CN114384938A - Unmanned aerial vehicle take-off and landing course correction method and system - Google Patents

Unmanned aerial vehicle take-off and landing course correction method and system Download PDF

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CN114384938A
CN114384938A CN202210284970.3A CN202210284970A CN114384938A CN 114384938 A CN114384938 A CN 114384938A CN 202210284970 A CN202210284970 A CN 202210284970A CN 114384938 A CN114384938 A CN 114384938A
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unmanned aerial
aerial vehicle
angle
rotating platform
course
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CN114384938B (en
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张欢飞
冯伟强
耿开鹏
陈永辉
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Shandong Zhihang Intelligent Equipment Co ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B64F1/007—Helicopter portable landing pads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B64F1/22—Ground or aircraft-carrier-deck installations for handling aircraft
    • B64F1/222—Ground or aircraft-carrier-deck installations for handling aircraft for storing aircraft, e.g. in hangars

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Abstract

The invention discloses a method and a system for correcting the taking-off and landing course of an unmanned aerial vehicle, which relate to the technical field of taking-off and landing of the unmanned aerial vehicle and comprise a taking-off course correction method and a landing course correction method, wherein the taking-off course correction method comprises the following steps: step 1: opening a top cover of the start nest and acquiring an initial north-east alpha 1 angle and a wind direction information north-east beta angle of the rotary platform, and step 2: the rotating platform calculates the take-off course correction angle of the unmanned aerial vehicle according to the difference value theta = beta-alpha 1; and step 3: when the rotating platform rotates to the difference value | theta | = beta-alpha 1<1 degrees, a takeoff instruction is sent to the unmanned aerial vehicle through the airframe; and 4, step 4: after receiving the takeoff enabling instruction, the unmanned aerial vehicle completes the takeoff process according to the standard takeoff flow; the course correction strategy of the method is implemented in the nest control structure, so that the course of the unmanned aerial vehicle is positioned at the windward position in the stage of preparing take-off of the unmanned aerial vehicle, and the wind resistance of the unmanned aerial vehicle is utilized to the maximum extent during take-off.

Description

Unmanned aerial vehicle take-off and landing course correction method and system
Technical Field
The invention relates to the technical field of taking-off and landing of unmanned aerial vehicles, in particular to a method and a system for correcting taking-off and landing course of an unmanned aerial vehicle.
Background
Along with the development of the unmanned aerial vehicle technology, the application scenes of the unmanned aerial vehicle are more and more extensive, for example, the unmanned aerial vehicle is applied to the scenes such as power line patrol, traffic rescue and customs frontier defense, and in the application scenes, the unmanned aerial vehicle needs to be charged or changed after working for a period of time, so that the cruising flight of the unmanned aerial vehicle is ensured. An automatic airport system of unmanned aerial vehicle is a full-process automation facility which can realize automatic take-off, automatic inspection, automatic nest returning, automatic charging and battery changing and intelligent storage of the unmanned aerial vehicle, can replace manual work to utilize a remote controller or a ground station to manually control the unmanned aerial vehicle to carry out aerial inspection operation, and improves the automation level of the unmanned aerial vehicle to execute tasks. There are currently multi-rotor unmanned automatic airports and vertical take-off and landing fixed-wing unmanned automatic airports.
Automatic airport is equipped with weather station more, can provide the environmental parameter that unmanned aerial vehicle took off, landed. At present, an unmanned aerial vehicle can be linked with an automatic airport to acquire external environment parameters such as wind power and wind direction parameters, and whether the aircraft can take off or land is judged according to the design limiting conditions of the unmanned aerial vehicle, such as wind resistance level and the like. The unmanned aerial vehicle takes off and lands under the condition of strong crosswind and downwind, which may cause oscillation divergence of course attitude, influence flight safety and cause the damage of airplanes and airports.
In the automatic airport system of VTOL fixed wing unmanned aerial vehicle, unmanned aerial vehicle possesses fixed wing flight mode and many rotor flight mode simultaneously. Because the vertical take-off and landing fixed wing unmanned aerial vehicle is less in the aerodynamic disturbance of windward direction, better lift has, in order to ensure unmanned aerial vehicle flight safety, improve unmanned aerial vehicle anti-wind ability, enlarge the scene that unmanned aerial vehicle carries out the task, should guarantee as far as possible that the unmanned aerial vehicle aircraft nose is towards the windward direction at unmanned aerial vehicle take-off and landing stage, and present unmanned aerial vehicle airport is for safety, the majority does not consider the influence of unmanned aerial vehicle's configuration to windward nature, ignore measured wind direction parameter, adopt a policy of cutting, under specific wind-force condition, do not take off or descend, give up and carry out the task.
Under the upwind state, the vertical take-off and landing fixed wing unmanned aerial vehicle has small course moment and strong static stability of aerodynamic force, and a course channel can maintain the attitude of the course under the condition of low accelerator; under the states of crosswind and downwind, the course moment of aerodynamic force is large and is in a static unstable state, and a course channel needs to adopt a high accelerator to counteract the influence of unstable aerodynamic interference on the course stability. The aircraft can take off in a windward state reasonably, the energy consumption of the aircraft can be reduced, and the radius of the aircraft for executing tasks is increased. Therefore, the reasonable take-off and landing course correction method can improve the safety and efficiency of the composite wing unmanned aerial vehicle for executing tasks.
Problem analysis points:
aiming at the problem that when the existing unmanned aerial vehicle takes off by utilizing an airport, a cutting strategy is mostly adopted for safety, the influence of wind power is considered, but the wind direction parameter is ignored, the influence of the body configuration on the wind resistance is not considered under the specific wind power condition, and the adaptability of the flight environment is reduced.
The control logic complex problem that the existing composite wing unmanned aerial vehicle can land by adjusting the course under the condition of keeping hovering when the unmanned aerial vehicle lands at an airport is solved.
The wind of nature has certain randomness, and the fixed wing unmanned aerial vehicle of VTOL is less at the aerodynamic disturbance of windward direction, has better lift and stable control ability, flight safety when in order to ensure unmanned aerial vehicle to descend.
The aircraft can execute a hovering task in the air, and meanwhile, the course is adjusted, so that higher requirements are provided for the control performance of the aircraft, and particularly, the extra landing requirements are provided for the aircraft due to the particularity of the aircraft nest environment in most course control performance.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a method and a system for correcting the taking-off and landing course of an unmanned aerial vehicle, which solve the problems that most of the methods in the prior art adopt a cutting strategy, the influence of wind power is considered, but wind direction parameters are ignored, the influence of the body configuration on the wind resistance is not considered under the specific wind power condition, and the adaptability of the flight environment is reduced.
In order to solve the technical problem, the invention adopts the following scheme: a take-off and landing course correction method for an unmanned aerial vehicle comprises a take-off course correction method and a landing course correction method, and is applied to the take-off and landing process of the unmanned aerial vehicle in a nest, wherein the nest comprises a cabin body and a rotating platform arranged at the top of the cabin body, the rotating platform is used for parking the unmanned aerial vehicle, and the initial direction of the rotating platform is consistent with the longitudinal position of the unmanned aerial vehicle when the unmanned aerial vehicle is parked;
the take-off course correcting method comprises the following steps:
respectively obtaining an initial direction alpha 1 angle and a current wind direction beta angle of a rotating platform, and taking a clockwise direction as an angle increasing direction, wherein the alpha 1 angle and the beta angle are both in a range of 0-360 degrees;
determining the rotation direction and the rotation angle of the rotating platform according to a first preset rule based on the difference value theta between the initial direction alpha 1 angle and the current wind direction beta angle;
when the obtained absolute value of the difference theta is within the preset angle range, the nest sends a take-off instruction to the unmanned aerial vehicle, and when the obtained absolute value of the difference theta is outside the preset angle range, the take-off instruction is not sent, and the rotating platform is rotated again until the absolute value of the difference theta is within the preset angle range;
the landing course correction method comprises the following steps:
in a vertical landing stage, the unmanned aerial vehicle adjusts the position of the unmanned aerial vehicle in real time based on the initial central position of the rotating platform, and obtains the horizontal distance rho between the initial central position of the rotating platform and the position of the unmanned aerial vehicle;
acquiring a vertical distance H between the unmanned aerial vehicle and the rotating platform, and when the vertical distance H meets a preset threshold value, the unmanned aerial vehicle enters a hovering state and starts to record hovering time T; when the vertical distance H does not meet a preset threshold value, the unmanned aerial vehicle adjusts the position;
after the unmanned aerial vehicle enters a hovering state, measuring and calculating a current aircraft nose course angle gamma angle through swinging the aircraft nose left and right, and sending the current aircraft nose course angle gamma angle to an aircraft nest, wherein the range of the gamma angle is 0-360 degrees, and the clockwise direction is the direction of increasing the angle;
calculating a heading angle difference sigma of the rotary platform based on a nose heading angle gamma angle and a current heading angle delta 1 angle of the rotary platform, and obtaining a rotating direction and a rotating angle of the rotary platform according to a second preset rule;
judging whether the unmanned aerial vehicle lands or not based on the heading angle difference value sigma, the horizontal distance rho and the hovering time T;
when the horizontal distance rho or the hovering time T is larger than a preset value, the unmanned aerial vehicle lands to a standby landing point;
when the horizontal distance rho or the hovering time T is smaller than a preset value, judging the sigma,
when the absolute value sigma is larger than a preset value, the rotating platform rotates, the absolute value sigma is reduced, and the unmanned aerial vehicle keeps the course and the position;
when the | σ | is smaller than the preset value, the unmanned aerial vehicle lands on the rotating platform.
The first preset rule comprises:
the rotating platform calculates the take-off course correction angle of the unmanned aerial vehicle according to the difference value theta = beta-alpha 1;
if theta is larger than or equal to 180 degrees, the rotating platform rotates anticlockwise by 360 degrees-theta;
if 0< theta <180, the rotating platform rotates clockwise by theta;
if the angle theta is more than 0 degree and is more than or equal to-180 degrees, the rotating platform rotates anticlockwise by the angle theta;
if the angle is minus 360 degrees > theta > -180 degrees, the rotating platform rotates 360 degrees + theta clockwise;
the direction of the rotating platform after rotating is marked as alpha 2;
and when | = beta-alpha 2<1 °, sending a takeoff instruction to the unmanned aerial vehicle through the airframe.
The second preset rule comprises:
the rotating platform calculates the landing course correction angle of the unmanned aerial vehicle according to the difference value sigma = gamma-delta 1,
if the angle of 360 degrees is larger than or equal to 180 degrees, the rotating platform rotates clockwise by 360 degrees to sigma degrees;
if 0< sigma <180, the rotating platform rotates counterclockwise by sigma;
if 0 degree is larger than sigma and is larger than or equal to-180 degrees, clockwise rotating the rotary platform by sigma;
if-360 degrees > sigma > -180 degrees, the rotating platform rotates 360 degrees + sigma anticlockwise;
the direction of the rotating platform after rotating is marked as delta 2;
when | = γ - δ 2<14 °, the drone may land to a rotating platform.
After the unmanned aerial vehicle enters a hovering state, measuring and calculating a current head course angle gamma angle through swinging the head left and right;
the range of the aircraft nose course angle gamma angle is 0 ~360 degrees, and the clockwise direction is the direction that the angle increases, and the measurement and calculation step is as follows:
when the unmanned aerial vehicle suspends at a certain height, recording the current position;
recording RTK data A (x) when rotating to a lambda degree position along a preset directionA,yA,zA），xAIs the latitude value y at the first rotation to the lambda degree positionAIs the longitude value, z, at the first rotation to the lambda degree positionAIs the altitude value when rotating to the lambda degree position for the first time;
the unmanned aerial vehicle stops after rotating at a mu-degree angle in the opposite direction in the preset direction, and RTK data B (x) is recordedB,yB,zB），xBIs the latitude value y at the first rotation to the mu degree positionBIs the longitude value, z, at the first rotation to the mu degree positionBIs the altitude value when the first rotation is carried out to the mu degree position;
if the coordinate of the rotation center of the unmanned aerial vehicle is O (x)0,y0,z0），x0Latitude value of unmanned aerial vehicle center of rotation, y0Longitude value, z, for the center of rotation of the drone0Is the altitude value of the rotation center of the unmanned aerial vehicle;
μ =2 λ, then handpiece is oriented
Figure DEST_PATH_IMAGE001
According to
Figure 98851DEST_PATH_IMAGE002
Can realize unmanned aerial vehicle initial direction angle
Figure DEST_PATH_IMAGE003
The specific calculation method is as follows:
unit vector in north direction:
Figure 409878DEST_PATH_IMAGE004
；
included angle between nose course angle gamma angle and true north
Figure 447104DEST_PATH_IMAGE005
Satisfies the following conditions:
Figure 928901DEST_PATH_IMAGE006
Figure 76986DEST_PATH_IMAGE007
Figure 960628DEST_PATH_IMAGE008
。
the determining whether the unmanned aerial vehicle lands based on the heading angle difference value sigma, the horizontal distance rho and the hovering time T specifically comprises:
when the heading angle difference sigma is within a preset heading angle range and the horizontal distance rho is within a preset distance range, the unmanned aerial vehicle lands on a rotating platform; if not, then,
if the hovering time T exceeds the preset time, the unmanned aerial vehicle lands to a standby landing point;
and if the hovering time T is within a preset time range, continuously adjusting the position of the unmanned aerial vehicle to enable the horizontal distance rho to be within a preset distance range, and/or adjusting the rotation angle of the rotating platform to enable the heading angle difference sigma to be within a preset heading angle range.
In the landing course correction method, before the unmanned aerial vehicle enters the hovering state, the method further comprises the following steps: the unmanned aerial vehicle enters a vertical landing stage, and the direction of the machine head is adjusted based on the wind direction.
The take-off course correction method is applied to the take-off process of the unmanned aerial vehicle in a nest, a top cover is installed at the top of the nest, and the method further comprises the following steps of:
and (4) opening the top cover of the machine nest, detecting whether the top cover of the machine nest is in place, and executing the subsequent steps after the top cover of the machine nest is in place.
The utility model provides an unmanned aerial vehicle takes off and land course correction system, includes unmanned aerial vehicle and machine nest, the machine nest includes the cabin body and installs the rotary platform at cabin body top, rotary platform is used for parking unmanned aerial vehicle, be equipped with orientation module on the unmanned aerial vehicle aircraft nose, unmanned aerial vehicle takes off and lands course correction system still includes: the device comprises a wind direction acquisition unit, a horizontal distance acquisition unit, a vertical distance acquisition unit and a course angle acquisition unit;
the wind direction acquisition unit is used for acquiring a wind direction and adjusting the position of the machine head based on the wind direction in the taking-off and landing process of the unmanned aerial vehicle;
the rotating platform is used for rotating based on the difference value theta of the initial direction alpha 1 angle of the rotating platform and the current wind direction beta angle in the take-off course correction process, and adjusting the course angle of the unmanned aerial vehicle before take-off; rotating based on the heading angle difference sigma of the nose heading angle gamma angle and the current heading angle delta 1 angle of the rotating platform in the landing heading correction process;
the vertical distance acquisition unit is used for acquiring a vertical distance H between the unmanned aerial vehicle and the rotating platform, and when the vertical distance H meets a preset threshold value, the unmanned aerial vehicle enters a hovering state and starts to record hovering time T;
the horizontal distance acquisition unit is used for acquiring a horizontal distance rho between the unmanned aerial vehicle and the nest;
the course angle acquisition unit is used for acquiring a machine head course angle gamma angle of the unmanned aerial vehicle;
and the unmanned aerial vehicle judges whether the unmanned aerial vehicle lands or not based on the heading angle difference value sigma, the horizontal distance rho and the hovering time T.
Compared with the prior art, the invention has the following technical effects:
(1) the course correction strategy of the method is implemented in the nest control structure, so that the course of the unmanned aerial vehicle is positioned at the windward position in the stage of preparing take-off of the unmanned aerial vehicle, and the wind resistance of the unmanned aerial vehicle is utilized to the maximum extent during take-off.
(2) The course correction strategy of the method is implemented in the nest control structure, and the fixed-point hovering control strategy of the composite-wing unmanned aerial vehicle in the task execution stage can be reused when the composite-wing unmanned aerial vehicle lands, so that the task processing logic of the unmanned aerial vehicle during landing is reduced, and the landing stability of the unmanned aerial vehicle is improved.
(3) According to the method, when the unmanned aerial vehicle lands in the windy weather, the initial calibration course and the course correction of the unmanned aerial vehicle are realized by the rotating platform in a manner of linkage of the machine nest, the unmanned aerial vehicle can be ensured to be in a windward state all the time by the rotation of the rotating platform, the wind resistance of the unmanned aerial vehicle is utilized to the maximum extent, and the success rate and the efficiency of wind resistance landing of the unmanned aerial vehicle are improved.
(4) The method of the invention actively controls the rotating platform of the nest to correct the course, reduces the requirement of course control precision when the unmanned aerial vehicle lands, and improves the landing efficiency of the unmanned aerial vehicle.
Drawings
FIG. 1 is a schematic view of a take-off course correction;
FIG. 2 is a schematic view of landing course correction;
FIG. 3 is a schematic view of a nest structure;
FIG. 4 is a flow chart of take-off course correction;
FIG. 5 is a landing course correction flowchart.
The various reference numbers in the drawings have the meanings given below:
the method comprises the following steps of 1-a machine nest, 2-a machine nest top cover, 3-a cabin, 4-a rotating platform, 5-an unmanned aerial vehicle, 6-an initial course X axis, 7-an initial course Y axis, 8-a rotating center, 9-alpha 1 angle, 10-beta angle, 11-gamma angle and 12-delta 1 angle.
The present invention will be explained in further detail with reference to examples.
Detailed Description
In order to make the technical solutions of the present invention better understood, the following embodiments of the present invention are given with reference to the accompanying drawings, and it should be noted that the present invention is not limited to the following embodiments, and equivalent changes made on the technical solutions of the present invention fall within the protection scope of the present invention.
The reference numbers (e.g. 1, 2, 3 … …) in the drawings in this application are based on the position relationship of different drawings, and the corresponding meanings are different from each other in different drawings, so that the scope of protection should not be construed as being limited thereby.
The terms "rotate" and the like are used herein to indicate an orientation or positional relationship merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular rotational pattern, "inner" and "outer" refer to the inner and outer of the corresponding component profiles and the above terms should not be construed as limiting the present invention.
Mathematical symbols used in the present invention, such as: alpha, beta, xA、yA、zAEtc. to facilitate the description of the principles of the methods, and not to represent a specific meaning, the above-described symbols should not be construed as limiting the invention.
Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or imply that the number of technical features indicated is significant. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.
In the present invention, the term "suggested value" or the like is to be understood in a broad sense unless otherwise stated, and the value may be a value suggested in the present invention, or may be more than the suggested value or less than the suggested value. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
All components in the present invention, unless otherwise specified, are all those known in the art.
As shown in fig. 1-5, an unmanned aerial vehicle take-off and landing course correction method includes an unmanned aerial vehicle 5 and a nest 1, where the nest 1 includes a rotating platform 4, a cabin 3 and a nest top cover 2, a rotating center 8 and a course are calibrated on the rotating platform 4, and the course includes an initial course Y axis 7 and an initial course X axis 6;
the unmanned aerial vehicle takeoff course correction method is characterized in that the takeoff course correction of the unmanned aerial vehicle 5 facing the wind is realized by calculating the angle difference between the current included angle alpha 1 and angle 9 between the initial course Y axis 7 of the rotating platform 4 and the due north direction and the currently measured wind direction angle beta 10 and utilizing the takeoff course correction method shown in the figure 4;
the landing course correction method of the unmanned aerial vehicle realizes course correction of landing of the unmanned aerial vehicle 5 facing the wind by calculating the angle difference between the current included angle delta 1 and 12 between the initial course Y axis 7 of the rotating platform 4 and the due north direction and the currently measured wind direction angle gamma 11 and by using the landing course correction method of figure 5.
Example 1:
as shown in fig. 1-5, an unmanned aerial vehicle take-off and landing course correction method includes a take-off course correction method and a landing course correction method, and is applied to a take-off and landing process of an unmanned aerial vehicle 5 in a nest 1, wherein the nest 1 includes a cabin 3 and a rotating platform 4 installed at the top of the cabin 3, the rotating platform 4 is used for parking the unmanned aerial vehicle 5, and an initial direction of the rotating platform 4 is consistent with a longitudinal position of the unmanned aerial vehicle 5 when parked;
the take-off course correcting method comprises the following steps:
respectively obtaining an initial direction alpha 1 angle 9 and a current wind direction beta angle 10 of a rotating platform 4, taking a clockwise direction as an angle increasing direction, wherein the alpha 1 angle 9 and the beta angle 10 are both in a range of 0-360 degrees;
determining the rotation direction and the rotation angle of the rotating platform 4 according to a first preset rule based on the difference value theta between the initial direction alpha 1 angle 9 and the current wind direction beta angle 10;
when the obtained absolute value of the difference theta is within the preset angle range, the nest 1 sends a take-off command to the unmanned aerial vehicle 5, and when the obtained absolute value of the difference theta is outside the preset angle range, the take-off command is not sent, and the rotating platform 4 is rotated again until the absolute value of the difference theta is within the preset angle range;
the landing course correction method comprises the following steps:
in a vertical landing stage, the unmanned aerial vehicle 5 adjusts the position of the unmanned aerial vehicle in real time based on the initial central position of the rotating platform 4, and obtains the horizontal distance rho between the initial central position of the rotating platform 4 and the position of the unmanned aerial vehicle 5;
acquiring a vertical distance H between the unmanned aerial vehicle 5 and the rotating platform 4, and when the vertical distance H meets a preset threshold value, the unmanned aerial vehicle 5 enters a hovering state and starts to record hovering time T; when the vertical distance H does not meet a preset threshold value, the unmanned aerial vehicle 5 adjusts the position;
after the unmanned aerial vehicle 5 enters a hovering state, measuring and calculating a current aircraft nose course angle gamma angle 11 through a left-right swinging aircraft nose position, and sending the current aircraft nose course angle gamma angle 11 to the aircraft nest 1, wherein the range of the gamma angle 11 is 0-360 degrees, and the clockwise direction is the direction of increasing the angle;
calculating a heading angle difference sigma of the rotary platform 4 based on a nose heading angle gamma angle 11 and a current heading angle delta 1 angle 12 of the rotary platform 4, and obtaining a rotating direction and a rotating angle of the rotary platform 4 according to a second preset rule;
judging whether the unmanned aerial vehicle 5 lands or not based on the heading angle difference value sigma, the horizontal distance rho and the hovering time T;
in practice, in order to avoid accidents when one nest 1 does not have landing conditions, it is also necessary to arrange spare landing points.
When the horizontal distance rho or the hovering time T is larger than a preset value, the unmanned aerial vehicle 5 lands to a standby landing point;
when the horizontal distance rho or the hovering time T is smaller than a preset value, judging the sigma I;
when the absolute value sigma is larger than a preset value, the rotating platform 4 rotates, the absolute value sigma is reduced, and the unmanned aerial vehicle 5 keeps the course and the position;
when | σ | is smaller than the preset value, the unmanned aerial vehicle 5 lands on the rotary platform 4.
Specific values of the parameters are specifically determined according to different models and devices of the airframe 1, for example, researchers of the invention preferably select the following specific parameters according to specific performances and parameters of the unmanned aerial vehicle 5 and the airframe 1 through experimental verification.
If T is more than 60s, the unmanned aerial vehicle 5 lands to a standby landing point;
if rho is more than 26cm and T is more than 60s, the unmanned aerial vehicle 5 lands to a standby landing point;
if rho is less than 26cm, the rotating platform 4 rotates according to the angle range of sigma, the angle value of sigma is reduced, and the unmanned aerial vehicle 5 keeps the course and the position;
if ρ <26cm, and | σ | <14 °, the drone 5 lands to the rotating platform 4.
The first preset rule comprises:
the rotating platform 4 calculates the take-off course correction angle of the unmanned aerial vehicle 5 according to the difference value theta = beta-alpha 1;
if theta is larger than or equal to 180 degrees, the rotating platform 4 rotates anticlockwise by 360 degrees to theta;
if 0< theta <180, the rotating platform 4 rotates clockwise theta;
if the angle theta is more than 0 degree and is more than or equal to-180 degrees, the rotating platform 4 rotates anticlockwise by the angle theta;
if-360 degrees > theta > -180 degrees, the rotating platform 4 rotates 360 degrees + theta clockwise;
the direction of the rotating platform 4 after rotating is marked as alpha 2;
if | θ | = β - α 2<1 °, a takeoff instruction is sent to the drone 5 through the airframe 1.
The second preset rule comprises:
the rotating platform 4 calculates the landing course correction angle of the unmanned aerial vehicle 5 according to the difference value sigma = gamma-delta 1,
if the angle of 360 degrees is larger than or equal to 180 degrees, the rotating platform 4 rotates clockwise by 360 degrees to sigma degrees;
if 0< σ <180, the rotating platform 4 rotates counterclockwise by σ;
if 0 degree is larger than sigma and is larger than or equal to-180 degrees, the rotating platform 4 rotates sigma clockwise;
if-360 ° > σ > -180 °, the rotary platform 4 rotates 360 ° + σ counterclockwise;
the direction of the rotating platform 4 after rotating is marked as delta 2;
when | = γ - δ 2<14 °, the drone 5 may land to the rotating platform 4.
After the unmanned aerial vehicle 5 enters a hovering state, measuring and calculating a current head course angle gamma angle 11 by swinging the head left and right;
the range of the aircraft nose course angle gamma angle 11 is 0 ~360 degrees, and the clockwise direction is the direction that the angle increases, and the measurement and calculation step is as follows:
when the unmanned aerial vehicle 5 suspends at a certain height, recording the current position;
recording RTK data A (x) when rotating to a lambda degree position along a preset directionA,yA,zA），xAFor the first rotationLatitude to the lambda position, yAIs the longitude value, z, at the first rotation to the lambda degree positionAIs the altitude value when rotating to the lambda degree position for the first time;
the unmanned aerial vehicle 5 stops after rotating at a mu-degree angle in the opposite direction in the preset direction, and RTK data B (x) is recordedB,yB,zB），xBIs the latitude value y at the first rotation to the mu degree positionBIs the longitude value, z, at the first rotation to the mu degree positionBIs the altitude value when the first rotation is carried out to the mu degree position;
if the 8 coordinates of the rotation center of the unmanned aerial vehicle 5 are O (x)0,y0,z0），x0Latitude value, y, of the center of rotation 8 of the drone 50Longitude value, z, of the center of rotation 8 of the drone 50Is the altitude value of the rotation center 8 of the unmanned aerial vehicle 5;
μ =2 λ, then handpiece is oriented
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According to
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Can realize 5 initial direction angles of unmanned aerial vehicle
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The specific calculation method is as follows:
unit vector in north direction:
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；
the included angle between the nose course angle gamma angle 11 and the true north
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Satisfies the following conditions:
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Figure 775427DEST_PATH_IMAGE008
。
the determining whether the unmanned aerial vehicle 5 lands based on the heading angle difference value sigma, the horizontal distance rho and the hovering time T specifically includes:
when the heading angle difference sigma is within a preset heading angle range and the horizontal distance rho is within a preset distance range, the unmanned aerial vehicle 5 lands on the rotating platform 4; if not, then,
if the hovering time T exceeds the preset time, the unmanned aerial vehicle 5 lands to a standby landing point;
and if the hovering time T is within a preset time range, continuously adjusting the position of the unmanned aerial vehicle 5 to enable the horizontal distance rho to be within a preset distance range, and/or adjusting the rotation angle of the rotating platform 4 to enable the course angle difference sigma to be within a preset course angle range.
In the landing course correction method, before the unmanned aerial vehicle 5 enters the hovering state, the method further includes: the unmanned aerial vehicle 5 enters a vertical landing stage and adjusts the direction of the nose based on the wind direction.
The take-off course correction method is applied to a take-off process of an unmanned aerial vehicle 5 in a nest 1, wherein a top cover 2 is installed at the top of the nest 1, and before an initial direction alpha 1 angle 9 and a current wind direction beta angle 10 of a rotating platform 4 are obtained, the method further comprises the following steps:
and (3) starting the top cover 2 of the machine nest, detecting whether the top cover is opened in place, and executing the subsequent steps after the top cover 2 of the machine nest is opened in place.
Example 2:
the utility model provides an unmanned aerial vehicle takes off and land course correction system, as shown in fig. 3, including unmanned aerial vehicle 5 and quick-witted nest 1, quick-witted nest 1 includes the cabin body 3 and installs the rotary platform 4 at 3 tops of cabin body, rotary platform 4 is used for parking unmanned aerial vehicle 5, be equipped with orientation module on the 5 aircraft noses of unmanned aerial vehicle, unmanned aerial vehicle 5 takes off and lands course correction system still includes: the device comprises a wind direction acquisition unit, a horizontal distance acquisition unit, a vertical distance acquisition unit and a course angle acquisition unit;
the wind direction acquisition unit is used for acquiring a wind direction and adjusting the position of a machine head based on the wind direction in the taking-off and landing process of the unmanned aerial vehicle 5;
the rotating platform 4 is used for rotating based on a difference value theta between an angle alpha 1 of the initial direction of the rotating platform 4 and an angle beta 10 of the current wind direction in the take-off course correction process, and adjusting the course angle of the unmanned aerial vehicle 5 before take-off; and rotating based on the heading angle difference sigma of the nose heading angle gamma angle 11 and the current heading angle delta 1 angle 12 of the rotating platform 4 in the landing heading correction process;
the vertical distance acquisition unit is used for acquiring a vertical distance H between the unmanned aerial vehicle 5 and the rotating platform 4, and when the vertical distance H meets a preset threshold value, the unmanned aerial vehicle 5 enters a hovering state and starts to record hovering time T;
the horizontal distance acquisition unit is used for acquiring a horizontal distance rho between the unmanned aerial vehicle 5 and the machine nest 1;
the course angle acquisition unit is used for acquiring a machine head course angle gamma angle 11 of the unmanned aerial vehicle 5;
and the unmanned aerial vehicle 5 judges whether the unmanned aerial vehicle 5 lands or not based on the heading angle difference value sigma, the horizontal distance rho and the hovering time T.
Example 3:
according to the technical scheme, as shown in fig. 1-5, a take-off and landing course correction method for an unmanned aerial vehicle comprises a take-off course correction method and a landing course correction method, and comprises a nest 1 and a nest top cover 2, wherein the nest 1 comprises a cabin 3 and a rotating platform 4 installed at the top of the cabin 3, and the unmanned aerial vehicle 5 is parked at the top of the rotating platform 4;
the take-off course correcting method comprises the following steps:
step 1: the start nest top cover 2 is opened, an initial northeast alpha 1 angle 9 and a winddirection information northeast beta angle 10 of the rotary platform 4 are obtained, the initial direction of the rotary platform 4 is consistent with the longitudinal position of the unmanned aerial vehicle 5, the clockwise direction is the direction of increasing the angle, and the ranges of the alpha 1 angle 9 and the beta angle 10 are both 0-360 degrees;
specifically, the method comprises the following steps:
step 1.1: opening the top cover 2 of the machine nest;
step 1.2: if the top cover 2 of the machine nest is opened in place, executing the step 3, and if the top cover is not opened in place, returning to the step 2;
step 1.3: the initial direction of the rotating platform 4 is consistent with the longitudinal position of the unmanned aerial vehicle 5, the initial direction is set as a north-east alpha 1 angle 9, the range of the alpha 1 angle 9 is 0-360 degrees, and the clockwise direction is the direction of increasing the angle;
step 1.4: the airframe 1 acquires the wind direction information through a weather station, the acquired wind direction is a north-east beta angle 10, the range of the beta angle 10 is 0-360 degrees, and the clockwise direction is the direction of increasing the angle
Step 2: the rotating platform 4 calculates the take-off course correction angle of the unmanned aerial vehicle 5 according to the difference value theta = beta-alpha 1
Step 2.1: if theta is more than or equal to 180 degrees, the rotating platform 4 rotates anticlockwise by 360 degrees to theta
Step 2.2: if 0< theta <180, the rotary platform 4 rotates clockwise by theta
Step 2.3: if 0 degree is larger than theta and is larger than or equal to minus 180 degrees, the rotating platform 4 rotates anticlockwise theta
Step 2.4: if-360 ° > theta > -180 °, the rotary platform 4 rotates clockwise 360 ° + theta
And step 3: when the rotating platform 4 rotates to the difference value | θ | = β - α 1<1 °, a takeoff enabling instruction is sent to the unmanned aerial vehicle 5 through the airframe 1;
and 4, step 4: after receiving the takeoff enabling instruction, the unmanned aerial vehicle 5 completes the takeoff process according to the standard takeoff flow;
the landing course correction method comprises the following steps:
step I: the unmanned aerial vehicle 5 adjusts the position of the unmanned aerial vehicle in real time in the vertical landing stage to align with the initial central position of the rotating platform 4;
step II: the unmanned aerial vehicle 5 calculates a distance positioning error rho in real time according to the real-time position coordinate and the initial central position; when the unmanned aerial vehicle 5 hovers above the rotating platform 4 of the nest 1 at a certain distance H, starting a height maintaining mode by the unmanned aerial vehicle 5, simultaneously starting a hovering timer, and recording hovering time T;
step III: the unmanned aerial vehicle 5 measures and calculates a current aircraft nose course angle gamma angle 11, the range of the gamma angle 11 is 0-360 degrees, and the clockwise direction is the direction of increasing the angle;
step IV: after the course angle measurement is completed, entering a course stable mode, and sending course angle and stable state information to the machine nest 1;
step V: after receiving the heading angle and the stable state information of the unmanned aerial vehicle 5, the airframe 1 calculates the heading angle difference value sigma = gamma-delta 1 according to the current heading angle delta 1 of the initial azimuth, the range of the delta 1 12 is 0-360 degrees, and the clockwise direction is the direction of increasing the angle
Step VI: the rotating platform 4 calculates the landing course correction angle of the unmanned aerial vehicle 5 according to the difference sigma, and the rotating platform 4 rotates to reduce the difference
Step VI, I: if the angle of 360 degrees is larger than or equal to 180 degrees, the rotating platform 4 rotates clockwise by 360 degrees to sigma degrees;
step VI, II: if 0< σ <180, the rotating platform 4 rotates counterclockwise by σ;
step VI, III: if 0 degree is larger than sigma and is larger than or equal to-180 degrees, the rotating platform 4 rotates sigma clockwise;
step VI, IV: if-360 ° > σ > -180 °, the rotary platform 4 rotates 360 ° + σ counterclockwise;
step VII: in the rotating process of the rotating platform 4, the difference value sigma is sent to the unmanned aerial vehicle 5 in real time;
step VIII: the unmanned aerial vehicle 5 judges whether the unmanned aerial vehicle 5 lands according to the difference signal sigma, the positioning error rho and the hovering time T;
step VIII, I: if T is more than 60s, the unmanned aerial vehicle 5 lands to a standby landing point;
step VIII, II: if rho is greater than 26cm and T is greater than 60s, the unmanned aerial vehicle 5 lands to a standby landing point
Step VIII, III: if rho is less than 26cm, according to the angle range of sigma, the rotating platform 4 reduces the angle value of sigma according to the rotating strategy in the step VI, and the unmanned aerial vehicle 5 keeps the course and the position;
step VIII, IV: if ρ <26cm, and | σ | <14 °, the drone 5 lands to the rotating platform 4;
step IX: the unmanned aerial vehicle 5 completes landing according to the preset direction.
The distance H in step II was 80 cm.
Comparative example 1:
when course correction is carried out by adopting the traditional method, course correction is not accurate, the deviation of the landing position of the unmanned aerial vehicle 5 is large, the unmanned aerial vehicle is easy to land to the edge of the rotating platform 4, and the danger of falling is existed.
And this technical scheme's implementation has improved the course and has rectified the precision, and unmanned aerial vehicle 5 descends the central point that the position is located rotary platform 4 and puts, has guaranteed unmanned aerial vehicle 5's security.
In the takeoff stage, the course of the unmanned aerial vehicle 5 is adjusted to the windward position in the least time by measuring the parameters of wind power and wind direction, moving through the rotating mechanism of the machine nest 1 and adopting a specific control strategy, and the wind resistance of the unmanned aerial vehicle 5 is utilized to the maximum extent.
The invention executes the task of adjusting the course by the airframe 1, the hovering of the aircraft such as the rotor wing and the composite wing is the essential task of the aircraft, the landing stability of the unmanned aerial vehicle 5 is improved by decoupling the landing task of the airport, and the correction method of the course of the airport can adjust the course to the descending position of the unmanned aerial vehicle 5 in the least time, thereby improving the landing efficiency.
The nest 1 linkage mode can ensure that the unmanned aerial vehicle 5 is in the windward direction all the time in the landing process, the nest 1 adapts to the course of the unmanned aerial vehicle 5 by adjusting the rotating mechanism, the danger caused by wind direction change when the unmanned aerial vehicle 5 lands is reduced, and the success rate and the efficiency of landing of the unmanned aerial vehicle 5 are improved.
The rotating platform 4 mechanism adopted by the invention can rotate at an angle of-240 degrees, meets the landing requirement of any heading of the unmanned aerial vehicle 5, can be adjusted to a proper heading in the landing process of the unmanned aerial vehicle 5, does not need to adjust the heading again by the unmanned aerial vehicle 5, and improves the landing efficiency of the unmanned aerial vehicle 5.
The above description is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be made by those skilled in the art without inventive work within the technical scope of the present invention are included in the scope of the present invention.

Claims (8)

1. A take-off and landing course correction method for an unmanned aerial vehicle comprises a take-off course correction method and a landing course correction method, is applied to the take-off and landing process of the unmanned aerial vehicle in a nest, and is characterized in that:
the take-off course correcting method comprises the following steps:
respectively obtaining an initial direction alpha 1 angle and a current wind direction beta angle of a rotating platform, and taking a clockwise direction as an angle increasing direction, wherein the alpha 1 angle and the beta angle are both in a range of 0-360 degrees;
determining the rotation direction and the rotation angle of the rotating platform according to a first preset rule based on the difference value theta between the initial direction alpha 1 angle and the current wind direction beta angle; when the obtained absolute value of the difference theta is within the preset angle range, the nest sends a take-off instruction to the unmanned aerial vehicle, and when the obtained absolute value of the difference theta is outside the preset angle range, the take-off instruction is not sent, and the rotating platform is rotated again until the absolute value of the difference theta is within the preset angle range;
the landing course correction method comprises the following steps:
in a vertical landing stage, the unmanned aerial vehicle adjusts the position of the unmanned aerial vehicle in real time based on the initial central position of the rotating platform, and obtains the horizontal distance rho between the initial central position of the rotating platform and the position of the unmanned aerial vehicle;
acquiring a vertical distance H between the unmanned aerial vehicle and the rotating platform, and when the vertical distance H meets a preset threshold value, the unmanned aerial vehicle enters a hovering state and starts to record hovering time T; when the vertical distance H does not meet a preset threshold value, the unmanned aerial vehicle adjusts the position;
after the unmanned aerial vehicle enters a hovering state, measuring and calculating a current aircraft nose course angle gamma angle through swinging the aircraft nose left and right, and sending the current aircraft nose course angle gamma angle to an aircraft nest, wherein the range of the gamma angle is 0-360 degrees, and the clockwise direction is the direction of increasing the angle;
calculating a heading angle difference sigma of the rotary platform based on a nose heading angle gamma angle and a current heading angle delta 1 angle of the rotary platform, and obtaining a rotating direction and a rotating angle of the rotary platform according to a second preset rule;
and judging whether the unmanned aerial vehicle lands or not based on the heading angle difference value sigma, the horizontal distance rho and the hovering time T.
2. The method of claim 1, wherein the first predetermined rule comprises:
the rotating platform calculates the take-off course correction angle of the unmanned aerial vehicle according to the difference value theta = beta-alpha 1;
if theta is larger than or equal to 180 degrees, the rotating platform rotates anticlockwise by 360 degrees-theta;
if 0< theta <180, the rotating platform rotates clockwise by theta;
if the angle theta is more than 0 degree and is more than or equal to-180 degrees, the rotating platform rotates anticlockwise by the angle theta;
if-360 ° > theta > -180 °, the rotary platform rotates clockwise 360 ° + theta.
3. The method of claim 1, wherein the second predetermined rule comprises:
the rotating platform calculates the landing course correction angle of the unmanned aerial vehicle according to the difference value sigma = gamma-delta 1,
if the angle of 360 degrees is larger than or equal to 180 degrees, the rotating platform rotates clockwise by 360 degrees to sigma degrees;
if 0< sigma <180, the rotating platform rotates counterclockwise by sigma;
if 0 degree is larger than sigma and is larger than or equal to-180 degrees, clockwise rotating the rotary platform by sigma;
if-360 ° > σ > -180 °, the rotary platform rotates 360 ° + σ counter-clockwise.
4. The method of claim 1, wherein after the unmanned aerial vehicle enters the hovering state, a current head heading angle γ is measured by swinging the head position left and right;
the range of the angle gamma of the heading angle of the machine head is 0-360 degrees, the clockwise direction is the direction of increasing the angle, and the measuring and calculating steps are as follows:
when the unmanned aerial vehicle suspends at a certain height, recording the current position;
recording RTK data A (x) when rotating to a lambda degree position along a preset directionA,yA,zA），xAIs the latitude value y at the first rotation to the lambda degree positionAIs the longitude value, z, at the first rotation to the lambda degree positionAIs the altitude value when rotating to the lambda degree position for the first time;
the unmanned aerial vehicle stops after rotating at a mu-degree angle in the opposite direction in the preset direction, and RTK data B (x) is recordedB,yB,zB），xBIs the latitude value y at the first rotation to the mu degree positionBIs the longitude value, z, at the first rotation to the mu degree positionBIs the altitude value when the first rotation is carried out to the mu degree position;
if the coordinate of the rotation center of the unmanned aerial vehicle is O (x)0,y0,z0），x0Latitude value of unmanned aerial vehicle center of rotation, y0Longitude value, z, for the center of rotation of the drone0Is the altitude value of the rotation center of the unmanned aerial vehicle;
μ =2 λ, then handpiece is oriented
Figure 846193DEST_PATH_IMAGE001
According to
Figure 197671DEST_PATH_IMAGE002
And obtaining the unit vector of the standard direction to obtain the initial direction angle of the existing unmanned aerial vehicle
Figure 457751DEST_PATH_IMAGE003
。
5. The method according to claim 1, wherein the determining whether the drone lands based on the heading angle difference σ, the horizontal distance ρ, and the hover time T specifically includes:
when the heading angle difference sigma is within a preset heading angle range and the horizontal distance rho is within a preset distance range, the unmanned aerial vehicle lands on a rotating platform; if not, then,
if the hovering time T exceeds the preset time, the unmanned aerial vehicle lands to a standby landing point;
and if the hovering time T is within a preset time range, continuously adjusting the position of the unmanned aerial vehicle to enable the horizontal distance rho to be within a preset distance range, and/or adjusting the rotation angle of the rotating platform to enable the heading angle difference sigma to be within a preset heading angle range.
6. The method according to claim 1, wherein the landing heading correction method further comprises, before the drone enters the hovering state: the unmanned aerial vehicle enters a vertical landing stage, and the direction of the machine head is adjusted based on the wind direction.
7. The method as claimed in any one of claims 1 to 6, wherein the take-off course correction method is applied to a take-off process of an unmanned aerial vehicle in a nest, a top cover is installed at the top of the nest, and before acquiring an initial direction α and a current wind direction β angle of a rotating platform, the method further comprises:
and (4) opening the top cover of the machine nest, detecting whether the top cover of the machine nest is in place, and executing the subsequent steps after the top cover of the machine nest is in place.
8. The utility model provides an unmanned aerial vehicle takes off and land course correction system, includes unmanned aerial vehicle and quick-witted nest, the quick-witted nest includes the cabin body and installs the rotary platform at cabin body top, rotary platform is used for parking unmanned aerial vehicle, be equipped with orientation module on the unmanned aerial vehicle aircraft nose, its characterized in that, unmanned aerial vehicle takes off and land course correction system still includes: the device comprises a wind direction acquisition unit, a horizontal distance acquisition unit, a vertical distance acquisition unit and a course angle acquisition unit;
the wind direction acquisition unit is used for acquiring a wind direction and adjusting the position of the machine head based on the wind direction in the taking-off and landing process of the unmanned aerial vehicle;
the rotating platform is used for rotating based on the difference value theta of the initial direction alpha 1 angle of the rotating platform and the current wind direction beta angle in the take-off course correction process, and adjusting the course angle of the unmanned aerial vehicle before take-off; rotating based on the heading angle difference sigma of the nose heading angle gamma angle and the current heading angle delta 1 angle of the rotating platform in the landing heading correction process;
the vertical distance acquisition unit is used for acquiring a vertical distance H between the unmanned aerial vehicle and the rotating platform, and when the vertical distance H is a preset threshold value, the unmanned aerial vehicle enters a hovering state and starts to record hovering time T;
the horizontal distance acquisition unit is used for acquiring a horizontal distance rho between the unmanned aerial vehicle and the nest;
the course angle acquisition unit is used for acquiring a machine head course angle gamma angle of the unmanned aerial vehicle;
and the unmanned aerial vehicle judges whether the unmanned aerial vehicle lands or not based on the heading angle difference value sigma, the horizontal distance rho and the hovering time T.
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