CN114564046A - Low-altitude wind shear environment unmanned aerial vehicle landing track adjusting method - Google Patents
Low-altitude wind shear environment unmanned aerial vehicle landing track adjusting method Download PDFInfo
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Abstract
The invention belongs to the technical field of flight control, and provides a method for adjusting a landing track of an unmanned aerial vehicle in a low-altitude wind shear environment.
Description
Technical Field
The invention relates to the technical field of flight control, in particular to a method for adjusting a landing track of an unmanned aerial vehicle in a low-altitude wind shear environment.
Background
In recent years, with the gradual maturity of unmanned aerial vehicle technology, the unmanned aerial vehicle has been widely applied to civil and military fields, such as aerial photography, logistics distribution, inspection monitoring, disaster relief and the like. But still have some problems in the use of unmanned aerial vehicle. Wherein, the problem of unmanned aerial vehicle landing stage is the most complicated, produce the flight accident the most easily, and the main reason is that unmanned aerial vehicle's autonomic flight ability is low to receive flight environment's influence easily. In the prior art, there have been some studies on the landing control of drones, such as: the Chinese patent application with the publication number of CN113448345A provides an unmanned aerial vehicle landing method and device, which realize the autonomous landing of the unmanned aerial vehicle, avoid the obstacle to land in the landing process and reduce the potential safety hazard. The Chinese patent application with publication number CN110989682A provides a scheme for landing after the unmanned aerial vehicle completes a sector convergence track by oscillating motion under the condition of single base station positioning.
Among the various potential safety hazards of unmanned aerial vehicle landing, the low-altitude wind shear phenomenon is one of the main reasons for causing the unmanned aerial vehicle landing safety problem. Wind shear refers to a meteorological phenomenon in which the wind direction or wind speed between two spatially adjacent points changes rapidly. The risk degree that the wind shear phenomenon of different spatial structure and intensity caused to unmanned aerial vehicle flight is different, and wherein the wind shear phenomenon of danger includes vertical shear and the vertical wind shear of horizontal wind. Drones are often exposed to higher risks when encountering wind shear environments than do manned aircraft. However, the research in this area is relatively rare, and chinese patent application publication No. CN101667036A discloses a control system for automatic flight and wind shear conditions for achieving automatic flight and recovery in wind shear conditions.
With the continuous development of radar remote sensing technology, an airport can obtain the wind field distribution condition of a low-altitude airspace in real time by means of a wind profile radar and a Doppler weather radar, and has good space-time resolution. The low-altitude wind field data are obtained by means of the wind profile radar and the Doppler weather radar, a landing adjustment route with higher safety is selected for the unmanned aerial vehicle, and the method is particularly important for the flight safety of the unmanned aerial vehicle.
Disclosure of Invention
Aiming at the requirements in the prior art, the invention provides a method for adjusting the landing track of an unmanned aerial vehicle in a low-altitude wind shear environment. The specific technical scheme is as follows:
s1 setting the conventional downward sliding angle of the unmanned aerial vehicleαFlight altitude of approach sectionH P Starting point of conventional lower slideSLeveling decision heightH F ；
S2, collecting low-altitude wind field real-time distribution data of an airport approach area by using an airport wind profile radar and a Doppler weather radar;
s3, wind shear risk assessment is carried out on the low-altitude wind field in the airport approach area, and an unmanned aerial vehicle landing strategy is formulated according to the risk assessment result.
The risk assessment results include the following four categories:
condition 1: vertical wind shear exists in a low-altitude wind field of an airport approach area, and the maximum vertical descending wind speed of the vertical wind shear area is more than 3.6 m/s;
condition 2: vertical shear of horizontal wind exists in a low-altitude wind field of an airport approach area, and the maximum vertical shear strength of a 30-meter height interval is greater than or equal to 4 meters per second;
condition 3: vertical shear of horizontal wind exists in low-altitude wind field of airport approach area and at safe heightH'The maximum vertical shear strength of the 30 m height interval is more than 2 m/s and less than 4 m/s;
condition 4: vertical shear of horizontal wind exists in a low-altitude wind field of an airport approach area, and the maximum vertical shear strength of a 30-meter height interval is more than 2 meters/second and less than 4 meters/second;
the unmanned aerial vehicle landing strategy comprises the following five types:
strategy 1: if the condition 1 is met, the unmanned aerial vehicle needs to stop landing, and hover to wait in a safe airspace or stand by to land other airports;
strategy 2: if the condition 2 is met, the unmanned aerial vehicle needs to stop landing, and hover to wait in a safe airspace or stand by to land other airports;
strategy 3: if the conditions 1 and 2 are not met and the condition 3 is met, the unmanned aerial vehicle needs to stop landing and hover in a safe airspace to wait or stand by for landing at other airports;
strategy 4: if the conditions 1, 2 and 3 are not met and the condition 4 is met, the unmanned aerial vehicle executes landing operation, landing track adjustment is carried out, and wind shear flight risks are reduced.
Strategy 5: and if the conditions 1, 2, 3 and 4 are not met, the unmanned aerial vehicle executes conventional landing operation after confirming that no other landing risk exists.
Preferably, the landing trajectory adjustment of the strategy 4 comprises the following steps:
(1) judging that the lowest height layer with the maximum vertical shear strength of the horizontal wind more than 2 m/s and less than 4 m/s appears in the airport approach area, and taking down the point on the sliding section with the vertical height 30 m lower than the lowest height layerBSelf-ignitionBMake horizontal extension line to pointCThe horizontal extension lineBCThe length of the air inlet is determined according to the ground obstacle condition of the airport approach area;
(2) calculating points according to the low-altitude wind field real-time distribution data obtained in the step S2CThe difference of wind vector between the layer area with the height of 30 m and the layer area with the height of the layer
And difference of wind vector
And vector
Angle of (2)θ；
(3) Based on the angleθAdjusting the gliding track of the unmanned aerial vehicle:
a. if the included angle isθGreater than or equal to 90 degrees and less than or equal to 270 degrees, designing a gliding track sectionD 1 CVector of
The difference between the horizontal projection vector and the wind vector
In contrast, dotD 1Flight altitude of approach sectionH P Equal height and downward sliding track sectionD 1 CThe lower slip angle is a conventional oneα(ii) a The landing track of the unmanned aerial vehicle at this moment is: the unmanned aerial vehicle firstly passes through the current position pointEDescending to the flight altitude of the approach sectionH P Then horizontally fly to the gliding track sectionD 1 CStarting point of (2)D 1Then at a normal glide angleαGlide to pointCThen self-pointCPlane to pointBApproach, from pointBAt a normal glide angleαSlide down to a flat decision heightH F And leveling landing operation is carried out;
b. if the included angle isθA gliding track section is designed when the angle is less than 90 DEGD 2 CVector of
The horizontal direction projection vector and the vector
Angle of 90 degrees, pointD 2Flight altitude of approach sectionH P Equal height and downward sliding track sectionD 2 CThe lower slip angle is a conventional oneα(ii) a The landing trajectory under the unmanned aerial vehicle at this moment is: the unmanned aerial vehicle firstly passes through the current position pointEDescending to the flight altitude of the approach sectionH P Then horizontally fly to the gliding track sectionD 2 CStarting point of (2)D 2Then at a normal glide angleαGlide to pointCThen self-pointCPlane to pointBApproach, from pointBAt a normal glide angleαSlide down to a flat decision heightH F And leveling landing operation is carried out;
c. if the included angle isθGreater than 270 degrees: then designing the glide track segmentD 3 CVector of
The horizontal direction projection vector and the vector
Angle of 270 degrees, pointD 3Flight altitude of approach sectionH P Equal height and gliding track sectionD 3 CThe lower slip angle is a conventional oneα(ii) a The landing track of the unmanned aerial vehicle at this moment is: the unmanned aerial vehicle firstly passes through the current position pointEDescending to the flight altitude of the approach sectionH P Then horizontally fly to the gliding track sectionD 3 CStarting point of (2)D 3Then at a normal glide angleαGlide to pointCThen self-pointCPlane to pointBApproach, from pointBAt a normal glide angleαSlide down to a leveling decision heightH F And leveling landing operation is carried out.
Preferably, the normal glide angleαTaking 2.5-3.5 degrees of flight height of the approach sectionH P Taking 1000 to 2500 meters, leveling the decision heightH F Taking 10 to 25 meters.
Preferably, the angle isθTo make the wind vector difference
Rotate counter-clockwise to and vector
The angle of rotation in the same direction.
Preferably, a horizontal extension lineBCThe length of (2) is 500 to 1000 m.
Preferably, the normal landing operation of strategy 5 is: unmanned plane is selected from current position pointEDescending to the flight altitude of the approach sectionH P Then horizontally fly to the starting point of the conventional lower sliding sectionSThen, the slide is made to be high by the conventional glide angleDegree of rotationH F And leveling landing operation is carried out.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides an unmanned aerial vehicle landing track adjusting method suitable for a low-altitude wind shear environment.
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In order to illustrate embodiments of the present invention or technical solutions in the prior art more clearly, the drawings which are needed in the embodiments will be briefly described below, so that the features and advantages of the present invention can be understood more clearly by referring to the drawings, which are schematic and should not be construed as limiting the present invention in any way, and for a person skilled in the art, other drawings can be obtained on the basis of these drawings without any inventive effort.
FIG. 1 is a flow chart of a method for adjusting a landing trajectory of an unmanned aerial vehicle in a low altitude wind shear environment according to the present invention;
fig. 2 is a schematic view of a conventional landing trajectory of a strategy 5 in the method for adjusting the landing trajectory of the unmanned aerial vehicle in the low-altitude wind shear environment according to the invention;
fig. 3 is a schematic view of a landing trajectory adjustment scheme a of a strategy 4 in the method for adjusting the landing trajectory of the unmanned aerial vehicle in the low-altitude wind shear environment according to the invention;
fig. 4 is a schematic view of a landing trajectory adjustment scheme b of a strategy 4 in the method for adjusting the landing trajectory of the unmanned aerial vehicle in the low-altitude wind shear environment of the invention;
fig. 5 is a schematic view of a landing trajectory adjustment scheme c of a strategy 4 in the method for adjusting the landing trajectory of the unmanned aerial vehicle in the low-altitude wind shear environment.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments of the present invention and features of the embodiments may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
As shown in fig. 1, the invention provides a method for adjusting a landing trajectory of an unmanned aerial vehicle in a low-altitude wind shear environment, which includes:
s1 setting the conventional downward sliding angle of the unmanned aerial vehicleαFlight altitude of approach sectionH P Starting point of conventional lower slideSLeveling decision heightH F ；
S2, collecting low-altitude wind field real-time distribution data of an airport approach area by using an airport wind profile radar and a Doppler weather radar;
s3, wind shear risk assessment is carried out on the low-altitude wind field in the airport approach area, and an unmanned aerial vehicle landing strategy is formulated according to the risk assessment result.
The risk assessment results include the following four categories:
condition 1: vertical wind shear exists in a low-altitude wind field in an airport approach area, and the maximum vertical falling wind speed of the vertical wind shear area is more than 3.6 m/s;
condition 2: vertical shear of horizontal wind exists in a low-altitude wind field of an airport approach area, and the maximum vertical shear strength of a 30-meter height interval is greater than or equal to 4 meters/second;
condition 3: vertical shear of horizontal wind exists in low-altitude wind field of airport approach area and at safe heightH'(generally, the lowest fly-back height of the unmanned aerial vehicle is added by 30 meters), and the maximum vertical shear strength at the interval of the height of 30 meters is more than 2 meters/second and less than 4 meters/second;
condition 4: vertical shear of horizontal wind exists in a low-altitude wind field of an airport approach area, and the maximum vertical shear strength of a 30-meter height interval is more than 2 meters/second and less than 4 meters/second;
the unmanned aerial vehicle landing strategy comprises the following five types:
strategy 1: if the condition 1 is met, the unmanned aerial vehicle needs to stop landing, and hover to wait in a safe airspace or stand by to land other airports;
strategy 2: if the condition 2 is met, the unmanned aerial vehicle needs to stop landing, and the unmanned aerial vehicle can hover in a safe airspace to wait or stand by for landing at other airports;
strategy 3: if the conditions 1 and 2 are not met and the condition 3 is met, the unmanned aerial vehicle needs to stop landing and hover in a safe airspace to wait or stand by for landing at other airports;
strategy 4: if the conditions 1, 2 and 3 are not met and the condition 4 is met, the unmanned aerial vehicle executes landing operation, landing track adjustment is carried out, and wind shear flight risks are reduced.
Strategy 5: and if the conditions 1, 2, 3 and 4 are not met, the unmanned aerial vehicle executes conventional landing operation after confirming that no other landing risks exist according to a normal flow.
In some embodiments, the landing trajectory adjustment of strategy 4 comprises the steps of:
(1) judging that the lowest height layer with the maximum vertical shear strength of the horizontal wind more than 2 m/s and less than 4 m/s appears in the airport approach area, and taking down the point on the sliding section with the vertical height 30 m lower than the lowest height layerBSelf-ignitionBMake horizontal extension line to pointCThe horizontal extension lineBCThe length of the air inlet is determined according to the ground obstacle condition of the airport approach area;
(2) calculating points according to the low-altitude wind field real-time distribution data obtained in the step S2CThe difference of wind vector between the layer area with the height of 30 m and the layer area with the height of the layer
And difference of wind vector
And vector
Angle of (2)θ；
(3) Based on the angleθAdjusting the gliding track of the unmanned aerial vehicle:
a. if the included angle isθGreater than or equal to 90 degrees and less than or equal to 270 degrees, designing a gliding track sectionD 1 CVector of
The difference between the horizontal projection vector and the wind vector
In contrast, dotD 1Flight altitude of approach sectionH P Equal height and downward sliding track sectionD 1 CThe lower slip angle is a conventional oneα(ii) a The landing track of the unmanned aerial vehicle at this moment is: the unmanned aerial vehicle firstly passes through the current position pointEDescending to the flight altitude of the approach sectionH P Then horizontally fly to the gliding track sectionD 1 CStarting point of (2)D 1Then at a normal glide angleαGlide to pointCThen self-pointCPlane to pointBApproach, from pointBAt a normal glide angleαSlide down to a flat decision heightH F And leveling landing operation (as shown in fig. 3) is carried out;
b. if the included angle isθA gliding track section is designed when the angle is less than 90 DEGD 2 CVector of
The horizontal direction projection vector and the vector
Angle of 90 degrees, pointD 2Flight altitude of approach sectionH P Equal height and downward sliding track sectionD 2 CThe lower slip angle is a conventional oneα(ii) a The landing trajectory under the unmanned aerial vehicle at this moment is: the unmanned aerial vehicle firstly passes through the current position pointEDescending to the flight altitude of the approach sectionH P Then flatly fly to the gliding track sectionD 2 CStarting point of (2)D 2Then at a normal glide angleαGlide to pointCThen self-pointCPlane to pointBApproach, from pointBAt a normal glide angleαSlide down to a flat decision heightH F And performing a leveling landing operation (as shown in fig. 4);
c. if the included angle isθGreater than 270 degrees: then designing the glide track segmentD 3 CVector of
The horizontal direction projection vector and the vector
Angle of 270 degrees, pointD 3Flight altitude of approach sectionH P Equal height and downward sliding track sectionD 3 CThe lower slip angle is a conventional oneα(ii) a The landing track of unmanned aerial vehicle this moment does: the unmanned aerial vehicle firstly passes through the current position pointEDescending to the flight altitude of the approach sectionH P Then horizontally fly to the gliding track sectionD 3 CStarting point of (2)D 3Then at a normal glide angleαGlide to pointCThen self-pointCPlane to pointBApproach, from pointBAt a normal glide angleαSlide down to a flat decision heightH F And a leveling landing operation is performed (as shown in fig. 5).
In some embodiments, the conventional drop operation of strategy 5 is (as shown in fig. 2): unmanned plane is controlled by current position pointEDescending to the flight altitude of the approach sectionH P Then horizontally fly to the starting point of the conventional lower sliding sectionSThen, the slide is made to slide down to the height of leveling decision by the conventional glide angleH F And leveling landing operation is carried out.
Example 1
The method is adopted to adjust the landing track of the unmanned aerial vehicle in the sample wind shear environment. Flight altitude of unmanned aerial vehicle approach sectionH P 1000 m, conventional glide angleαIs 2.5 degrees and is leveled to the decision heightH F Is 20 m. The periphery of the airport is in plain relief, and no obstacle exists within 2 kilometers. Airport approach area with simultaneous vertical wind shear and vertical shear of horizontal wind, with descentThe maximum descending speed of the airflow is 1 m/s, the module length of the wind vector difference of horizontal wind at the height of 430 m from the ground relative to horizontal wind at the height of 460 m is 3.2 m/s, and the vertical shear strength of the horizontal wind at the height of 400 m is 3.2 m/s.
At this point, first, a point in the glide trajectory at a height level of 400 m is determinedBSelf-ignitionBMaking a horizontal extension line, wherein the direction of the extension line is opposite to the approach direction, the length of the horizontal extension line is 1000 meters, and obtaining a pointC. Calculating pointsCDifference in wind vector at a height layer of 30 m above it
The difference of the wind vectors
The die length of (2.0 m/s),
and vector
Is 170 degrees. Then the gliding track section can be designedDCWherein the vector
The difference between the horizontal projection vector and the wind vector
Reverse direction, dotDFlight altitude of approach sectionH P The height is 1000 m. Section of the gliding pathDCThe lower slip angle is a conventional oneα=2.5°。
After the adjustment, a new unmanned aerial vehicle landing track is obtained. Namely, the unmanned plane gets from the current position pointEDescending to 1000 m height from the ground and then flying to a pointD. Self-ignitionDAt a point where the slip angle is reduced to 400 m from the ground by 2.5 DEGCThen yaw to the right by 10 degrees and continue to fly horizontally for 1000 meters to a pointB. From pointBLowered to a levelled decision height of 20 meters from the ground at a slip angle of 2.5 deg., and thenThe unmanned aerial vehicle starts to be leveled and enters a touchdown and sliding stage to complete the whole landing process.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or may be connected through the use of two elements or the interaction of two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
In the present invention, the terms "first", "second", "third" and "fourth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The term "plurality" means two or more unless expressly limited otherwise.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. A method for adjusting the landing track of an unmanned aerial vehicle in a low-altitude wind shear environment is characterized by comprising the following steps:
s1 setting the conventional downward sliding angle of the unmanned aerial vehicleαFlight altitude of approach sectionH P Starting point of conventional lower slideSLeveling decision heightH F ；
S2, collecting low-altitude wind field real-time distribution data of an airport approach area by using an airport wind profile radar and a Doppler weather radar;
s3, performing wind shear risk assessment on a low-altitude wind field in an airport approach area, and formulating an unmanned aerial vehicle landing strategy according to a risk assessment result;
the risk assessment results include the following four categories:
condition 1: vertical wind shear exists in a low-altitude wind field of an airport approach area, and the maximum vertical descending wind speed of the vertical wind shear area is more than 3.6 m/s;
condition 2: vertical shear of horizontal wind exists in a low-altitude wind field of an airport approach area, and the maximum vertical shear strength of a 30-meter height interval is greater than or equal to 4 meters/second;
condition 3: vertical shear of horizontal wind exists in low-altitude wind field of airport approach area and at safe heightH'The maximum vertical shear strength of the 30 m height interval is more than 2 m/s and less than 4 m/s;
condition 4: vertical shear of horizontal wind exists in a low-altitude wind field of an airport approach area, and the maximum vertical shear strength of a 30-meter height interval is more than 2 meters/second and less than 4 meters/second;
the unmanned aerial vehicle landing strategy comprises the following five types:
strategy 1: if the condition 1 is met, the unmanned aerial vehicle needs to stop landing, and hover to wait in a safe airspace or stand by to land other airports;
strategy 2: if the condition 2 is met, the unmanned aerial vehicle needs to stop landing, and hover to wait in a safe airspace or stand by to land other airports;
strategy 3: if the conditions 1 and 2 are not met and the condition 3 is met, the unmanned aerial vehicle needs to stop landing and hover in a safe airspace to wait or stand by for landing at other airports;
strategy 4: if the conditions 1, 2 and 3 are not met and the condition 4 is met, the unmanned aerial vehicle executes landing operation, landing track adjustment is carried out, and wind shear flight risks are reduced;
strategy 5: and if the conditions 1, 2, 3 and 4 are not met, the unmanned aerial vehicle executes conventional landing operation after confirming that no other landing risk exists.
2. The method for adjusting the landing trajectory of the low altitude wind shear environment unmanned aerial vehicle according to claim 1, wherein the strategy 4 landing trajectory adjustment comprises the following steps:
(1) judging that the lowest height layer with the maximum vertical shear strength of the horizontal wind more than 2 m/s and less than 4 m/s appears in the airport approach area, and taking down the point on the sliding section with the vertical height 30 m lower than the lowest height layerBSelf-ignitionBMake horizontal extension line to pointCThe horizontal extension lineBCThe length of the air inlet is determined according to the ground obstacle condition of the airport approach area;
(2) calculating points according to the low-altitude wind field real-time distribution data obtained in the step S2CThe difference of wind vector between the layer area with the height of 30 m and the layer area with the height of the layer
And difference of wind vector
And vector
Angle of (2)θ；
(3) Based on the angleθAdjusting the gliding track of the unmanned aerial vehicle:
a. if the included angle isθGreater than or equal to 90 degrees and less than or equal to 270 degrees, designing a gliding track sectionD 1 CVector of
Level of (2)Difference between direction projection vector and wind vector
In contrast, dotD 1Flight altitude of approach sectionH P Equal height and downward sliding track sectionD 1 CThe lower slip angle is a conventional oneα(ii) a The landing track of the unmanned aerial vehicle at this moment is: the unmanned aerial vehicle firstly passes through the current position pointEDescending to the flight altitude of the approach sectionH P Then flatly fly to the gliding track sectionD 1 CStarting point of (2)D 1Then at a normal glide angleαGlide to pointCThen self-ignitingCPlane to pointBApproach, from pointBAt a normal glide angleαSlide down to a flat decision heightH F Leveling landing operation is carried out;
b. if the included angle isθA gliding track section is designed when the angle is less than 90 DEGD 2 CVector of
The horizontal direction projection vector and the vector
Angle of 90 degrees, pointD 2Flight altitude of approach segmentH P Equal height and downward sliding track sectionD 2 CThe lower slip angle is a conventional oneα(ii) a The landing trajectory under the unmanned aerial vehicle at this moment is: the unmanned aerial vehicle firstly passes through the current position pointEDescending to the flight altitude of the approach sectionH P Then flatly fly to the gliding track sectionD 2 CStarting point of (2)D 2Then at a normal glide angleαGlide to pointCThen self-ignitingCPlane to pointBApproach, from pointBAt a normal glide angleαSlide down to a flat decision heightH F And leveling landing operation is carried out;
c. if the included angle isθGreater than 270 degrees: then design the glide track segmentD 3 CVector of
The horizontal direction projection vector and the vector
Angle of 270 degrees, pointD 3Flight altitude of approach sectionH P Equal height and downward sliding track sectionD 3 CThe lower slip angle is a conventional oneα(ii) a The landing track of the unmanned aerial vehicle at this moment is: the unmanned aerial vehicle firstly passes through the current position pointEDescending to the flight altitude of the approach sectionH P Then flatly fly to the gliding track sectionD 3 CStarting point of (2)D 3Then at a normal glide angleαGlide to pointCThen self-pointCPlane to pointBApproach, from pointBAt a normal glide angleαSlide down to a leveling decision heightH F And leveling landing operation is carried out.
3. The method of claim 2, wherein the conventional glide angle is adjusted according to the landing trajectory of the UAV in the low altitude wind shear environmentαTaking 2.5-3.5 degrees of flight height of the approach sectionH P Taking 1000 to 2500 meters, leveling the decision heightH F Taking 10 to 25 meters.
4. The method of claim 3, wherein the included angle is adjusted according to the landing trajectory of the UAV in the low altitude wind shear environmentθTo make the wind vector difference
Rotate counter-clockwise to and vector
The angle of rotation in the same direction.
5. The low altitude wind shear ring of claim 2The method for adjusting the landing track of the environmental unmanned aerial vehicle is characterized in that the horizontal extension lineBCThe length of (2) is 500 to 1000 m.
6. The method for adjusting the landing trajectory of the low-altitude wind shear environment unmanned aerial vehicle according to claim 1, wherein the normal landing operation of the strategy 5 is: unmanned plane is selected from current position pointEDescending to the flight altitude of the approach sectionH P Then horizontally fly to the starting point of the conventional lower sliding sectionSThen at a normal glide angleαSlide down to a flat decision heightH F And leveling landing operation is carried out.
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| CN108319284A (en) * | 2017-12-29 | 2018-07-24 | 北京航空航天大学 | A kind of unmanned plane downslide section trajectory design method suitable for obstacle environment |
| CN109976378A (en) * | 2019-03-13 | 2019-07-05 | 南京航空航天大学 | Wind, which disturbs lower unmanned plane and dwells, falls motor-driven method for controlling trajectory |
| CN110531359A (en) * | 2019-07-02 | 2019-12-03 | 中国航空工业集团公司雷华电子技术研究所 | A kind of design method of airborne weather radar wind shear detection |
| CN113885582A (en) * | 2021-12-09 | 2022-01-04 | 北京航空航天大学 | Unmanned aerial vehicle flight trajectory adjustment method considering meteorological visual environment |
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| US3887148A (en) * | 1973-12-19 | 1975-06-03 | Sperry Rand Corp | Aircraft glide slope coupler and landing system |
| US4058010A (en) * | 1976-04-06 | 1977-11-15 | Approach Fish | Airport wind shear monitoring method and apparatus |
| CN108319284A (en) * | 2017-12-29 | 2018-07-24 | 北京航空航天大学 | A kind of unmanned plane downslide section trajectory design method suitable for obstacle environment |
| CN109976378A (en) * | 2019-03-13 | 2019-07-05 | 南京航空航天大学 | Wind, which disturbs lower unmanned plane and dwells, falls motor-driven method for controlling trajectory |
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