CN112650301A - Control method for guiding unmanned aerial vehicle to accurately land - Google Patents
Control method for guiding unmanned aerial vehicle to accurately land Download PDFInfo
- Publication number
- CN112650301A CN112650301A CN202110031574.5A CN202110031574A CN112650301A CN 112650301 A CN112650301 A CN 112650301A CN 202110031574 A CN202110031574 A CN 202110031574A CN 112650301 A CN112650301 A CN 112650301A
- Authority
- CN
- China
- Prior art keywords
- unmanned aerial
- aerial vehicle
- speed
- control
- time
- 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.)
- Withdrawn
Links
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
The invention discloses a control method for guiding an unmanned aerial vehicle to accurately land, which comprises the following steps: firstly, establishing a Bezier motion curve equation of the unmanned aerial vehicle in the landing process, and controlling a change relation curve of a position along with time according to control points of the Bezier curve; secondly, adjusting the position of the control point to obtain the position of each moment of the unmanned aerial vehicle and the time interval of the adjacent moment, and converting the relation between the position and the time into the relation between the speed and the time; thirdly, performing polynomial fitting on the data of the speed and the time to obtain a continuous issuing speed curve function; fourthly, controlling the falling process of the unmanned aerial vehicle according to the obtained continuous issuing speed curve function; combine together Bessel pursuit equation and polynomial fitting, make unmanned aerial vehicle in descending near in-process start point slow down, the quick speed control of middle process has realized that unmanned aerial vehicle is at the quick steady descending in appointed place, has avoided the collision, has improved unmanned aerial vehicle's work efficiency, has postponed life.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle control, in particular to a control method for guiding an unmanned aerial vehicle to accurately land.
Background
With the development of the unmanned aerial vehicle technology, the unmanned aerial vehicle is widely applied in various industries, such as aerial photography, news shooting, pesticide spraying, material distribution, urban planning and surveying and mapping of various performance activities and sports events. Because the unmanned aerial vehicle is small and exquisite nimble, the characteristics of convenient patrol on a large scale, unmanned aerial vehicle all plays huge effect in the aspect of aassessment and the monitoring of natural disasters such as drought, flood, earthquake and forest fire. In order to better utilize unmanned aerial vehicle, it is especially important to unmanned aerial vehicle's accurate control, present unmanned aerial vehicle when the appointed place descends, has descending speed slow, and the descending process is unstable, has reduced unmanned aerial vehicle's work efficiency, causes the problem of unmanned aerial vehicle damage easily.
Disclosure of Invention
The invention aims to provide a control method for guiding an unmanned aerial vehicle to accurately land, and aims to solve the problems that when the unmanned aerial vehicle is controlled to land in a designated place in the prior art, the landing speed is low, the landing process is not stable, the working efficiency of the unmanned aerial vehicle is reduced, and the unmanned aerial vehicle is easily damaged.
In order to achieve the purpose, the invention adopts the following technical scheme:
a control method for guiding an unmanned aerial vehicle to accurately land comprises the following steps:
firstly, establishing a Bezier motion curve equation of the unmanned aerial vehicle in the landing process, and controlling a change relation curve of a position along with time according to control points of the Bezier curve;
secondly, adjusting the position of the control point to obtain the position of each moment of the unmanned aerial vehicle and the time interval of the adjacent moment, and converting the relation between the position and the time into the relation between the speed and the time;
thirdly, performing polynomial fitting on the data of the speed and the time to obtain a continuous issuing speed curve function;
and fourthly, controlling the falling process of the unmanned aerial vehicle according to the obtained continuous issuing speed curve function.
In the above scheme, it may be preferable that the bessel motion curve equation of the unmanned aerial vehicle landing process in the first step is specifically a third-order bessel tracking equation:
B3(t)＝(1-t)3P0+3t(1-t)2P1+3t2(1-t)P2+t3P3 (1)，
wherein, P0For controlling the starting point, P1And P2Is an intermediate control point, P3Is a control terminal; t is time, B3(t) is a third order Bessel function.
It may also be preferable that, in the control of the elevating speed of the unmanned aerial vehicle, P1Controlling the slow acceleration of the initial phase, P2And controlling the slow deceleration movement in the descending stage.
Preferably, the second step of adjusting the position of the control point and converting the relationship between the position and the time into the relationship between the speed and the time includes calculating to obtain a time and position data pair, wherein the unmanned aerial vehicle moves at a constant speed in a time interval of adjacent moments according to the third-order bessel tracking equation.
Preferably, the unmanned aerial vehicle moves at a constant speed in a time interval between adjacent positions, and a speed and position data pair is obtained according to the time and position data pair, and the equation is as follows:
Vi＝(P(i+1)-Pi)/(T(i+1)-Ti) (2)，
wherein, ViIs speed, P(i+1)And PiIs a position, T(i+1)And TiFor time, i is the number of time intervals, and the value of i ranges from 2 to the maximum number of time intervals.
It is also preferable that the polynomial fitting described in the third step obtains a continuous issued speed curve function, and the polynomial fitting is performed on the speed and position data pairs to obtain a speed curve function of,
v＝K×f(ai，p) (3)，
where v is the current velocity, K is the scale factor, aiFor the fitting parameters, p is the position ratio, i.e., p is the current position distance/total distance.
It may also be preferred that the fitting using a polynomial is a fitting of velocity versus position data pairs, the fitting step being such that data points i are given a point Pi(xi,yi) Wherein x isiAnd yiIs a coordinate value; calculating an approximation curve
y＝φ(x) (4)，
So as to approximate a curve with
y＝f(x) (5)，
The deviation of (2) is minimal; the approximation curve is at point PiDeviation delta ofi，
δi＝φ(xi)-y (6)，
Solving a binomial equation that minimizes the sum of squared deviations,
minφ∑m i＝1δ2 i＝∑m i＝1(φ(xi)-yj)2 (7)，
solving the partial derivative of the binomial coefficient, obtaining an equation with the other derivative of 0, and solving;
wherein i is the number of time intervals and m is the maximum number of time intervals.
It is also preferable that the fourth step of controlling the falling process of the unmanned aerial vehicle according to the obtained continuous issued speed curve function includes the specific steps of,
when the control starting point P0To the control end point P3Is greater than a set threshold distance according to the current position of the unmanned aerial vehicleAnd solving a position proportion p, carrying the position proportion p into the curve function of the formula (3), obtaining the issuing speed in the current control period, and sending the issuing speed to the flight control module of the unmanned aerial vehicle.
It is also preferable that the fourth step of controlling the falling process of the unmanned aerial vehicle according to the obtained continuous issued speed curve function includes the specific steps of,
when the control starting point P0To the control end point P3Is less than a set threshold distance, the set threshold distance value is used instead of the control starting point P0To the control end point P3The distance of (2) bringing the current speed of the unmanned aerial vehicle into the current position and the control starting point P0To find the current position and the control starting point P0Position ratio, resulting in velocity v 1; bringing the current speed into the current position and the control end point P3Distance, finding the front position and the control end point P3And obtaining a speed v2 according to the position proportion, taking the minimum speed in v1 and v2 as a issuing speed, and sending the issuing speed to a flight control module of the unmanned aerial vehicle.
The control method for guiding the unmanned aerial vehicle to accurately land has the following beneficial effects:
the method for controlling the unmanned aerial vehicle to accurately land solves the problems that when the unmanned aerial vehicle is controlled to land in a designated place in the technology, the landing speed is low, the landing process is not stable, the working efficiency of the unmanned aerial vehicle is reduced, and the unmanned aerial vehicle is easy to damage; according to the method, the Bezier tracking equation and polynomial fitting are combined, so that the unmanned aerial vehicle is decelerated near a start point and is rapidly controlled in the middle process in the landing process, the unmanned aerial vehicle can rapidly and stably land in a designated place, collision is avoided, the working efficiency of the unmanned aerial vehicle is improved, and the service life is prolonged.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a diagram of bessel position and time P-T of the control method for guiding the precise landing of the unmanned aerial vehicle.
Fig. 2 is a schematic diagram of a motion track acquired at equal time intervals between start and stop points of the control method for guiding the precise landing of the unmanned aerial vehicle.
Fig. 3 is a diagram showing a relationship between a position and a speed of the control method for guiding the precise landing of the unmanned aerial vehicle.
Fig. 4 is a velocity curve diagram of the unmanned aerial vehicle guiding the precise landing control method of the unmanned aerial vehicle during landing.
Fig. 5 is an altitude change curve of the unmanned aerial vehicle guiding the precise landing control method of the unmanned aerial vehicle during landing.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the accompanying drawings. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
Example 1
A control method for guiding an unmanned aerial vehicle to accurately land comprises the following steps:
the method comprises the steps of firstly, establishing a Bezier motion curve equation of the unmanned aerial vehicle in the landing process, and controlling a change relation curve of a position along with time according to control points of the Bezier curve.
Secondly, adjusting the position of the control point to obtain the position of each moment of the unmanned aerial vehicle and the time interval of the adjacent moment, and converting the relation between the position and the time into the relation between the speed and the time;
thirdly, performing polynomial fitting on the data of the speed and the time to obtain a continuous issuing speed curve function;
and fourthly, controlling the falling process of the unmanned aerial vehicle according to the obtained continuous issuing speed curve function.
According to the method for guiding the unmanned aerial vehicle to accurately land, the Bezier tracking equation and polynomial fitting are combined for controlling the landing speed of the unmanned aerial vehicle, and the principle is as follows:
s1, the Bezier curve is a smooth curve drawn according to the coordinates of any point at four positions, and in the related speed and time control of the unmanned aerial vehicle and the like, the speed is a smooth curve slowly changing along with the time; the specific speed control mode is increasing or decreasing, and what time period requires the speed to reach what value, the control can be carried out through the positions of the four points;
s2, the bezier pursuit equation describes the formation process of the bezier curve in the form of point motion, and describes the curve as a point trace formed with continuous time, and its principle is as follows:
first order bessel's tracking equation: suppose there is a person to use 1 unit of time from control point P0’The point walks to a control point P at a constant speed1’Point, then along with the time t between 0 and 1, the position equation of the locus point position M where the person is can be written as,
B1(t)＝(1-t)P0’+tP1’ (8)，
wherein, B1(t) is a first order Bessel function;
second order bessel's tracking equation: three control points P are defined0”，P1”，P2”At P0”And P1”One person in between uses 1 unit time slave P at constant speed0”Go to P1”And if the person is at the position M at the moment t, the position M is the coordinate of the locus point, and the position M can be known by a first-order Bessel tracking equation:
M0(t)＝(1-t)P0”+tP1” (9)，
when in P1”And P2”The coordinate of the locus point of a person walking at a constant speed
M1(t)＝(1-t)P1”+tP2” (10)，
Now there is a third person to be asked to start at time M0Go to position M1The locus coordinates of the third person are then:
B2(t)＝M0(t)+[M1(t)-M0(t)]t＝(1-t)2P0”+2t(1-t)P1”+t2P2” (11)，
three points of coordinate position for the third of the test control, P0”Starting point of control, P2”Control end point, and an intermediate control point P1”Adjusting the middle trend; in the unmanned aerial vehicle lifting speed control, except a start and stop control point P0”And P2”Besides, two intermediate control points are needed, one intermediate control point controls slow acceleration in the initial stage, and the other intermediate control point controls speed changing and reducing movement in the landing stage; therefore, the unmanned aerial vehicle lifting speed control needs a third-order Bezier tracking equation, and similar to the derivation process from the first order to the second order, the third-order Bezier tracking equation is known as follows:
B3(t)＝(1-t)3P0+3t(1-t)2P1+3t2(1-t)P2+t3P3 (1)，
wherein, P0For controlling the starting point, P1And P2Is an intermediate control point, P3Is a control terminal; t is time, B3(t) is a third order Bessel function;
by adjusting intermediate control point P1And P2The theoretical position of the unmanned aerial vehicle in the descending process is adjusted, the theoretical position of the unmanned aerial vehicle at each moment and the time interval of the adjacent moment are obtained at the same time, and the relation between the position and the time P-T can be converted into the relation between the speed and the time V-T;
and S3, performing polynomial fitting, wherein the relation between the speed and the time V-T is a discrete value of a preset sampling time interval, and in practical application, the issuing speed is a continuous issuing speed curve function obtained by performing polynomial fitting on the data pair of the speed and the time V-T.
The method for guiding the unmanned aerial vehicle to accurately land comprises the following specific implementation processes:
setting a Bezier motion curve, and adding control points of a multi-order Bezier curve to control a change relation curve of an expected Position along with Time, wherein as shown in FIG. 1, the abscissa represents Time T, the ordinate represents an expected Position of the unmanned aerial vehicle, 0 represents a starting point, and 1 represents a terminal point; the uniform velocity trace point track shown by a dotted line in the figure is changed into a theoretical trace point track shown by a dotted line, the positions near the starting point and the end point change slowly, namely the slope is small, and the speed is slow; the middle portion position changes faster with time, i.e. the slope is larger.
Using a third order bezier curve, in addition to 0 and 1 outside the start and stop points, two additional control points are added to affect the slope change of fig. 1; as shown in FIG. 1, the coordinates of the four control points (T, position) are P0(0,0)，P1(0.12097,0.036443),P2(0.71313,0.94315)，P3(1,1)，P1And P2The value should satisfy two conditions, the first condition is that the slope of the two points is less than 0.5, namely,
(P1.y/P1.x)<0.5；(1-P1.y)/(1-P1.x)<0.5；
the second condition is that P2>P1That is to say that,
P2.x>0.5>P1.x，P2.y>0.5>P1.y；
the value can be adjusted and measured according to the difference between the issued position of the unmanned aerial vehicle and the actual measurement position of the positioning sensor: when the difference value is larger, the control variance of the unmanned aerial vehicle is larger and the uncontrollable risk is larger due to larger wind speed or other external reasons, and the P can be further reduced in a self-adaptive manner through the test1And P2The slope of the point is reduced, the speed near the starting point and the stopping point is reduced, otherwise, the slope can be increased, and the speed is increased.
Example 2
A method for controlling accurate landing of an unmanned aerial vehicle, which is similar to that in embodiment 1, except that, in the first step, the bessel motion curve equation of the unmanned aerial vehicle landing process is specifically a third-order bessel tracking equation:
B3(t)＝(1-t)3P0+3t(1-t)2P1+3t2(1-t)P2+t3P3 (1)，
wherein, P0For controlling the starting point, P1And P2Is an intermediate control point, P3Is a control terminal; t is time, B3(t) is a third order Bessel function.
It may also be preferable that, in the control of the elevating speed of the unmanned aerial vehicle, P1Controlling the slow acceleration of the initial phase, P2And controlling the slow deceleration movement in the descending stage.
Preferably, the second step of adjusting the position of the control point and converting the relationship between the position and the time into the relationship between the speed and the time includes calculating to obtain a time and position data pair, wherein the unmanned aerial vehicle moves at a constant speed in a time interval of adjacent moments according to the third-order bessel tracking equation.
It may also be preferable that the unmanned aerial vehicle does uniform motion within the time interval between adjacent positions, and a velocity and position data pair is obtained according to the time and position data pair, and the equation is as follows:
Vi＝(P(i+1)-Pi)/(T(i+1)-Ti) (2)，
wherein, ViIs speed, P(i+1)And PiIs a position, T(i+1)And TiFor time, i is the number of time intervals, and the value of i ranges from 2 to the maximum number of time intervals.
It is also preferable that the polynomial fitting described in the third step obtains a continuous issued speed curve function, and the polynomial fitting is performed on the speed and position data pairs to obtain a speed curve function of,
v＝K×f(ai，p) (3)，
wherein the content of the first and second substances,v is the current velocity, K is the scaling factor, aiFor the fitting parameters, p is the position ratio, i.e., p is the current position distance/total distance.
It may also be preferred that the fitting using a polynomial is a fitting of velocity versus position data pairs, the fitting step being such that data points i are given a point Pi(xi,yi) Wherein x isiAnd yiIs a coordinate value; calculating an approximation curve
y＝φ(x) (4)，
So as to approximate a curve with
y＝f(x) (5)，
The deviation of (2) is minimal; the approximation curve is at point PiDeviation delta ofi，
δi＝φ(xi)-y (6)，
Solving a binomial equation that minimizes the sum of squared deviations,
minφ∑m i＝1δ2 i＝∑m i＝1(φ(xi)-yj)2 (7)，
solving the partial derivative of the binomial coefficient, obtaining an equation with the other derivative of 0, and solving;
wherein i is the number of time intervals and m is the maximum number of time intervals.
It is also preferable that the fourth step of controlling the falling process of the unmanned aerial vehicle according to the obtained continuous issued speed curve function includes the specific steps of,
when the control starting point P0To the control end point P3The distance of the unmanned aerial vehicle is larger than a set threshold distance, a position proportion p is obtained according to the current position of the unmanned aerial vehicle, the position proportion p is taken into a curve function of the formula (3), the issuing speed in the current control period is obtained, and the issuing speed is sent to a flight control module of the unmanned aerial vehicle.
It is also preferable that the fourth step of controlling the falling process of the unmanned aerial vehicle according to the obtained continuous issued speed curve function includes the specific steps of,
when the control starting point P0To the control end point P3Is less than a set threshold distance, the set threshold distance value is used instead of the control starting point P0To the control end point P3The distance of (2) bringing the current speed of the unmanned aerial vehicle into the current position and the control starting point P0To find the current position and the control starting point P0Position ratio, resulting in velocity v 1; bringing the current speed into the current position and the control end point P3Distance, finding the front position and the control end point P3And obtaining a speed v2 according to the position proportion, taking the minimum speed in v1 and v2 as a issuing speed, and sending the issuing speed to a flight control module of the unmanned aerial vehicle.
The method for guiding the unmanned aerial vehicle to accurately land according to the embodiment has the following three-order Bessel tracking equation:
B3(t)＝(1-t)3P0+3t(1-t)2P1+3t2(1-t)P2+t3P3 (1)，
Pi(i is 0,1,2,3) is the time t of the input uniform speed obtained in the first step, and the step time of t is set as tstepControlling the time interval by the actual speed, e.g. tstepIs 0.02 s;
t is more than or equal to 0 and less than or equal to 1, a third-order Bessel tracking equation is introduced,
B3(t)＝(1-t)3P0(T)+3t(1-t)2P1(T)+3t2(1-t)P2(T)+t3P3(T) (12)，
a series of T values, P, can be obtained in a Bessel P-T diagram as shown in FIG. 1i(i ═ 0,1,2,3) is a two-dimensional vector of components T and P, respectively, the T component introduced into it being counted as Pi(T), (T); similarly, when finding a series of P values in a P-T diagram as shown in FIG. 1, P needs to be substitutedi(P); since the actually issued control time T is uniform, a series of values of T under the condition of uniform speed T need to be solved reversely, and the T' is counted by adopting a binary approximationThe near algorithm: giving an initial value T ', obtaining a T value T _ cal, comparing the T value T _ cal with a constant T value T _ mean, finding out a correct T ' when a difference value delta _ T is smaller than a threshold th, substituting the correct T ' into a Bessel tracking equation, and respectively obtaining T and P.
From the position and time data pairs, as shown in fig. 2 and 3, assuming a uniform motion at each time interval, the velocity and position data pairs can be obtained,
Vi＝(P(i+1)-Pi)/(T(i+1)-Ti) (2)，
wherein, ViIs speed, P(i+1)And PiIs a position, T(i+1)And TiI is the number of time intervals, i ═ 2.. length (t), and length (t) is the maximum number of time intervals;
fitting the discrete velocity and position data pairs using polynomial fitting to obtain,
v＝K×f(ai，p) (3)
wherein v is the current speed; k is a scale factor, and the maximum speed is controlled; a isiAs fitting parameters, i ═ 1,2,3,4, 5; p is the position ratio, i.e. p is the current position distance/total distance.
The control process of the falling motion of the unmanned aerial vehicle, as shown in fig. 4 and 5, uses a sectional control method,
when the control starting point P0To the control end point P3The distance of the unmanned aerial vehicle is larger than a set threshold distance, a position proportion p is obtained according to the current position of the unmanned aerial vehicle, the position proportion p is taken into a curve function of the formula (3), the issuing speed in the current control period is obtained, and the issuing speed is sent to a flight control module of the unmanned aerial vehicle.
When the control starting point P0To the control end point P3Is less than a set threshold distance, the set threshold distance value is used instead of the control starting point P0To the control end point P3The distance of (2) bringing the current speed of the unmanned aerial vehicle into the current position and the control starting point P0To find the current position and controlStarting point P0Position ratio, resulting in velocity v 1; bringing the current speed into the current position and the control end point P3Distance, finding the front position and the control end point P3And obtaining a speed v2 according to the position proportion, taking the minimum speed in v1 and v2 as a issuing speed, and sending the issuing speed to a flight control module of the unmanned aerial vehicle.
This process is equivalent to pinching the middle of the velocity versus position curve, while multiplying the value of K by the start-stop distance/threshold distance, further reducing it.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (9)
1. The utility model provides a guide accurate landing control method of unmanned aerial vehicle which characterized in that includes following step:
firstly, establishing a Bezier motion curve equation of the unmanned aerial vehicle in the landing process, and controlling a change relation curve of a position along with time according to control points of the Bezier curve;
secondly, adjusting the position of the control point to obtain the position of each moment of the unmanned aerial vehicle and the time interval of the adjacent moment, and converting the relation between the position and the time into the relation between the speed and the time;
thirdly, performing polynomial fitting on the data of the speed and the time to obtain a continuous issuing speed curve function;
and fourthly, controlling the falling process of the unmanned aerial vehicle according to the obtained continuous issuing speed curve function.
2. The method for guiding the unmanned aerial vehicle to accurately land according to claim 1, wherein the first step is a Bezier motion curve equation of the unmanned aerial vehicle landing process, specifically a third-order Bezier tracking equation:
B3(t)＝(1-t)3P0+3t(1-t)2P1+3t2(1-t)P2+t3P3 (1)，
wherein, P0For controlling the starting point, P1And P2Is an intermediate control point, P3Is a control terminal; t is time, B3(t) is a third order Bessel function.
3. The method of claim 2, wherein in the controlling of the unmanned aerial vehicle's lifting speed, P is1Controlling the slow acceleration of the initial phase, P2And controlling the slow deceleration movement in the descending stage.
4. The method according to claim 2, wherein the second step of adjusting the position of the control point converts the position-time relationship into a speed-time relationship, and the specific step of calculating the time-position data pair is that the unmanned aerial vehicle moves at a constant speed in the time interval between adjacent moments according to the third-order bessel tracking equation.
5. The method according to claim 4, wherein the unmanned aerial vehicle moves at a constant speed in time intervals between adjacent positions, and the data pairs of speed and position are obtained according to the data pairs of time and position, and the following equation is given:
Vi＝(P(i+1)-Pi)/(T(i+1)-Ti) (2)，
wherein, ViIs speed, P(i+1)And PiIs a position, T(i+1)And TiFor time, i is the number of time intervals, and the value of i ranges from 2 to the maximum number of time intervals.
6. The method of claim 5, wherein the third step of polynomial fitting results in a continuous issued speed curve function, and wherein the polynomial fitting of the speed and position data pairs results in a speed curve function of,
v＝K×f(ai，p) (3)，
where v is the current velocity, K is the scale factor, aiFor the fitting parameters, p is the position ratio, i.e., p is the current position distance/total distance.
7. The method of claim 6, wherein the using polynomial fitting is a fitting of speed and position data pairs, and wherein the fitting step is performed by giving data points i and P as the pointsi(xi,yi) Wherein x isiAnd yiIs a coordinate value; calculating an approximation curve
y＝φ(x) (4)，
So as to approximate a curve with
y＝f(x) (5)，
The deviation of (2) is minimal; the approximation curve is at point PiDeviation delta ofi，
δi＝φ(xi)-y (6)。
8. The method for controlling precise landing of an unmanned aerial vehicle according to claim 6, wherein the fourth step of controlling the landing process of the unmanned aerial vehicle according to the obtained continuous issued speed curve function comprises the specific steps of,
when the control starting point P0To the control end point P3The distance of the unmanned aerial vehicle is larger than a set threshold distance, a position proportion p is obtained according to the current position of the unmanned aerial vehicle, the position proportion p is taken into a curve function of the formula (3), the issuing speed in the current control period is obtained, and the issuing speed is sent to a flight control module of the unmanned aerial vehicle.
9. The method for controlling precise landing of an unmanned aerial vehicle according to claim 6, wherein the fourth step of controlling the landing process of the unmanned aerial vehicle according to the obtained continuous issued speed curve function comprises the specific steps of,
when the control starting point P0To the control end point P3Is less than a set threshold distance, the set threshold distance value is used instead of the control starting point P0To the control end point P3The distance of (2) bringing the current speed of the unmanned aerial vehicle into the current position and the control starting point P0To find the current position and the control starting point P0Position ratio, resulting in velocity v 1; bringing the current speed into the current position and the control end point P3Distance, finding the front position and the control end point P3And obtaining a speed v2 according to the position proportion, taking the minimum speed in v1 and v2 as a issuing speed, and sending the issuing speed to a flight control module of the unmanned aerial vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110031574.5A CN112650301A (en) | 2021-01-11 | 2021-01-11 | Control method for guiding unmanned aerial vehicle to accurately land |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110031574.5A CN112650301A (en) | 2021-01-11 | 2021-01-11 | Control method for guiding unmanned aerial vehicle to accurately land |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112650301A true CN112650301A (en) | 2021-04-13 |
Family
ID=75367770
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110031574.5A Withdrawn CN112650301A (en) | 2021-01-11 | 2021-01-11 | Control method for guiding unmanned aerial vehicle to accurately land |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112650301A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113108795A (en) * | 2021-04-15 | 2021-07-13 | 杭州壹悟科技有限公司 | Arbitrary-order AGV curve route generation method, device and system |
| CN113269210A (en) * | 2021-07-16 | 2021-08-17 | 四川泓宝润业工程技术有限公司 | Method for detecting floating frequency of liquid level meter pointer based on image processing |
| CN116627154A (en) * | 2023-06-09 | 2023-08-22 | 上海大学 | Unmanned aerial vehicle guiding landing method based on pose prediction and track optimization and unmanned aerial vehicle |
| CN116958519A (en) * | 2023-09-15 | 2023-10-27 | 四川泓宝润业工程技术有限公司 | Unmanned aerial vehicle video image and unmanned aerial vehicle position data alignment method |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060015247A1 (en) * | 2004-07-07 | 2006-01-19 | The Boeing Company | Bezier curve flightpath guidance using moving waypoints |
| CN102207736A (en) * | 2010-03-31 | 2011-10-05 | 中国科学院自动化研究所 | Robot path planning method and apparatus thereof based on Bezier curve |
| CN102998684A (en) * | 2012-11-21 | 2013-03-27 | 厦门雅迅网络股份有限公司 | Terminal positioning track fitting method based on Bezier curve |
| CN103245257A (en) * | 2013-04-11 | 2013-08-14 | 北京航空航天大学 | Guidance law of multi-constraint aircraft based on Bezier curve |
| CN109839953A (en) * | 2019-02-19 | 2019-06-04 | 上海交通大学 | The trajectory planning and speed planning method for transferring smooth based on Bezier |
| CN112068588A (en) * | 2020-08-12 | 2020-12-11 | 浙江大学 | Unmanned aerial vehicle trajectory generation method based on flight corridor and Bezier curve |
-
2021
- 2021-01-11 CN CN202110031574.5A patent/CN112650301A/en not_active Withdrawn
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060015247A1 (en) * | 2004-07-07 | 2006-01-19 | The Boeing Company | Bezier curve flightpath guidance using moving waypoints |
| CN102207736A (en) * | 2010-03-31 | 2011-10-05 | 中国科学院自动化研究所 | Robot path planning method and apparatus thereof based on Bezier curve |
| CN102998684A (en) * | 2012-11-21 | 2013-03-27 | 厦门雅迅网络股份有限公司 | Terminal positioning track fitting method based on Bezier curve |
| CN103245257A (en) * | 2013-04-11 | 2013-08-14 | 北京航空航天大学 | Guidance law of multi-constraint aircraft based on Bezier curve |
| CN109839953A (en) * | 2019-02-19 | 2019-06-04 | 上海交通大学 | The trajectory planning and speed planning method for transferring smooth based on Bezier |
| CN112068588A (en) * | 2020-08-12 | 2020-12-11 | 浙江大学 | Unmanned aerial vehicle trajectory generation method based on flight corridor and Bezier curve |
Non-Patent Citations (1)
| Title |
|---|
| 周炜等: ""基于贝赛尔曲线的四旋翼无人机轨迹优化"", 《电子测量与仪器学报》 * |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113108795A (en) * | 2021-04-15 | 2021-07-13 | 杭州壹悟科技有限公司 | Arbitrary-order AGV curve route generation method, device and system |
| CN113269210A (en) * | 2021-07-16 | 2021-08-17 | 四川泓宝润业工程技术有限公司 | Method for detecting floating frequency of liquid level meter pointer based on image processing |
| CN113269210B (en) * | 2021-07-16 | 2021-09-17 | 四川泓宝润业工程技术有限公司 | Method for detecting floating frequency of liquid level meter pointer based on image processing |
| CN116627154A (en) * | 2023-06-09 | 2023-08-22 | 上海大学 | Unmanned aerial vehicle guiding landing method based on pose prediction and track optimization and unmanned aerial vehicle |
| CN116958519A (en) * | 2023-09-15 | 2023-10-27 | 四川泓宝润业工程技术有限公司 | Unmanned aerial vehicle video image and unmanned aerial vehicle position data alignment method |
| CN116958519B (en) * | 2023-09-15 | 2023-12-08 | 四川泓宝润业工程技术有限公司 | Unmanned aerial vehicle video image and unmanned aerial vehicle position data alignment method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112650301A (en) | Control method for guiding unmanned aerial vehicle to accurately land | |
| CN106945042A (en) | A kind of discrete S types curve speed control method of manipulator | |
| CN104122531B (en) | The method of self-adaptive processing radar antenna position oscillation | |
| CN112519882B (en) | Vehicle reference track tracking method and system | |
| CN103935508B (en) | The auxiliary control method that a kind of unmanned vehicle declines and system | |
| CN111103890A (en) | High-precision strong-robustness approach landing guidance control method | |
| CN105652880B (en) | Non-linear anti-saturation for the big spatial domain flight of aircraft highly instructs generation method | |
| CN109857100B (en) | Composite track tracking control algorithm based on inversion method and fast terminal sliding mode | |
| CN106843245A (en) | A kind of UAV Attitude control method, device and unmanned plane | |
| CN101930216A (en) | Teleoperation robot adaptive control method based on master-slave reference model | |
| CN106950999B (en) | mobile stage trajectory tracking control method adopting active disturbance rejection control technology | |
| CN203396032U (en) | Room temperature control device based on fuzzy self-adaption PID (proportion integration differentiation) | |
| CN109634310B (en) | Self-adaptive multi-robot-based optimized formation control method and system | |
| CN105022271A (en) | An unmanned aerial vehicle self-adaptive PID control method | |
| CN103713520A (en) | Gyroscope stabilized platform adaptive composite control method | |
| CN106272436B (en) | A kind of service robot self-adaptation control method based on varying load | |
| CN109828468A (en) | A kind of control method for the non-linear robot system of magnetic hysteresis | |
| CN113885543B (en) | Design method of navigation body auto-disturbance rejection roll controller under complex sea condition disturbance | |
| CN105466456A (en) | Method for dynamically eliminating zero drift for stabilizing gyroscope of communication-in-moving antenna | |
| CN106249739A (en) | Moving algorithm is hit in a kind of high-performance machine people's air defense | |
| CN110543180A (en) | Unmanned aerial vehicle control method and system based on total weight variation and storage medium | |
| CN110231823B (en) | Direct control method of two-wheeled robot | |
| CN114826130B (en) | Sun tracking method and device of solar cell calibration system | |
| CN109212972A (en) | The limited rolling time horizon of batch process mixes 2D tracking and controlling method | |
| CN113741509B (en) | Hypersonic gliding aircraft hold-down section energy management method |
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 | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20210909 Address after: Room 1307, 13 / F, building 7 (block n), No. 8, Beichen East Road, Chaoyang District, Beijing 100029 Applicant after: Beijing Baolong Hongrui Technology Co.,Ltd. Address before: 610051 No.05, 11th floor, building 1, 99 mengzhuiwan Hengjie, Chenghua District, Chengdu City, Sichuan Province Applicant before: Sichuan hongbaorunye Engineering Technology Co.,Ltd. |
|
| TA01 | Transfer of patent application right | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20210413 |
|
| WW01 | Invention patent application withdrawn after publication |