CN113342052A - Beyond-visual-range operation unmanned aerial vehicle fault emergency landing method - Google Patents
Beyond-visual-range operation unmanned aerial vehicle fault emergency landing method Download PDFInfo
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- CN113342052A CN113342052A CN202110715387.9A CN202110715387A CN113342052A CN 113342052 A CN113342052 A CN 113342052A CN 202110715387 A CN202110715387 A CN 202110715387A CN 113342052 A CN113342052 A CN 113342052A
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- 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 fault emergency landing method for an over-the-horizon unmanned aerial vehicle, and belongs to the technical field of unmanned aerial vehicle flight control. The fault emergency landing method for the beyond-the-horizon unmanned aerial vehicle comprises the steps that the unmanned aerial vehicle executes an emergency landing program after judging that a fault occurs, the landing process is automatically executed according to the steps, and the unmanned aerial vehicle enters a hovering state when the unmanned aerial vehicle is decelerated; judging the fault again, and if the fault does not disappear, starting the unmanned aerial vehicle to ascend; when the height of the unmanned aerial vehicle is reduced to be close to the ground, the unmanned aerial vehicle enters a hovering state with a fixed height, slowly descends to the ground after being suspended for a short time, and is powered off.
Description
Technical Field
The invention discloses a fault emergency landing method for an over-the-horizon unmanned aerial vehicle, and belongs to the technical field of unmanned aerial vehicle flight control.
Background
The unmanned aerial vehicle has the advantages of long-distance low-altitude operation, and is widely applied to the fields of security protection, emergency rescue, environment inspection and the like. Along with the development of flight control technique, unmanned aerial vehicle can realize beyond visual range independently flight operation.
Due to the increasingly complex control systems and the complexity of flight scenarios and tasks, various faults may occur during the operation of the unmanned aerial vehicle, such as insufficient power, lost positioning signals, interrupted communication with the ground, and the like. The fault results in the reduction of the flight stability of the unmanned aerial vehicle, and once the high-altitude falling occurs, serious consequences can be caused. Especially when unmanned aerial vehicle carries out beyond visual range operation, the unknown factor that the operation personnel can't know leads to the accident risk bigger.
In the prior art, the invention patent application: an emergency processing method and system (CN 112379694A, 2020.11.25) for flight faults confirm flight fault conditions by monitoring, analyzing and collecting flight state parameters and form an execution strategy to control the next flight of an unmanned aerial vehicle, so that the single-flight application value of the unmanned aerial vehicle is maximized. However, the scheme does not provide an unmanned aerial vehicle emergency landing method, and other effective emergency landing schemes are not available. Therefore, an effective unmanned aerial vehicle fault emergency landing processing scheme is to be provided, so that the accident risk of the unmanned aerial vehicle is reduced.
Disclosure of Invention
Aiming at the technical problems, the invention aims to provide a fault emergency landing method for an over-the-horizon unmanned aerial vehicle. The technical scheme adopted is as follows.
The fault emergency landing method for the over-the-horizon unmanned aerial vehicle comprises the following steps that the unmanned aerial vehicle executes an emergency landing program after judging that a fault occurs, and the landing process of the unmanned aerial vehicle is autonomously executed according to the following steps:
s1, the unmanned aerial vehicle slows down and enters a hovering state, and the unmanned aerial vehicle enters S2 after hovering for time t 1;
s2, judging the fault again, and if the fault disappears, continuing to execute the flight operation by the unmanned aerial vehicle; if the fault does not disappear, go to S3;
s3, the unmanned aerial vehicle is lifted;
s4, when the unmanned aerial vehicle is lifted to a height h from the ground, the unmanned aerial vehicle is lifted to enter a hovering state, and after hovering for time t2, the unmanned aerial vehicle enters S5;
and S5, slowly landing the unmanned aerial vehicle on the ground, and disconnecting the power supply.
Further, unmanned aerial vehicle is many rotor unmanned aerial vehicle or compound wing unmanned aerial vehicle for being equipped with flight control system.
Further, unmanned aerial vehicle's lower part is equipped with the ultrasonic wave and decides high module.
Preferably, the time t1 is a set value in the range of 10 to 120 s.
Preferably, the time t2 is a set value in the range of 10-60 s.
Preferably, the height h is a set value of 3-5 m.
Preferably, the unmanned aerial vehicle descending speed in step S3 is a set value in 3-5 m/S.
Preferably, the landing speed of the unmanned aerial vehicle in step S5 is a set value of 0.3-1 m/S.
The technical scheme of the invention has the following beneficial effects: the unmanned aerial vehicle breaks down during over-the-horizon flying operation, and the unmanned aerial vehicle automatically controls step-by-step landing according to a preset flow without human intervention, so that the blind control of the unmanned aerial vehicle outside a sight line by an operator is avoided; after the fault is judged, the unmanned aerial vehicle enters hovering at a reduced speed, so that throwing flying caused by inertia is avoided, and the unmanned aerial vehicle can perform fault troubleshooting; the fault plane is quickly lowered to reduce the idle time, and meanwhile, the energy consumption is reduced, so that the unmanned aerial vehicle with low electric quantity or low oil quantity can maintain the power to meet the stable landing; after the unmanned aerial vehicle is fixed to the height, the unmanned aerial vehicle slowly descends, so that the personnel on the ground and the like can be safely evacuated, and meanwhile, the fault unmanned aerial vehicle can be softly landed to avoid further damage.
Drawings
Fig. 1 is a flow diagram of a fault emergency landing method of an over-the-horizon unmanned aerial vehicle according to the invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1, the execution flow of emergency landing after the over-the-horizon unmanned aerial vehicle has a fault is divided into 5 steps of deceleration hovering, troubleshooting, rapid descending, fixed height hovering and slow landing, and the following description is respectively provided for two types of unmanned aerial vehicles, namely a multi-rotor unmanned aerial vehicle and a compound-wing unmanned aerial vehicle.
Example 1: fault emergency landing of multi-rotor unmanned aerial vehicle
The many rotor unmanned aerial vehicle who is equipped with flight control system in the flight operation, the electric quantity is not enough, positioning signal loses, is common unmanned aerial vehicle trouble with ground communication interrupt, carries out emergent descending procedure after flight control system judges to break down, and the descending process is controlled by flight control system according to following step and independently carries out:
s1, the unmanned aerial vehicle enters a hovering state after the speed is reduced, and the unmanned aerial vehicle enters S2 after hovering time is 30S;
s2, the flight control system judges the fault again, and if the fault disappears, the multi-rotor unmanned aerial vehicle continues to execute flight operation; if the fault does not disappear, go to S3;
s3, rapidly descending the multi-rotor unmanned aerial vehicle at the speed of 5 m/S;
s4, sensing that the unmanned aerial vehicle is lifted to a height 3m away from the ground through an ultrasonic height-fixing module arranged at the lower part of the unmanned aerial vehicle, and entering a hovering state to maintain the height;
and S5, after the unmanned aerial vehicle is suspended for 20S at a fixed height, slowly landing the unmanned aerial vehicle on the ground at 0.5m/S and disconnecting the power supply.
Example 2: fault emergency landing of composite wing unmanned aerial vehicle
The compound wing unmanned aerial vehicle is the unmanned aerial vehicle type that fixed wing unmanned aerial vehicle and many rotor unmanned aerial vehicle structures combined together, and the fixed wing mode realizes flying with the certain speed tie, and the flight of many rotor modes is similar with many rotor unmanned aerial vehicle of conventionality, can hover or VTOL.
The composite wing unmanned aerial vehicle provided with the flight control system in the beyond-visual-range flight operation executes an emergency landing program after the flight control system judges that a fault occurs, and the landing process is controlled by the flight control system to be executed autonomously according to the following steps:
s1, the composite wing unmanned aerial vehicle slows down and switches to a multi-rotor mode for flying, enters a hovering state, and enters S2 after hovering for 30S;
s2, the flight control system judges the fault again, if the fault disappears, the flight operation is continuously executed; if the fault does not disappear, go to S3;
s3, rapidly descending the composite wing unmanned aerial vehicle at a speed of 3 m/S;
s4, sensing that the unmanned aerial vehicle is lifted to a height 5m away from the ground through an ultrasonic height-fixing module arranged at the lower part of the unmanned aerial vehicle, and entering a hovering state to maintain the height;
and S5, after the unmanned aerial vehicle is suspended for 30S at a fixed height, slowly landing the unmanned aerial vehicle on the ground at 0.5m/S and disconnecting the power supply.
The above description is only an embodiment of the present invention, and each example is not intended to limit the present invention, and the technical solutions formed by equivalent transformations are adopted without departing from the essence of the present invention.
Claims (8)
1. The fault emergency landing method for the over-the-horizon unmanned aerial vehicle is characterized in that the unmanned aerial vehicle executes an emergency landing program after judging that a fault occurs, and the landing process of the unmanned aerial vehicle is autonomously executed according to the following steps:
s1, the unmanned aerial vehicle slows down and enters a hovering state, and the unmanned aerial vehicle enters S2 after hovering for time t 1;
s2, judging the fault again, and if the fault disappears, continuing to execute the flight operation by the unmanned aerial vehicle; if the fault does not disappear, go to S3;
s3, the unmanned aerial vehicle is lifted;
s4, when the unmanned aerial vehicle is lifted to a height h from the ground, the unmanned aerial vehicle is lifted to enter a hovering state, and after hovering for time t2, the unmanned aerial vehicle enters S5;
and S5, slowly landing the unmanned aerial vehicle on the ground, and disconnecting the power supply.
2. The method for fault emergency landing of over-the-horizon unmanned aerial vehicle as claimed in claim 1, wherein the unmanned aerial vehicle is a multi-rotor unmanned aerial vehicle or a compound-wing unmanned aerial vehicle provided with a flight control system.
3. The method for fault emergency landing of over-the-horizon unmanned aerial vehicle as claimed in claim 1, wherein the unmanned aerial vehicle is provided with an ultrasonic height-fixing module at its lower part.
4. The method for fault emergency landing of over-the-horizon unmanned aerial vehicle as claimed in claim 1, wherein the time t1 is a set value in a range of 10-120 s.
5. The method for fault emergency landing of over-the-horizon unmanned aerial vehicle as claimed in claim 1, wherein the time t2 is a set value of 10-60 s.
6. The method for fault emergency landing of over-the-horizon unmanned aerial vehicle as claimed in claim 1, wherein the height h is a set value in a range of 3-5 m.
7. The method for fault emergency landing of over-the-horizon unmanned aerial vehicle as claimed in claim 1, wherein in step S3, the landing speed of the unmanned aerial vehicle is a set value of 3-5 m/S.
8. The method for fault emergency landing of over-the-horizon unmanned aerial vehicle as claimed in claim 1, wherein in step S5, the landing speed of the unmanned aerial vehicle is a set value of 0.5-1 m/S.
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