, and landing is completed.
Further, the drop command and the drop command are issued by a ground control station.
Further, step 1 is specifically that a motion base positioning and guiding device is carried on the motion base, the motion base positioning and guiding device receives position, speed and course information of the unmanned aerial vehicle and the motion base, the motion base positioning and guiding device obtains real-time relative position information and relative speed information of the unmanned aerial vehicle and the motion base through calculation, the information is sent to a ground control station, the ground control station sends the information to the unmanned aerial vehicle through a data link system, the unmanned aerial vehicle controls flying through a rotor wing and an engine of the unmanned aerial vehicle according to the received relative position information and the relative speed information, the unmanned aerial vehicle maintains a preset accompanying height, the relative distance between the unmanned aerial vehicle and the motion base reaches a preset relative distance, and a rotor wing motor is started to be converted into a composite flying mode.
Further, in step 2, the unmanned aerial vehicle flies to the falling point on the motion base and specifically is, carry on motion base location guidance equipment on the motion base, motion base location guidance equipment receives unmanned aerial vehicle and motion base's position, speed and course information, motion base location guidance equipment obtains unmanned aerial vehicle and motion base real-time relative position and speed information through calculation, send ground control station, send unmanned aerial vehicle through data link system by ground control station again, unmanned aerial vehicle flies according to the relative position and the speed information of receipt, through unmanned aerial vehicle's rotor and engine control, make unmanned aerial vehicle fly to the falling point on the motion base directly over.
Further, in step 2, the specific method for controlling the unmanned aerial vehicle to fly to the position right above the falling point on the motion base by the rotor wing and the engine of the unmanned aerial vehicle is as follows: the rotor wing of the unmanned aerial vehicle controls the gesture, heading and flying height of the unmanned aerial vehicle, and the transverse relative positions of the unmanned aerial vehicle and the motion base; simultaneously, controlling the longitudinal relative position of the unmanned aerial vehicle and the motion base and the relative speed of the unmanned aerial vehicle and the motion base by an engine of the unmanned aerial vehicle; the unmanned aerial vehicle flies to the position right above the falling point on the motion base from the rear of the motion base, then keeps relatively static with the motion base, the heading of the unmanned aerial vehicle is consistent with that of the motion base, and the unmanned aerial vehicle keeps horizontal flight and maintains a preset accompanying flight height.
Further, in step 2, the specific method for controlling the unmanned aerial vehicle to fly to the position right above the drop point on the motion base by the rotor wing and the engine of the unmanned aerial vehicle is as follows: the rotor wing of the unmanned aerial vehicle controls the gesture, heading and flying height of the unmanned aerial vehicle, and the transverse relative positions of the unmanned aerial vehicle and the motion base; simultaneously, controlling the longitudinal relative position of the unmanned aerial vehicle and the motion base and the relative speed of the unmanned aerial vehicle and the motion base by an engine of the unmanned aerial vehicle; the rotor wing of the unmanned aerial vehicle controls the unmanned aerial vehicle to roll and maneuver to a preset transverse relative distance with the motion base, and then controls the unmanned aerial vehicle to fly towards the direction of the motion base through the engine, so that the unmanned aerial vehicle flies against the positive side of the falling point of the motion base; after the unmanned aerial vehicle reaches the positive side of the landing point of the motion base, the longitudinal relative position and the relative speed of the unmanned aerial vehicle and the motion base are controlled to be within a preset threshold range through the engine, the unmanned aerial vehicle is controlled to roll and maneuver to the position right above the landing point on the motion base by utilizing the rotor, then the unmanned aerial vehicle is kept relatively static with the motion base, and the heading of the unmanned aerial vehicle is kept consistent with that of the motion base.
Further, the unmanned aerial vehicle is controlled by the rotor wing, the attitude, the heading, the height and the vertical speed of the unmanned aerial vehicle, and the transverse relative positions of the unmanned aerial vehicle and the motion base are controlled in a closed loop mode, the unmanned aerial vehicle is controlled by the engine of the unmanned aerial vehicle to be controlled by the longitudinal relative positions of the unmanned aerial vehicle and the motion base, and the relative speeds of the unmanned aerial vehicle and the motion base are controlled in a closed loop mode, so that real-time control can be performed, and the control is more accurate.
A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method as described above.
A control device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method as described above when executing the computer program.
Compared with the prior art, the invention has the beneficial effects that:
1. the unmanned aerial vehicle landing control method based on the motion base can realize that the composite fixed wing unmanned aerial vehicle lands on the middle-low speed motion base, and can expand the application environment of the composite fixed wing unmanned aerial vehicle. The landing is divided into four steps of approaching a motion base, guiding accompanying, lowering height and completing landing: in the approaching process, the unmanned aerial vehicle receives a landing instruction and flies to the rear of the motion base first until reaching a preset relative distance, and then a rotor motor is started; then, under the common control of the rotor wing and the engine, the aircraft flies in a composite state and flies together after flying to the position right above the drop point on the motion base; and after receiving the descending instruction, vertically descending to a descending point, and then closing the rotor motor and the engine to finish descending. In the process that the unmanned aerial vehicle lands to the landing point on the motion base from flying, through the mixed control of rotor and engine, make full use of the advantage that compound fixed wing unmanned aerial vehicle utilized the rotor to take off and land perpendicularly, utilized fixed wing unmanned aerial vehicle's high-speed flight ability simultaneously to realized the landing of compound fixed wing unmanned aerial vehicle on the low-speed motion base in.
2. According to the invention, two modes are provided right above the landing point of the flying-supporting to the moving base, so that the unmanned aerial vehicle can adapt to landing under various environments, and the landing point of the flying-supporting to the side of the moving base from the rear of the moving base can be selected according to the peripheral obstacle condition during landing, so that the application range of unmanned aerial vehicle landing is wider.
3. The control method can be realized by means of the ground control station, the motion base positioning and guiding device and the data chain, and the control method is realized accurately.
4. The rotor wing and the engine of the invention perform closed-loop control on the unmanned aerial vehicle in the processes of approaching the motion base, guiding accompanying flight and lowering altitude, and perform real-time control according to real-time information of the unmanned aerial vehicle, so that the control is more accurate.
5. The computer readable storage medium of the invention can store the control method as a program, and the control method can be realized when the computer program is executed by a processor, so that the aim of controlling the landing of the unmanned aerial vehicle is finally achieved.
6. The control device of the invention can store the control method as a program, and the processor can execute the program to realize the control of the unmanned aerial vehicle.
Drawings
Fig. 1 is a schematic flow chart of a first embodiment and a second embodiment of the present invention;
fig. 2 is a dynamic schematic diagram of the first embodiment and the second embodiment of the present invention (the dashed line in the figure is the motion track of the unmanned aerial vehicle, and the arrow in the figure is the advancing direction of the motion base);
fig. 3 is a schematic diagram of two modes of landing the unmanned aerial vehicle on the motion base in the first embodiment and the second embodiment of the present invention (the arrow in the figure is the advancing direction of the motion base);
FIG. 4 is a schematic illustration of the embodiment of FIG. 1 according to the present invention;
fig. 5 is a schematic flow chart of the unmanned aerial vehicle flying over the falling point of the motion base in the first embodiment of the invention;
fig. 6 is a schematic flow chart of a procedure of flying an unmanned aerial vehicle right above a landing point of a motion base in a second embodiment of the invention;
wherein, 1-the motion base; 2-unmanned aerial vehicle.
Detailed Description
The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments of the present invention and the accompanying drawings, and it is apparent that the described embodiments do not limit the present invention.
Example 1
As shown in fig. 1, 2 and 4, the unmanned aerial vehicle landing control method based on the motion base comprises the following steps:
s1, enabling unmanned aerial vehicle to approach a motion base
The unmanned aerial vehicle 2 flies to the rear of the motion base 1 after receiving the landing instruction, the preset accompanying flying height is maintained until the unmanned aerial vehicle 2 flies to reach the preset relative distance from the motion base 1, and a rotor motor is started to be converted into a composite flying mode;
s2, guiding accompanying flight of unmanned aerial vehicle
As shown in fig. 5, the rotor of the unmanned aerial vehicle 2 controls the attitude, heading, flying height of the unmanned aerial vehicle, and the lateral relative positions of the unmanned aerial vehicle 2 and the motion base 1; simultaneously, controlling the longitudinal relative positions of the unmanned aerial vehicle 2 and the motion base 1 and the relative speeds of the unmanned aerial vehicle 2 and the motion base 1 by an engine of the unmanned aerial vehicle 2; the unmanned aerial vehicle 2 flies to the position right above the falling point of the moving base 1 from the rear of the moving base 1, the course of the unmanned aerial vehicle 2 in the flying process is consistent with that of the moving base 1, and the unmanned aerial vehicle 2 keeps flying horizontally and maintains a preset accompanying flying height. After the unmanned aerial vehicle 2 flies to the position above the falling point on the motion base 1, the unmanned aerial vehicle 2 maintains a preset accompanying height and keeps relative static with the motion base 1, and the heading is kept consistent with the motion base 1 until the unmanned aerial vehicle 2 receives a descending instruction;
s3, lowering the height of unmanned aerial vehicle
The rotor wing of the unmanned aerial vehicle 2 controls the gesture, heading, altitude and vertical speed of the unmanned aerial vehicle, and the transverse relative positions of the unmanned aerial vehicle 2 and the motion base 1; simultaneously, controlling the longitudinal relative positions of the unmanned aerial vehicle 2 and the motion base 1 and the relative speeds of the unmanned aerial vehicle 2 and the motion base 1 by an engine of the unmanned aerial vehicle 2; the unmanned aerial vehicle 2 is enabled to vertically and downwards land, and keeps relative static with the motion base 1 in the horizontal direction, the heading of the unmanned aerial vehicle 2 is kept consistent with the motion base 1 until the unmanned aerial vehicle 2 reaches a landing point on the motion base 1;
s4, the unmanned aerial vehicle finishes landing
After the unmanned plane 2 detects the ground contact, the rotor motor and the engine are closed, and landing is completed.
The method is suitable for the unmanned aerial vehicle to land, the rear of the moving base is free from barriers, and the unmanned aerial vehicle can fly to the position right above the landing point from the rear of the moving base.
Example two
According to the unmanned aerial vehicle landing control method based on the motion base, the unmanned aerial vehicle flies to the position right above the landing point on the motion base in the following manner:
as shown in fig. 6, the rotor of the unmanned aerial vehicle 2 controls the attitude, heading, flying height of the unmanned aerial vehicle, and the lateral relative positions of the unmanned aerial vehicle 2 and the motion base 1; simultaneously, controlling the longitudinal relative positions of the unmanned aerial vehicle 2 and the motion base 1 and the relative speeds of the unmanned aerial vehicle 2 and the motion base 1 by an engine of the unmanned aerial vehicle 2; the rotor wing of the unmanned aerial vehicle 2 controls the unmanned aerial vehicle to roll and maneuver to a preset transverse relative distance with the motion base 1, and then controls the unmanned aerial vehicle 2 to fly towards the motion base 1 through the engine, so that the unmanned aerial vehicle flies against the positive side of the landing point of the motion base 1; after the unmanned aerial vehicle reaches the positive side of the landing point of the motion base 1, the longitudinal relative position and the relative speed of the unmanned aerial vehicle 2 and the motion base 1 are controlled to be within a preset threshold range through an engine, the unmanned aerial vehicle 2 is controlled to roll and maneuver to the position right above the landing point on the motion base 1 by utilizing a rotor, then the unmanned aerial vehicle 2 and the motion base 1 are kept relatively static, and the heading of the unmanned aerial vehicle 2 is kept consistent with that of the motion base 1.
The method is suitable for the unmanned aerial vehicle to land, the side of the moving base is free from barriers, and the unmanned aerial vehicle can fly from the side of the moving base to the position right above the landing point.
As shown in fig. 3, two guiding accompanying modes in the first embodiment and the second embodiment are correspondingly shown, wherein in the first embodiment, the unmanned aerial vehicle 2 flies to a landing point along the direction a, namely, the rear of the motion base 1; the second embodiment corresponds to the unmanned aerial vehicle 2 flying against the landing point along the direction B, namely, the side of the motion base 1.
Wherein, the landing command and the descending command are sent by the ground control station. In practical application, the control can be performed in other ways.
The motion base is provided with a motion base positioning and guiding device, and the unmanned aerial vehicle is controlled by adopting the following modes: in step 1, the motion base positioning and guiding device receives the position, speed and course information of the unmanned aerial vehicle and the motion base, the motion base positioning and guiding device obtains the real-time relative position information and the real-time relative speed information of the unmanned aerial vehicle and the motion base through calculation, the real-time relative position information and the real-time relative speed information are sent to the ground control station, the ground control station sends the information to the unmanned aerial vehicle through the data link system, the unmanned aerial vehicle controls flying through a rotor wing and an engine of the unmanned aerial vehicle according to the received relative position information and the received relative speed information, the unmanned aerial vehicle is enabled to maintain a preset accompanying height, the distance between the unmanned aerial vehicle and the motion base reaches a preset relative distance, and a rotor wing motor is started to be converted into a composite flying mode. In the step 2, no matter what way flies to fall directly above the landing point, the position, the speed and the course information of the unmanned aerial vehicle and the moving base are received by the moving base positioning and guiding equipment, the moving base positioning and guiding equipment obtains the real-time relative position information and the real-time relative speed information of the unmanned aerial vehicle and the moving base through calculation, the real-time relative position information and the real-time relative speed information are sent to the ground control station, the ground control station sends the information to the unmanned aerial vehicle through a data link system, and the unmanned aerial vehicle controls the flying through a rotor wing and an engine of the unmanned aerial vehicle according to the received relative position information and the received relative speed information. The system can also be a moving base positioning and guiding system for acquiring the position, speed and course information of the moving base and the unmanned aerial vehicle, so that partial calculation and analysis are completed, and meanwhile, the unmanned aerial vehicle also completes partial information processing. The data transmission calculation method is not limited, and can be reasonably adjusted according to actual carrying equipment.
In connection with fig. 4, a detailed explanation is made for the unmanned aerial vehicle landing control method based on the motion base:
in the process of the composite fixed wing unmanned aerial vehicle falling on the moving base, firstly, the relative position and relative speed information of the unmanned aerial vehicle and the moving base are required to be obtained through the moving base positioning and guiding equipment, and meanwhile, the absolute position and speed information of the unmanned aerial vehicle and the moving base relative to the ground are required to be obtained, and the information is used as important navigation information in the falling process. In the process of unmanned aerial vehicle landing, the heading of the unmanned aerial vehicle is required to be kept consistent with the movement direction of the moving base platform.
After the unmanned aerial vehicle receives the landing instruction, unmanned aerial vehicle flight control system will control unmanned aerial vehicle to get into the landing route, and unmanned aerial vehicle work in fixed wing mode this moment, before receiving the landing instruction, unmanned aerial vehicle flies according to fixed wing mode.
Before unmanned aerial vehicle descends, at first guide unmanned aerial vehicle to the rear of motion base advancing direction through the descending route, keep unmanned aerial vehicle and motion base's course unanimous, after unmanned aerial vehicle flies to being in same straight line with motion base, unmanned aerial vehicle begins the deceleration flight, reduces the altitude to predetermineeing the companion flying height simultaneously.
The unmanned aerial vehicle keeps the current height to be close to the moving base along the moving direction of the moving base, when the unmanned aerial vehicle flies to the position where the linear distance from the moving base is equal to the preset relative distance, the unmanned aerial vehicle starts a plurality of rotors and decelerates, so that the flying mode of the unmanned aerial vehicle is converted into a compound mode from a fixed wing mode. On the horizontal plane, the motion direction along the moving base is defined to be longitudinal, the motion direction perpendicular to the motion direction is transverse, at the moment, the multiple rotor wings are utilized to provide the lift force required by the unmanned aerial vehicle to fly, the multiple rotor wings are utilized to generate rolling moment to enable the unmanned aerial vehicle to roll, so that transverse maneuver is generated, and the forward thrust generated by the engine controls the unmanned aerial vehicle to perform longitudinal maneuver relative to the moving base.
After the unmanned aerial vehicle finishes mode conversion, the unmanned aerial vehicle enters a guiding accompanying state, the relative position of the unmanned aerial vehicle and the motion base is adjusted, the unmanned aerial vehicle is guided to reach the upper part of the falling point, and the accompanying state can be guided according to the structure of the motion base platform and the environment condition by selecting the two modes of the first embodiment and the second embodiment:
mode for the embodiment one: the unmanned aerial vehicle and the motion base keep the same direction, and the unmanned aerial vehicle flies forward to approach the motion base, and at the moment, closed-loop control is carried out according to the relative position and the speed provided by the motion base positioning and guiding device. The unmanned aerial vehicle maintains the transverse position deviation control within a preset threshold range by utilizing position closed-loop control in the process of approaching the motion base; meanwhile, the unmanned aerial vehicle is enabled to fly to the movable base continuously by utilizing thrust generated by the engine, and longitudinal position deviation is reduced. When the unmanned aerial vehicle flies to the position above the falling point of the moving base, and after the horizontal position deviation is smaller than the set threshold value, the unmanned aerial vehicle shifts to a fly accompanying state.
Mode for the second embodiment: the unmanned aerial vehicle and the motion base keep the same direction, and the unmanned aerial vehicle flies forward to approach the motion base, and at the moment, closed-loop control is carried out according to the relative position and the speed provided by the motion base positioning and guiding device. The unmanned aerial vehicle maintains the transverse position deviation to be the expected transverse relative position deviation value by utilizing position closed-loop control in the process of approaching the motion base, and simultaneously, the unmanned aerial vehicle continuously flies towards the motion base by utilizing the thrust generated by the engine, so that the longitudinal position deviation is reduced, and the unmanned aerial vehicle approaches the motion base forwards from the left side or the right side fixed deviation position of the motion base. When the longitudinal position deviation of the unmanned aerial vehicle is smaller than a set threshold value, the longitudinal position deviation is controlled to be within a desired threshold range through relative position closed-loop control, meanwhile, the unmanned aerial vehicle is enabled to generate transverse maneuver, the relative position closed-loop control is utilized to enable the transverse position deviation to be reduced and finally controlled to be within a preset threshold range, at the moment, the unmanned aerial vehicle moves towards the moving base from the lateral direction of the moving base, when the unmanned aerial vehicle flies to the position above a falling point of the moving base, and after the horizontal position deviation is smaller than the set threshold value, the unmanned aerial vehicle shifts to a accompanying state.
After the unmanned aerial vehicle enters the accompanying state, the position and the speed are controlled in a closed loop by utilizing the relative position and the relative speed provided by the movable base positioning and guiding device, so that the position of the unmanned aerial vehicle always follows the position of the falling point on the movable base, and the speed of the unmanned aerial vehicle always follows the movement speed of the movable base. In the closed-loop control process, when the lateral position generates deviation, multiple rotors are utilized to generate rolling, so that lateral maneuver is generated, the lateral deviation is eliminated, and the lateral position closed-loop is realized; when the longitudinal position is deviated, the multiple rotor wings always control the pitching attitude to keep horizontal, the thrust generated by the engine is increased or reduced to generate longitudinal maneuver, the longitudinal deviation is eliminated, and the longitudinal position closed loop is realized; when the height of the unmanned aerial vehicle deviates, the unmanned aerial vehicle is controlled to generate maneuver in the height direction through the lifting force generated by the multiple rotors, so that the height deviation is eliminated, and a height closed loop is realized; when the course generates deviation, the multi-rotor wing is utilized to generate torque to control the unmanned aerial vehicle to adjust the course, the course deviation is eliminated, and the course closed loop is realized. Through the horizontal position closed loop, the height closed loop and the course closed loop, the unmanned aerial vehicle and the movable base are kept relatively static in a certain range, and accordingly accompanying flight of the unmanned aerial vehicle is achieved.
After the unmanned aerial vehicle receives the descending instruction, the unmanned aerial vehicle maintains closed-loop control of horizontal position and course, the target height is set to be the landing point height by the preset companion height, the target height is lower than the current height of the unmanned aerial vehicle at the moment, the unmanned aerial vehicle starts descending, the unmanned aerial vehicle always maintains the closed-loop of horizontal position and the closed-loop of sinking speed in the descending process, and the maximum sinking speed is controlled within a certain safety range.
When the unmanned aerial vehicle detects that the unmanned aerial vehicle falls onto the movable base platform, the rotor wing and the engine are closed, and the movable base is completed.
The landing control method of the present invention may be applied to a computer-readable storage medium in which a computer program is stored, and the above-described take-off control method may be stored as a computer program in the computer-readable storage medium, which when executed by a processor, implements the steps of the above-described landing control method.
In addition, the landing control method of the present invention may also be applied to a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the landing control method of the present invention when executing the computer program. The terminal device may be a computer, a notebook computer, a palm computer, various cloud servers, and other computing devices, and the processor may be a general-purpose processor, a digital signal processor, an application specific integrated circuit, or other programmable logic devices.
The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent structural changes made by the present invention and the accompanying drawings, or direct or indirect application in other related technical fields, are included in the scope of the present invention.
Claims (5)
1. The unmanned aerial vehicle landing control method based on the motion base is characterized by comprising the following steps of:
step 1, an unmanned aerial vehicle approaches a motion base
The unmanned aerial vehicle flies to the rear of the motion base after receiving a landing instruction sent by the ground control station, and maintains a preset accompanying flying height until the distance between the unmanned aerial vehicle and the motion base reaches a preset relative distance, and then a rotor motor is started to be converted into a composite flight mode;
step 2, guiding accompanying flight of unmanned aerial vehicle
Maintaining the flying heading of the unmanned aerial vehicle to be consistent with the heading of the moving base, carrying moving base positioning and guiding equipment on the moving base, receiving the position, speed and heading information of the unmanned aerial vehicle and the moving base by the moving base positioning and guiding equipment, calculating to obtain real-time relative position and speed information of the unmanned aerial vehicle and the moving base by the moving base positioning and guiding equipment, sending the information to a ground control station, and sending the information to the unmanned aerial vehicle by the ground control station through a data link system, wherein the unmanned aerial vehicle is used for receiving the relative position and speed information;
the rotor wing of the unmanned aerial vehicle controls the gesture, heading and flying height of the unmanned aerial vehicle, and the transverse relative positions of the unmanned aerial vehicle and the motion base; simultaneously, controlling the longitudinal relative position of the unmanned aerial vehicle and the motion base and the relative speed of the unmanned aerial vehicle and the motion base by an engine of the unmanned aerial vehicle; the unmanned aerial vehicle flies to the position right above a falling point on the motion base from the rear of the motion base, then the unmanned aerial vehicle keeps relatively static with the motion base, the heading of the unmanned aerial vehicle is consistent with that of the motion base, and the unmanned aerial vehicle keeps horizontal flight and maintains a preset accompanying flight height;
or, the rotor wing of the unmanned aerial vehicle controls the gesture, the course and the flying height of the unmanned aerial vehicle and the transverse relative positions of the unmanned aerial vehicle and the motion base; simultaneously, controlling the longitudinal relative position of the unmanned aerial vehicle and the motion base and the relative speed of the unmanned aerial vehicle and the motion base by an engine of the unmanned aerial vehicle; the unmanned aerial vehicle is controlled to roll and maneuver to a preset transverse relative distance with the motion base by the rotor wing of the unmanned aerial vehicle, the unmanned aerial vehicle flies towards the motion base until the unmanned aerial vehicle reaches the right side of the falling point of the motion base, then the unmanned aerial vehicle is controlled to roll and maneuver to the right above the falling point on the motion base by the rotor wing, then the unmanned aerial vehicle keeps relatively static with the motion base, and the heading of the unmanned aerial vehicle is kept consistent with that of the motion base;
then, the unmanned aerial vehicle maintains a preset accompanying flight height, maintains relative static with the motion base, and maintains the consistent heading with the motion base until the unmanned aerial vehicle receives a descending instruction;
step 3, lowering the height of the unmanned aerial vehicle
After receiving a descending instruction sent by a ground control station, the unmanned aerial vehicle rotor wing controls the attitude, the heading, the height and the vertical speed of the unmanned aerial vehicle and the transverse relative position of the unmanned aerial vehicle and the motion base; simultaneously, controlling the longitudinal relative position of the unmanned aerial vehicle and the motion base and the relative speed of the unmanned aerial vehicle and the motion base by an engine of the unmanned aerial vehicle; enabling the unmanned aerial vehicle to vertically land downwards, keeping relative static with the motion base in the horizontal direction, and keeping the heading of the unmanned aerial vehicle consistent with that of the motion base until the unmanned aerial vehicle reaches a landing point on the motion base;
step 4, the unmanned aerial vehicle finishes landing
After the unmanned aerial vehicle detects the ground contact, the rotor motor and the engine are closed, and landing is completed.
2. The unmanned aerial vehicle landing control method based on a motion base according to claim 1, wherein: step 1 is that a motion base positioning and guiding device is carried on a motion base, the motion base positioning and guiding device receives the position, the speed and the course information of an unmanned aerial vehicle and the motion base, the motion base positioning and guiding device obtains the real-time relative position information and the real-time relative speed information of the unmanned aerial vehicle and the motion base through calculation, the real-time relative position information and the relative speed information are sent to a ground control station, the ground control station sends the relative position information and the relative speed information to the unmanned aerial vehicle through a data link system, the unmanned aerial vehicle controls flying through a rotor wing and an engine of the unmanned aerial vehicle according to the received relative position information and the received relative speed information, the unmanned aerial vehicle maintains a preset accompanying height, the relative distance between the unmanned aerial vehicle and the motion base reaches a preset relative distance, and a rotor motor is started to be converted into a compound flying mode.
3. The unmanned aerial vehicle landing control method based on a motion base according to claim 1 or 2, wherein: the unmanned aerial vehicle rotor wing control unmanned aerial vehicle's gesture, course, altitude, vertical velocity to and unmanned aerial vehicle and motion base's horizontal relative position are closed-loop control, by unmanned aerial vehicle's engine control unmanned aerial vehicle and motion base's vertical relative position, and unmanned aerial vehicle and motion base's relative velocity are closed-loop control.
4. A computer-readable storage medium having a computer program stored thereon, characterized in that: the computer program, when executed by a processor, implements the steps of the method according to any one of claims 1 to 3.
5. A control device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized by: the processor, when executing the computer program, implements the steps of the method according to any one of claims 1 to 3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010073960.6A CN111240348B (en) | 2020-01-22 | 2020-01-22 | Unmanned aerial vehicle landing control method based on motion base, computer readable storage medium and control equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010073960.6A CN111240348B (en) | 2020-01-22 | 2020-01-22 | Unmanned aerial vehicle landing control method based on motion base, computer readable storage medium and control equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111240348A CN111240348A (en) | 2020-06-05 |
| CN111240348B true CN111240348B (en) | 2023-05-26 |
Family
ID=70864385
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010073960.6A Active CN111240348B (en) | 2020-01-22 | 2020-01-22 | Unmanned aerial vehicle landing control method based on motion base, computer readable storage medium and control equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111240348B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111897359B (en) * | 2020-07-31 | 2023-08-22 | 苏州巨跶航智能科技有限公司 | Positioning method for recycling vehicle-mounted unmanned aerial vehicle by utilizing composite sensor |
| CN112162568B (en) * | 2020-09-18 | 2022-04-01 | 深圳市创客火科技有限公司 | Unmanned aerial vehicle terminal landing control method, unmanned aerial vehicle terminal and storage medium |
| CN113815865B (en) * | 2021-11-03 | 2024-01-16 | 北京京东乾石科技有限公司 | Air taking-off and landing system and air taking-off and landing method |
| CN114326766A (en) * | 2021-12-03 | 2022-04-12 | 深圳先进技术研究院 | Vehicle-mounted machine cooperative autonomous tracking and landing method |
| CN114545957A (en) * | 2022-01-25 | 2022-05-27 | 中国舰船研究设计中心 | Unmanned aerial vehicle retrieves bootstrap system |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019056172A1 (en) * | 2017-09-19 | 2019-03-28 | 深圳市大疆创新科技有限公司 | Flight control method for unmanned aerial vehicle, unmanned aerial vehicle, and machine readable storage medium |
| CN110174906A (en) * | 2019-06-17 | 2019-08-27 | 沈阳无距科技有限公司 | Unmanned plane landing control method, device, storage medium and electronic equipment |
| FR3080362A1 (en) * | 2018-04-20 | 2019-10-25 | Delair | IMPROVED FIXED SAIL DRONE, CONTROL AND LANDING METHOD |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2175338A1 (en) * | 2008-10-13 | 2010-04-14 | Université de la Méditerranée | Steering aid method and system for landing on a target of a moving platform, and a 3 d vehicle equipped as such |
| CN102298389A (en) * | 2011-06-10 | 2011-12-28 | 清华大学 | System fully controlled and taken over by ground station during takeoff and landing stages of unmanned plane |
| CN108227751B (en) * | 2018-01-29 | 2020-12-29 | 广州亿航智能技术有限公司 | Landing method and system of unmanned aerial vehicle |
| CN110413004A (en) * | 2019-08-23 | 2019-11-05 | 酷黑科技（北京）有限公司 | A kind of accurate landing control method of unmanned plane and system |
-
2020
- 2020-01-22 CN CN202010073960.6A patent/CN111240348B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019056172A1 (en) * | 2017-09-19 | 2019-03-28 | 深圳市大疆创新科技有限公司 | Flight control method for unmanned aerial vehicle, unmanned aerial vehicle, and machine readable storage medium |
| FR3080362A1 (en) * | 2018-04-20 | 2019-10-25 | Delair | IMPROVED FIXED SAIL DRONE, CONTROL AND LANDING METHOD |
| CN110174906A (en) * | 2019-06-17 | 2019-08-27 | 沈阳无距科技有限公司 | Unmanned plane landing control method, device, storage medium and electronic equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111240348A (en) | 2020-06-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111240348B (en) | Unmanned aerial vehicle landing control method based on motion base, computer readable storage medium and control equipment | |
| CN102393641B (en) | Automatic landing guide control method for carrier aircraft based on deck motion compensation | |
| Oliveira et al. | Ground target tracking control system for unmanned aerial vehicles | |
| CN106970531B (en) | Method for determining mode conversion control strategy of tilt wing vertical take-off and landing unmanned aerial vehicle | |
| CN111026157A (en) | Intelligent aircraft guiding method based on reward remodeling reinforcement learning | |
| CA2914291C (en) | A method of automatically controlling the descent phase of an aircraft using aircraft avionics executing a descent algorithm | |
| CN101788822A (en) | Method for lateral control of unmanned aerial vehicle | |
| CN110262547B (en) | Circular formation takeoff method based on path tracking | |
| CN111766896B (en) | Unmanned aerial vehicle control method and system based on movable base | |
| CN111699451A (en) | Flight control method and device for vertical take-off and landing unmanned aerial vehicle and vertical take-off and landing unmanned aerial vehicle | |
| Gonçalves et al. | Precise landing of autonomous aerial vehicles using vector fields | |
| CN110989675A (en) | Method and device for controlling return flight of unmanned aerial vehicle, unmanned aerial vehicle and storage medium | |
| JP6905221B2 (en) | Vertical takeoff and landing aircraft guidance control device, vertical takeoff and landing aircraft, vertical takeoff and landing aircraft guidance control method, and vertical takeoff and landing aircraft guidance control program | |
| CN104656661A (en) | Corporate aircraft descending and landing control method | |
| CN114661065A (en) | Taking-off and landing system and method of fixed-wing unmanned aerial vehicle | |
| WO2020237529A1 (en) | Flight control method and apparatus for unmanned aerial vehicle, and unmanned aerial vehicle | |
| CN111240349A (en) | Unmanned aerial vehicle takeoff control method based on motion base, computer readable storage medium and control equipment | |
| Ruangwiset | Path generation for ground target tracking of airplane-typed UAV | |
| CN112416017B (en) | Course guide control method for return flight approach of ship-borne unmanned helicopter | |
| Ke et al. | Model based robust forward transition control for tail-sitter hybrid unmanned aerial vehicles | |
| CN114326816A (en) | Method and device for planning formation flight path of fixed-wing unmanned aerial vehicle based on artificial potential field | |
| Pravitra et al. | Landing a Fixed-Wing UAV on a Moving Platform: A Pseudospectral Optimal Control Approach | |
| CN113608543A (en) | Method, device, equipment and storage medium for self-adaptive planning of flight path of aircraft | |
| CN117784817B (en) | Integrated planning control system and method for amphibious unmanned platform | |
| Yang et al. | Design and implementation of twin-rotor tail-sitter UAV |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |