CN114049797B - Automatic generation method and device for unmanned aerial vehicle autonomous sliding recovery route - Google Patents
Automatic generation method and device for unmanned aerial vehicle autonomous sliding recovery route Download PDFInfo
- Publication number
- CN114049797B CN114049797B CN202111328400.1A CN202111328400A CN114049797B CN 114049797 B CN114049797 B CN 114049797B CN 202111328400 A CN202111328400 A CN 202111328400A CN 114049797 B CN114049797 B CN 114049797B
- Authority
- CN
- China
- Prior art keywords
- waypoint
- aerial vehicle
- unmanned aerial
- recovery
- preset
- 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
Images
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0047—Navigation or guidance aids for a single aircraft
- G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/003—Flight plan management
- G08G5/0039—Modification of a flight plan
Abstract
The application relates to an automatic generation method and device for an unmanned aerial vehicle autonomous sliding recovery route. The method comprises the following steps: firstly, determining relevant position information of a recovery runway and flight parameters of an unmanned aerial vehicle, including accurate GNSS coordinates of a preset grounding point, the direction of the recovery runway, the safe sinking rate of the unmanned aerial vehicle and the like, and automatically generating a gliding recovery route of the unmanned aerial vehicle, including the GNSS coordinates of each waypoint, tracks of each flight segment and the like; and then, the method also comprises a safety logic judgment method for the autonomous recovery state when the unmanned aerial vehicle executes the sliding recovery route, and whether the recovery process is safe and executable can be judged according to the real-time autonomous flight position information and the sliding recovery route information of the unmanned aerial vehicle, so that the unmanned aerial vehicle is determined to continuously complete the recovery route or switch route points to carry out re-flight, and the recovery route is executed again. The method disclosed by the invention can generate a complete and effective unmanned aerial vehicle autonomous sliding recovery route and a safety logic judgment method, and can practically improve the execution efficiency and success rate of sliding recovery.
Description
Technical Field
The application relates to the field of unmanned aerial vehicle flight control, in particular to an automatic generation method and device for an unmanned aerial vehicle autonomous sliding recovery route.
Background
The recovery mode that unmanned aerial vehicle was used always is retrieved in the race, and its advantage lies in that the damage to unmanned aerial vehicle is little, can satisfy the requirement of large-scale unmanned aerial vehicle safe repetition take off and land many times. As an unmanned aerial vehicle recovery mode, the most important is to ensure the safety, reliability, simplicity and performability of the unmanned aerial vehicle recovery process. In the prior art, a conventional manned quadrilateral open-field recovery mode is generally adopted, a route generation process is generally determined through manual experience, cannot be rapidly and automatically completed, and a general safety judgment mode is not available. Meanwhile, the conventional quadrilateral open-field recovery route is adopted, and an unmanned aerial vehicle cannot quickly track an ideal route during turning, so that the route logic is complex, and the requirement on a flight control system is high.
Disclosure of Invention
In view of the above, it is necessary to provide a method and an apparatus for automatically generating an autonomous taxi recovery route for an unmanned aerial vehicle, which can improve the recovery reliability of the unmanned aerial vehicle.
A method for automatic generation of an autonomous sliding recovery route for an unmanned aerial vehicle, the method comprising:
(1) acquiring a preset grounding point coordinate and a recovery runway direction angle value of an unmanned aerial vehicle falling on the runway during recovery, constructing an xyz rectangular coordinate system by taking the preset grounding point coordinate as a relative coordinate origin and taking the running direction of the unmanned aerial vehicle on the runway during recovery as a positive y direction, wherein the positive x direction points to the right side, and the positive z direction is vertical and upward;
setting relative coordinates of the navigation point 1 which is automatically run away and recovered for a relative coordinate origin according to the preset grounding point; the x coordinate of the waypoint 1 is consistent with the x coordinate of the preset grounding point, the y coordinate of the waypoint 1 is the distance corresponding to the preset flight duration of the unmanned aerial vehicle according to the cruising speed, and the z coordinate value of the waypoint 1 is the preset height value of the unmanned aerial vehicle for safely recovering the through-flight;
the position of the unmanned aerial vehicle after the unmanned aerial vehicle is rotated by 180 degrees in a precise route tracking flight mode through a semicircular circle by the waypoint 1 is taken as a waypoint 2, wherein the circle radius is a preset turning radius of the unmanned aerial vehicle;
the position of the unmanned aerial vehicle, which is kept parallel to the course of the runway by the waypoint 2 and descends at a constant speed by a first preset height, is the waypoint 3, and the distance from the waypoint 2 to the waypoint 3 is the distance corresponding to the preset flight time length of the unmanned aerial vehicle according to the cruising speed;
according to the method, after the unmanned aerial vehicle is positioned by the waypoint 3 in a precise route tracking flight mode and turns by 180 degrees through a semicircular circle, the position is taken as the waypoint 4, the course of the unmanned aerial vehicle points to the runway direction after the waypoint 4 is completed, and the circle radius is the preset turning radius of the unmanned aerial vehicle;
keeping the position of the unmanned aerial vehicle parallel to the course of the runway and descending at a second preset height at a constant speed by the waypoint 4 as a waypoint 5, wherein the distance from the waypoint 4 to the waypoint 5 is the distance corresponding to the preset flight time length of the unmanned aerial vehicle according to the cruising speed;
according to the fact that the unmanned aerial vehicle is kept parallel to the course of the runway by the waypoint 5, the position of the unmanned aerial vehicle after descending at a constant speed for a third preset height is the waypoint 6, and the position of the waypoint 6 is consistent with the position of the preset grounding point;
judging the safe recovery state of the unmanned aerial vehicle according to the process from the waypoint 4 to the waypoint 6, guiding the unmanned aerial vehicle to the waypoint 6 to complete the sliding recovery if the state is safe, setting a real-time target point of the unmanned aerial vehicle as the waypoint 1 to carry out the re-flight if the state is unsafe, and executing the sliding recovery route again after reaching the waypoint 1 until the sliding recovery is completed;
the autonomous sliding recovery route is a route formed by connecting the waypoint 1, the waypoint 2, the waypoint 3, the waypoint 4, the waypoint 5 and the waypoint 6, and a corresponding safety recovery state judgment method.
(2) The method of (1), wherein the turning radius of the unmanned aerial vehicle is a corresponding safe hovering radius when the unmanned aerial vehicle keeps cruising speed and heels by 30 degrees.
(3) According to the method in the step (1), the y coordinate of the waypoint 1 is a distance corresponding to 10 seconds of flight of the unmanned aerial vehicle at the cruising speed, the distance from the waypoint 2 to the waypoint 3 is a distance corresponding to 25 seconds of flight of the unmanned aerial vehicle at the cruising speed, and the distance from the waypoint 4 to the waypoint 5 is a distance corresponding to 5 seconds of flight of the unmanned aerial vehicle at the cruising speed.
(4) According to the method in the step (1), the height of the z coordinate value of the waypoint 1 is determined by multiplying the safe sinking rate of the unmanned aerial vehicle by 40 seconds; the first preset height is determined by multiplying the safe sinking rate of the unmanned aerial vehicle by 25 seconds; the second preset height is determined by multiplying the safe sinking rate of the unmanned aerial vehicle by 5 seconds; the third preset height is determined by multiplying the safe sinking rate of the unmanned aerial vehicle by 10 seconds.
(5) According to the process from the waypoint 4 to the waypoint 6, the unmanned aerial vehicle recovery safety state judgment is carried out in different methods in the branch flight segment, and the method comprises the following steps:
calculating a real-time lateral route deviation value of the unmanned aerial vehicle according to the real-time position of the unmanned aerial vehicle and a connection line from the route point 5 to the route point 6; obtaining a real-time route height deviation value of the unmanned aerial vehicle according to the difference between the flight height of the unmanned aerial vehicle and the height of a projection point of the unmanned aerial vehicle on a connecting line from a route point 5 to a route point 6; comparing the flight speed of the unmanned aerial vehicle with a preset safe gliding speed of the unmanned aerial vehicle to obtain a real-time speed deviation value of the unmanned aerial vehicle; judging the safety state of the unmanned aerial vehicle according to the real-time lateral route deviation value, the real-time route height deviation value and the real-time speed deviation value, and judging the safety of the recovery state of the unmanned aerial vehicle if the absolute values of the real-time lateral route deviation value, the route height deviation value and the real-time speed deviation value are smaller than a smaller safety preset value; otherwise, judging that the recovery state of the unmanned aerial vehicle is unsafe.
(6) An automatic generation device for an unmanned aerial vehicle autonomous sliding recovery route comprises:
the recovery runway position and direction determining module is used for acquiring a GNSS coordinate with accurate runway preset grounding point and a recovery runway direction angle value through a high-precision GNSS position measuring device;
and the automatic generation module of the autonomous sliding recovery route is used for generating a relative coordinate of a first arrival route point 6 according to the accurate GNSS coordinate of the preset grounding point of the runway, the direction angle value of the recovery runway and the flight parameters of the unmanned aerial vehicle, and converting the relative coordinate into the GNSS coordinate.
The automatic running recovery safety judgment module is used for judging the safety state of the automatic running recovery of the unmanned aerial vehicle; and if the state is safe, guiding the unmanned aerial vehicle to the waypoint 6 to finish the sliding recovery, if the state is unsafe, setting the real-time target point of the unmanned aerial vehicle as the waypoint 1 to carry out the re-flight, and executing the sliding recovery route again after reaching the waypoint 1 until the sliding recovery is finished.
According to the automatic generation method and device for the unmanned aerial vehicle autonomous sliding recovery route, firstly, the unmanned aerial vehicle sliding recovery route is automatically generated based on the fact that the runway preset grounding point position, the runway direction and the unmanned aerial vehicle flight parameters are obtained, wherein the parameters comprise the accurate GNSS coordinate of the preset grounding point, the recovery runway direction angle value, the unmanned aerial vehicle safe sinking rate and the like, and the parameters comprise the GNSS coordinate of each waypoint, the track of each flight segment and the like; and then, the safety logic judgment method for the autonomous recovery state when the unmanned aerial vehicle executes the sliding recovery route is further included, whether the sliding recovery process is safe and executable can be judged according to the real-time autonomous flight position information and the sliding recovery route information of the unmanned aerial vehicle, so that the unmanned aerial vehicle is determined to continuously finish the sliding route or switch route points for re-flight, and the sliding route is executed again. The method disclosed by the invention can generate a complete and effective unmanned aerial vehicle autonomous sliding recovery route and a safety logic judgment method, and can practically improve the execution efficiency and success rate of sliding recovery.
Drawings
FIG. 1 is a schematic flow chart illustrating a method for automatically generating a recovery route for autonomous sliding of an UAV in an embodiment;
FIG. 2 is a top view of waypoints in one embodiment;
FIG. 3 is a waypoint side view of an embodiment;
fig. 4 is a block diagram of an automatic generation device for an autonomous sliding recovery route of an unmanned aerial vehicle according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In one embodiment, an automatic generation method for an autonomous sliding recovery route of an unmanned aerial vehicle is provided, and comprises the following steps:
102, obtaining a preset grounding point coordinate and a recovery runway direction angle value of the unmanned aerial vehicle falling on the runway during recovery, and constructing an xyz rectangular coordinate system by taking the preset grounding point coordinate as a relative origin of coordinates and the running direction of the unmanned aerial vehicle on the runway during recovery as a positive y direction, wherein the positive x direction points to the right side, and the positive z direction is vertically upward.
And 104, setting the relative coordinates of the self-sliding-recovery waypoint 1 for the relative coordinate origin according to the preset grounding point.
The x coordinate of the waypoint 1 is consistent with the x coordinate of the preset ground point, the y coordinate of the waypoint 1 is the distance corresponding to the preset time length for the unmanned aerial vehicle to fly at the cruising speed, and the z coordinate value of the waypoint 1 is the preset height value for the unmanned aerial vehicle to safely recover the through-the-field flight.
And 106, according to the unmanned aerial vehicle, positioning the position of the unmanned aerial vehicle which turns 180 degrees by the semicircular circle in the accurate course tracking flight mode from the waypoint 1 to serve as the waypoint 2.
Wherein radius of circling is predetermined unmanned aerial vehicle turning radius.
And 108, taking the position of the unmanned aerial vehicle which is kept parallel to the course of the runway by the waypoint 2 and descends at a constant speed by a first preset height as a waypoint 3.
The distance from the waypoint 2 to the waypoint 3 is the distance corresponding to the preset time length of the unmanned aerial vehicle flying according to the cruising speed.
And 110, according to the fact that the position of the unmanned aerial vehicle after the unmanned aerial vehicle is turned by 180 degrees in the accurate course tracking flight mode through the semicircle is taken as the waypoint 4, and the course of the unmanned aerial vehicle should point to the runway direction after the waypoint 4 is completed.
Wherein radius of circling is predetermined unmanned aerial vehicle turning radius.
And 112, taking the position of the unmanned aerial vehicle which is kept parallel to the course of the runway by the waypoint 4 and descends at a constant speed by a second preset height as the waypoint 5.
The distance from the waypoint 4 to the waypoint 5 is the distance corresponding to the preset time length of the unmanned aerial vehicle flying according to the cruising speed.
And step 114, taking the position of the unmanned aerial vehicle which is kept parallel to the course of the runway by the waypoint 5 and descends at a constant speed by a third preset height as the waypoint 6.
The position of the waypoint 6 is consistent with the position of the preset grounding point.
And step 116, judging the safe recovery state of the unmanned aerial vehicle according to the process from the waypoint 4 to the waypoint 6, guiding the unmanned aerial vehicle to the waypoint 6 to finish the sliding recovery if the state is safe, setting the real-time target point of the unmanned aerial vehicle as the waypoint 1 to carry out the re-flight if the state is unsafe, and executing the sliding recovery route again after reaching the waypoint 1 until the sliding recovery is finished.
The autonomous sliding recovery route is a route formed by connecting waypoints 1, waypoints 2, waypoints 3, waypoints 4, waypoints 5 and waypoints 6.
The method for generating the automatic sliding recovery route and judging the automatic safe sliding landing state and the semicircular turning route are adopted, so that the automatic flight control system can accurately track the ideal recovery route, and the unmanned aerial vehicle can automatically slide and recover.
In one embodiment, the turn radius of the drone is the corresponding safe hover radius for the drone when it is held at cruise speed with a 30 degree roll, calculated in the case of 200 meters.
The y coordinate of the waypoint 1 is the distance corresponding to 10 seconds of flight of the unmanned aerial vehicle according to the cruising speed, the case calculation is 400 meters, the distance from the waypoint 2 to the waypoint 3 is the distance corresponding to 25 seconds of flight of the unmanned aerial vehicle according to the cruising speed, and the case calculation is 1000 meters; the distance from the waypoint 4 to the waypoint 5 is the distance corresponding to 5 seconds of flight of the unmanned aerial vehicle according to the cruising speed, and the case calculation is 200 meters.
The height of the z coordinate value of the waypoint 1 is determined by multiplying the safe sinking rate of the unmanned aerial vehicle by 40 seconds, and the case is calculated to be 100 meters; the first preset height is determined by multiplying the safe sinking rate of the unmanned aerial vehicle by 25 seconds, and the case calculation is 62.5 meters; the second preset height is determined by multiplying the safe sinking rate of the unmanned aerial vehicle by 5 seconds, and the case calculation is 12.5 meters; the third preset height is determined by multiplying the unmanned aerial vehicle safety sinking rate by 10 seconds, and the case calculation is 25 meters.
The resulting waypoint plan view is shown in fig. 2 and the waypoint lateral schematic view is shown in fig. 3.
From the foregoing steps, it can be obtained that the relative coordinates of waypoint 1 are (0, 400, 100) meters, waypoint 2 are (400, 400, 100), waypoint 3 are (400, -600, 37.5) meters, waypoint 4 are (0, -600, 37.5) meters, waypoint 5 are (0, -400, 25) meters, and waypoint 6 are (0, 0, 0) meters.
The GNSS coordinates of each waypoint can be calculated according to the relative coordinates of each waypoint, the GNSS coordinates of a preset grounding point which is the origin of the relative coordinates, and the direction angle value of the recovery runway. The specific method is a common plane coordinate system conversion method, and is not described in detail.
In one embodiment, the measurement of the GNSS coordinates of the predetermined ground point is done using a differential GNSS positioning system.
In one embodiment, as shown in fig. 4, there is provided an automatic generation apparatus for an autonomous sliding recovery route of a drone, including:
a recovery runway position and direction determining module 402, configured to obtain a preset ground point coordinate and a recovery runway direction angle value that the unmanned aerial vehicle falls on the runway when recovered, construct an xyz rectangular coordinate system with the preset ground point coordinate as a relative origin of coordinates and a roll-off direction on the runway when the unmanned aerial vehicle is recovered as a positive y-direction, where the positive x-direction points to the right side and the positive z-direction is vertically upward;
an automatic generating module 404 for automatically generating a self-sliding recovery route line, which is used for setting the relative coordinates of the route point 1 for self-sliding recovery for the relative coordinate origin according to the preset grounding point; the x coordinate of the waypoint 1 is consistent with the x coordinate of the preset grounding point, the y coordinate of the waypoint 1 is the distance corresponding to the preset flight duration of the unmanned aerial vehicle according to the cruising speed, and the z coordinate value of the waypoint 1 is the preset height value of the unmanned aerial vehicle for safely recovering the through-the-field flight; the position of the unmanned aerial vehicle after the unmanned aerial vehicle is rotated by 180 degrees in a precise course tracking flight mode through a semicircular circle by the waypoint 1 is taken as the waypoint 2, wherein the circle radius is the preset turning radius of the unmanned aerial vehicle; the position of the unmanned aerial vehicle, which is kept parallel to the course of the runway by the waypoint 2 and descends at a constant speed by a first preset height, is the waypoint 3, and the distance from the waypoint 2 to the waypoint 3 is the distance corresponding to the preset time length of the unmanned aerial vehicle flying at the cruising speed; according to the fact that the position of the unmanned aerial vehicle after the unmanned aerial vehicle is turned 180 degrees in a precise course tracking flight mode through a semicircular circle by the waypoint 3 is the waypoint 4, the course of the unmanned aerial vehicle is pointed to the direction of the runway after the waypoint 4 is completed, and the circle radius is the preset turning radius of the unmanned aerial vehicle; the position of the unmanned aerial vehicle, which is kept parallel to the course of the runway by the waypoint 4 and descends at a constant speed by a second preset height, is the waypoint 5, and the distance from the waypoint 4 to the waypoint 5 is the distance corresponding to the preset time length of the unmanned aerial vehicle flying at the cruising speed; according to the fact that the position of the unmanned aerial vehicle, kept parallel to the course of the runway by the waypoint 5 and descended at a constant speed by a third preset height, is the waypoint 6, and the position of the waypoint 6 is consistent with the position of the preset ground point;
the autonomous sliding-off recovery safety judgment module 406 is used for judging the safety recovery state of the unmanned aerial vehicle according to the process from the waypoint 4 to the waypoint 6, guiding the unmanned aerial vehicle to the waypoint 6 to complete sliding-off recovery if the state is safe, setting a real-time target point of the unmanned aerial vehicle as the waypoint 1 to carry out re-flight if the state is unsafe, and executing a sliding-off recovery route again after the unmanned aerial vehicle reaches the waypoint 1 until sliding-off recovery is completed; the autonomous sliding recovery route is a route formed by connecting the waypoint 1, the waypoint 2, the waypoint 3, the waypoint 4, the waypoint 5 and the waypoint 6.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express one embodiment of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (6)
1. An automatic generation method for an unmanned aerial vehicle autonomous sliding recovery route is characterized by comprising the following steps:
acquiring a preset grounding point coordinate and a recovery runway direction angle value of an unmanned aerial vehicle falling on the runway during recovery, constructing an xyz rectangular coordinate system by taking the preset grounding point coordinate as a relative coordinate origin and taking the running direction of the unmanned aerial vehicle on the runway during recovery as a positive y direction, wherein the positive x direction points to the right side, and the positive z direction is vertical and upward;
setting relative coordinates of the navigation point 1 which is automatically run away and recovered for a relative coordinate origin according to the preset grounding point; the x coordinate of the waypoint 1 is consistent with the x coordinate of the preset grounding point, the y coordinate of the waypoint 1 is the distance corresponding to the preset flight duration of the unmanned aerial vehicle according to the cruising speed, and the z coordinate value of the waypoint 1 is the preset height value of the unmanned aerial vehicle for safely recovering the through-the-field flight;
according to the unmanned aerial vehicle, the position of the unmanned aerial vehicle, which is turned by 180 degrees in a precise route tracking flight mode through a semicircular circle, is taken as a route point 2; wherein the radius of the circle is a preset turning radius of the unmanned aerial vehicle;
the position of the unmanned aerial vehicle, which is kept parallel to the course of the runway by the waypoint 2 and descends at a constant speed by a first preset height, is a waypoint 3; the distance from the waypoint 2 to the waypoint 3 is the distance corresponding to the preset flight time length of the unmanned aerial vehicle according to the cruising speed;
according to the fact that the position of the unmanned aerial vehicle after the unmanned aerial vehicle is turned by 180 degrees in a precise course tracking flight mode through a semicircular circle by the waypoint 3 is taken as a waypoint 4, and the course of the unmanned aerial vehicle points to the direction of a runway after the waypoint 4 is completed; wherein the radius of the circle is a preset turning radius of the unmanned aerial vehicle;
the position of the unmanned aerial vehicle which is kept parallel to the course of the runway by the waypoint 4 and descends at a constant speed by a second preset height is taken as a waypoint 5; the distance from the waypoint 4 to the waypoint 5 is the distance corresponding to the preset flight time length of the unmanned aerial vehicle according to the cruising speed;
the position of the unmanned aerial vehicle, which is kept parallel to the course of the runway by the waypoint 5 and descends at a constant speed by a third preset height, is a waypoint 6; the position of the waypoint 6 is consistent with the position of the preset ground point;
in the flight process from the waypoint 4 to the waypoint 6, judging the safe recovery state of the unmanned aerial vehicle, guiding the unmanned aerial vehicle to the waypoint 6 to complete the sliding recovery if the state is safe, setting a real-time target point of the unmanned aerial vehicle as the waypoint 1 to carry out the re-flight if the state is unsafe, and executing the sliding recovery route again after reaching the waypoint 1 until the sliding recovery is completed; the autonomous sliding recovery route is a route formed by connecting the waypoint 1, the waypoint 2, the waypoint 3, the waypoint 4, the waypoint 5 and the waypoint 6.
2. The method of claim 1, wherein the drone turn radius is a safe hover radius for the drone to roll 30 degrees while maintaining cruise speed.
3. The method according to claim 1, wherein the y-coordinate of waypoint 1 is a distance corresponding to 10 seconds for the drone to fly at cruising speed, the distance from waypoint 2 to waypoint 3 is a distance corresponding to 25 seconds for the drone to fly at cruising speed, and the distance from waypoint 4 to waypoint 5 is a distance corresponding to 5 seconds for the drone to fly at cruising speed.
4. The method of claim 1, wherein the z-coordinate height of waypoint 1 is determined by multiplying the drone safe convergence rate by 40 seconds; the first preset height is determined by multiplying the safe sinking rate of the unmanned aerial vehicle by 25 seconds; the second preset height is determined by multiplying the safe sinking rate of the unmanned aerial vehicle by 5 seconds; the third preset height is determined by multiplying the safe sinking rate of the unmanned aerial vehicle by 10 seconds.
5. The method according to claim 1, wherein the determining of the recovery safety state of the unmanned aerial vehicle in different ways in the process from the waypoint 4 to the waypoint 6 in different navigation segments comprises:
calculating a real-time lateral route deviation value of the unmanned aerial vehicle according to the real-time position of the unmanned aerial vehicle and a connection line from the route point 5 to the route point 6;
obtaining a real-time navigation height deviation value of the unmanned aerial vehicle according to the difference between the flight height of the unmanned aerial vehicle and the height of a projection point of the unmanned aerial vehicle on a connecting line from the navigation point 5 to the navigation point 6;
comparing the flight speed of the unmanned aerial vehicle with a preset safe gliding speed of the unmanned aerial vehicle to obtain a real-time speed deviation value of the unmanned aerial vehicle;
judging the safety state of the unmanned aerial vehicle according to the real-time lateral route deviation value, the real-time route height deviation value and the real-time speed deviation value, and judging the safety of the recovery state of the unmanned aerial vehicle if the absolute values of the real-time lateral route deviation value, the real-time route height deviation value and the real-time speed deviation value are respectively smaller than a safety preset value; otherwise, judging that the recovery state of the unmanned aerial vehicle is unsafe.
6. An automatic generation device of unmanned aerial vehicle autonomous sliding recovery route, the device comprising:
the recovery runway position and direction determining module is used for acquiring a preset grounding point coordinate and a recovery runway direction angle value of the unmanned aerial vehicle falling on the runway during recovery, and constructing an xyz rectangular coordinate system by taking the preset grounding point coordinate as a relative origin of coordinates and taking the sliding direction of the unmanned aerial vehicle on the runway during recovery as a positive y direction, wherein the positive x direction points to the right side, and the positive z direction is vertical to the upper side;
the automatic generating module of the autonomous sliding recovery route is used for setting the relative coordinates of the navigation route point 1 for autonomous sliding recovery for the relative coordinate origin according to the preset grounding point; the x coordinate of the waypoint 1 is consistent with the x coordinate of the preset grounding point, the y coordinate of the waypoint 1 is the distance corresponding to the preset flight duration of the unmanned aerial vehicle according to the cruising speed, and the z coordinate value of the waypoint 1 is the preset height value of the unmanned aerial vehicle for safely recovering the through-the-field flight; the position of the unmanned aerial vehicle after the unmanned aerial vehicle is rotated by 180 degrees in a precise route tracking flight mode through a semicircular circle by the waypoint 1 is taken as a waypoint 2, wherein the circle radius is a preset turning radius of the unmanned aerial vehicle; the position of the unmanned aerial vehicle, which is kept parallel to the course of the runway by the waypoint 2 and descends at a constant speed by a first preset height, is a waypoint 3, and the distance from the waypoint 2 to the waypoint 3 is the distance corresponding to the preset time length of the unmanned aerial vehicle flying at the cruising speed; according to the fact that the position of the unmanned aerial vehicle after the unmanned aerial vehicle is turned by 180 degrees in a precise course tracking flight mode through a semicircular circle by the waypoint 3 is the waypoint 4, the course of the unmanned aerial vehicle points to the direction of a runway after the waypoint 4 is completed, and the circle radius is the preset turning radius of the unmanned aerial vehicle; keeping the position of the unmanned aerial vehicle parallel to the course of the runway by the waypoint 4 and descending at a constant speed for a second preset height to be the waypoint 5, wherein the distance from the waypoint 4 to the waypoint 5 is the distance corresponding to the preset time length of the unmanned aerial vehicle flying at the cruising speed; according to the fact that the unmanned aerial vehicle is kept parallel to the course of the runway by the waypoint 5, the position of the unmanned aerial vehicle after descending at a constant speed for a third preset height is the waypoint 6, and the position of the waypoint 6 is consistent with the position of the preset grounding point;
the autonomous sliding-off recovery safety judgment module is used for judging the safety recovery state of the unmanned aerial vehicle according to the process from the waypoint 4 to the waypoint 6, guiding the unmanned aerial vehicle to the waypoint 6 to complete sliding-off recovery if the state is safe, setting a real-time target point of the unmanned aerial vehicle as the waypoint 1 to carry out re-flight if the state is unsafe, and executing a sliding-off recovery route again after reaching the waypoint 1 until sliding-off recovery is completed; the autonomous sliding recovery route is a route formed by connecting the waypoint 1, the waypoint 2, the waypoint 3, the waypoint 4, the waypoint 5 and the waypoint 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111328400.1A CN114049797B (en) | 2021-11-10 | 2021-11-10 | Automatic generation method and device for unmanned aerial vehicle autonomous sliding recovery route |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111328400.1A CN114049797B (en) | 2021-11-10 | 2021-11-10 | Automatic generation method and device for unmanned aerial vehicle autonomous sliding recovery route |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114049797A CN114049797A (en) | 2022-02-15 |
| CN114049797B true CN114049797B (en) | 2022-08-02 |
Family
ID=80208246
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111328400.1A Active CN114049797B (en) | 2021-11-10 | 2021-11-10 | Automatic generation method and device for unmanned aerial vehicle autonomous sliding recovery route |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114049797B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101261520A (en) * | 2008-04-15 | 2008-09-10 | 北京航空航天大学 | Middle and small sized no-manned machine reclaiming positioning apparatus |
| CN101707334A (en) * | 2009-11-24 | 2010-05-12 | 龚文基 | Static cable electric laying method and system of unmanned helicopter |
| CN103700286A (en) * | 2013-12-11 | 2014-04-02 | 南京航空航天大学 | Automatic carrier-landing guiding method of carrier-borne unmanned aircraft |
| CN107544550A (en) * | 2016-06-24 | 2018-01-05 | 西安电子科技大学 | A kind of Autonomous Landing of UAV method of view-based access control model guiding |
| CN108153330A (en) * | 2017-12-28 | 2018-06-12 | 中国人民解放军国防科技大学 | Unmanned aerial vehicle three-dimensional track self-adaptive tracking method based on feasible region constraint |
| CN109933088A (en) * | 2019-03-18 | 2019-06-25 | 西安爱生技术集团公司 | A kind of unmanned plane course line automatic generation method suitable for bimodulus recycling |
| WO2020046984A1 (en) * | 2018-08-27 | 2020-03-05 | Gulfstream Aerospace Corporation | Piecewise recovery system |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR3007545B1 (en) * | 2013-06-21 | 2020-03-27 | Thales | SYSTEM METHOD AND COMPUTER PROGRAM FOR PROVIDING DATA RELATING TO AN OPERATION OF AN AIRCRAFT ON A MAN-MACHINE INTERFACE |
| US20170300065A1 (en) * | 2016-04-18 | 2017-10-19 | Latitude Engineering, LLC | Automatic recovery systems and methods for unmanned aircraft systems |
| US10582321B2 (en) * | 2016-09-29 | 2020-03-03 | Verizon Patent And Licensing Inc. | Identification of unmanned aerial vehicles based on audio signatures |
| CN111240211B (en) * | 2020-03-19 | 2020-08-28 | 北京航空航天大学 | Dynamic recovery method for unmanned aerial vehicle group |
-
2021
- 2021-11-10 CN CN202111328400.1A patent/CN114049797B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101261520A (en) * | 2008-04-15 | 2008-09-10 | 北京航空航天大学 | Middle and small sized no-manned machine reclaiming positioning apparatus |
| CN101707334A (en) * | 2009-11-24 | 2010-05-12 | 龚文基 | Static cable electric laying method and system of unmanned helicopter |
| CN103700286A (en) * | 2013-12-11 | 2014-04-02 | 南京航空航天大学 | Automatic carrier-landing guiding method of carrier-borne unmanned aircraft |
| CN107544550A (en) * | 2016-06-24 | 2018-01-05 | 西安电子科技大学 | A kind of Autonomous Landing of UAV method of view-based access control model guiding |
| CN108153330A (en) * | 2017-12-28 | 2018-06-12 | 中国人民解放军国防科技大学 | Unmanned aerial vehicle three-dimensional track self-adaptive tracking method based on feasible region constraint |
| WO2020046984A1 (en) * | 2018-08-27 | 2020-03-05 | Gulfstream Aerospace Corporation | Piecewise recovery system |
| CN109933088A (en) * | 2019-03-18 | 2019-06-25 | 西安爱生技术集团公司 | A kind of unmanned plane course line automatic generation method suitable for bimodulus recycling |
Non-Patent Citations (2)
| Title |
|---|
| 低动态临近空间飞行器回收方式;米滨等;《江苏航空》;20091215;全文 * |
| 某型无人机自主回收着陆段的设计;孙晓媛;《大众科技》;20080410(第04期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114049797A (en) | 2022-02-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104246641B (en) | The safe emergency landing of UAV | |
| EP3454159B1 (en) | Method and device of autonomous navigation | |
| CN110888453B (en) | Unmanned aerial vehicle autonomous flight method for constructing three-dimensional live-action based on LiDAR data | |
| CN104049636B (en) | Navigation altitude obtaining method combining relative altitude and absolute altitude | |
| CN110111608B (en) | Method for identifying moving target operation intention of airport surface on basis of radar track construction | |
| CN109683629B (en) | Unmanned aerial vehicle electric power overhead line system based on combination navigation and computer vision | |
| Cui et al. | Autonomous navigation of UAV in foliage environment | |
| EP2433867A2 (en) | Automatic take-off and landing system | |
| CN109947128B (en) | Unmanned aerial vehicle control method, unmanned aerial vehicle control device, unmanned aerial vehicle and system | |
| CN106774410A (en) | Unmanned plane automatic detecting method and apparatus | |
| CN104536457B (en) | Sliding-mode control method based on small unmanned aerial vehicle navigation | |
| CN104991565A (en) | Parachute fixed-wing unmanned aerial vehicle autonomous fixed-point recovery method | |
| CN104238580A (en) | Low-altitude flight control method applied to airborne geophysical prospecting of unmanned aerial vehicle | |
| CN103708045B (en) | The on-line parameter discrimination method that a kind of lunar exploration airship great-jump-forward reenters | |
| CN113156998B (en) | Control method of unmanned aerial vehicle flight control system | |
| CN103578299B (en) | A kind of method simulating aircraft process | |
| Siegel et al. | Development of an autoland system for general aviation aircraft | |
| WO2019040179A1 (en) | Controlling landings of an aerial robotic vehicle using three-dimensional terrain maps generated using visual-inertial odometry | |
| CN206696434U (en) | A kind of unmanned plane guides landing system automatically | |
| CN111123964A (en) | Unmanned aerial vehicle landing method and device and computer readable medium | |
| CN111650962A (en) | Multi-rotor unmanned aerial vehicle route planning and aerial photography method suitable for banded survey area | |
| CN111812669B (en) | Winding machine inspection device, positioning method thereof and storage medium | |
| CN115981355A (en) | Unmanned aerial vehicle automatic cruise method and system capable of landing quickly and accurately | |
| US10453350B2 (en) | Fixed-wing aircraft and flight control method and system thereof | |
| CN114049797B (en) | Automatic generation method and device for unmanned aerial vehicle autonomous sliding recovery route |
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 |