CN116088563A - Landing control method for vertical lifting fixed wing - Google Patents
Landing control method for vertical lifting fixed wing Download PDFInfo
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Abstract
The invention relates to the technical field of vertical take-off and landing fixed wing flight control, in particular to a landing control method for a vertical take-off and landing fixed wing. The method comprises the following steps: acquiring landing route parameters, wherein the landing route parameters comprise landing point information, descending spiral point information and mode switching height; generating a landing route according to the landing route parameters, wherein the landing route comprises a horizontal transfer section, a descending spiral section, a mode switching section and a vertical landing section; generating a landing instruction according to a landing route, wherein the starting point of the landing route is the current position of the unmanned aerial vehicle; and receiving a landing instruction, and executing a landing task by the unmanned aerial vehicle according to a landing route. The invention can better solve the problem that the vertical lifting fixed wing is difficult to control to fall at any time in the prior art.
Description
Technical Field
The invention relates to the technical field of vertical take-off and landing fixed wing flight control, in particular to a landing control method for a vertical take-off and landing fixed wing.
Background
The vertical take-off and landing fixed wing can provide two flight modes, namely a fixed wing mode and a rotor wing mode. See fig. 1, which generally uses a fixed wing mode to perform mission routing and a rotor mode to perform vertical lift and descent. In consideration of the fact that the vertical take-off and landing fixed wing can have higher flying height and flying speed, when a mission route is planned, a take-off route is added at the initial section of the mission route, and a landing route is added at the final section of the mission route. The take-off route and the landing route are mainly used for realizing the control of the flying height and the flying speed by increasing the actions of ascending and descending spirals.
Referring to fig. 2, taking a landing route as an example, the vertical take-off and landing fixed wing needs to fly to a landing hover point first, then the flying height is reduced by a hover mode until the flying height is switched, at this time, the vertical take-off and landing fixed wing gradually flies to the upper part of the landing point at a reduced speed, and finally hovers to the upper part of the landing point in a rotor wing mode, and then vertical landing is performed.
This characteristic of the vertical take-off and landing fixed wing makes it difficult to control its landing at any time during its flight.
Disclosure of Invention
The invention provides a landing route generation method for a vertical take-off and landing fixed wing, which can better solve the problem that the vertical take-off and landing fixed wing is difficult to control to land at any time in the prior art.
The landing control method for the vertical take-off and landing fixed wing is applied to a vertical take-off and landing unmanned aerial vehicle; comprising the following steps:
acquiring landing route parameters, wherein the landing route parameters comprise landing point information, descending spiral point information and mode switching height;
generating a landing route according to the landing route parameters, wherein the landing route comprises a horizontal transfer section, a descending spiral section, a mode switching section and a vertical landing section;
generating a landing instruction according to a landing route, wherein the starting point of the landing route is the current position of the unmanned aerial vehicle;
and receiving a landing instruction, and executing a landing task by the unmanned aerial vehicle according to a landing route.
By the aid of the method, the landing route can be planned independently of the currently executed flight route of the vertical take-off and landing fixed wing, and accordingly the vertical take-off and landing fixed wing can be well landed at any time.
Preferably, the landing route parameters comprise landing route parameters, wherein the landing route parameters comprise longitude and latitude of a landing point, longitude and latitude of a descending spiral point, height of the descending spiral point, radius of a descending spiral circumference, mode switching height and height of the landing point; acquiring landing route parameters comprises the following steps:
acquiring the longitude and latitude of a landing point and the longitude and latitude of a descending spiral point according to the three-dimensional map;
and confirming the height of the descending spiral point, the radius of the descending spiral circumference, the mode switching height and the landing point height according to the current pose information and the speed of the unmanned aerial vehicle.
The acquisition of the relevant parameters can be realized better.
Preferably, the starting point of the landing route is the current position of the unmanned aerial vehicle, and the method comprises the following steps:
calculating a delay distance according to the current speed of the unmanned aerial vehicle and delay time, wherein the delay time comprises the acquisition of landing route parameter time, signaling transfer time and route calculation time;
and calculating the delay position coordinate of the unmanned aerial vehicle after delay according to the current position and the delay distance of the unmanned aerial vehicle when the parameters of the landing route are acquired, wherein the delay position coordinate is the starting point of the landing route.
Thus, the position deviation of the vertical take-off and landing fixed wing generated during the period from the start triggering of the landing route to the start execution can be compensated.
Preferably, generating the landing instruction according to the landing route includes:
before generating a landing instruction, the unmanned aerial vehicle executes a flight task according to a current task route;
and after the landing instruction is generated, resetting the current task route execution progress of the unmanned aerial vehicle.
So that it is possible to preferably not interfere with the currently performed flight path.
Preferably, receiving a landing instruction, the unmanned aerial vehicle performing a landing task according to a landing route includes:
the unmanned aerial vehicle flies horizontally to a descending spiral point according to the horizontal transfer flight;
the unmanned aerial vehicle spirals down to the mode switching height according to the descending spiral navigation section;
the unmanned aerial vehicle takes the end point of the spiral path of the unmanned aerial vehicle as a starting point, takes the mode switching height as a flying height, flies horizontally to a vertical overhead point corresponding to the landing point, and vertically drops to the landing point from the vertical overhead point.
Through the above, the unmanned aerial vehicle can be well landed.
In addition, the invention also provides another landing control method for the vertical lifting fixed wing, which is applied to the ground station; comprising the following steps:
editing landing route parameters, wherein the landing route parameters comprise landing point information, descending spiral point information and mode switching height;
generating a landing route according to the landing route parameters, wherein the landing route comprises a horizontal transfer section, a descending spiral section, a mode switching section and a vertical landing section;
generating a landing instruction according to a landing route, wherein the starting point of the landing route is the current position of the unmanned aerial vehicle;
and sending a landing instruction to control the unmanned aerial vehicle to execute a landing task according to the landing route.
By the aid of the method, the landing route can be planned independently of the currently executed flight route of the vertical take-off and landing fixed wing, and accordingly the vertical take-off and landing fixed wing can be well landed at any time.
Preferably, the landing route parameters comprise landing route parameters, wherein the landing route parameters comprise longitude and latitude of a landing point, longitude and latitude of a descending spiral point, height of the descending spiral point, radius of a descending spiral circumference, mode switching height and height of the landing point; acquiring landing route parameters comprises the following steps:
editing the longitude and latitude of the landing point and the longitude and latitude of the descending spiral point according to the three-dimensional map;
and acquiring current pose information and speed of the unmanned aerial vehicle, and confirming the height of the descending spiral point, the radius of the circumference of the descending spiral, the mode switching height and the landing point according to the current pose information and speed of the unmanned aerial vehicle.
The acquisition of the relevant parameters can be realized better.
Preferably, the starting point of the landing route is the current position of the unmanned aerial vehicle, and the method comprises the following steps:
acquiring the current speed and delay time of the unmanned aerial vehicle, and calculating a delay distance according to the current speed and delay time of the unmanned aerial vehicle, wherein the delay time comprises the acquisition of landing route parameter time, signaling transfer time and route calculation time;
and calculating the delay position coordinate of the unmanned aerial vehicle after delay according to the current position and the delay distance of the unmanned aerial vehicle when the parameters of the landing route are edited, wherein the delay position coordinate is the starting point of the landing route.
Thus, the position deviation of the vertical take-off and landing fixed wing generated during the period from the start triggering of the landing route to the start execution can be compensated.
Preferably, generating the landing instruction according to the landing route includes:
before generating a landing instruction, controlling the unmanned aerial vehicle to execute a flight task according to a current task route;
and after the landing instruction is generated, resetting the current task route execution progress of the unmanned aerial vehicle.
So that it is possible to preferably not interfere with the currently performed flight path.
Preferably, sending a landing instruction, controlling the unmanned aerial vehicle to execute a landing task according to a landing route includes:
according to the horizontal transfer flight section, controlling the unmanned plane to fly to a descending spiral point;
according to the descending spiral navigation section, controlling the unmanned aerial vehicle to descend to a mode switching height in a spiral mode;
and taking the end point of the spiral path of the unmanned plane as a starting point, taking the mode switching height as a flight height, flatly flying to a vertical overhead point corresponding to the landing point, and vertically landing to the landing point from the vertical overhead point.
Through the above, the unmanned aerial vehicle can be well landed.
In addition, the invention also provides a landing control method for the vertical lifting fixed wing, which is applied to the touch equipment; the method comprises the following steps:
providing a touch display unit for displaying an application program interface;
configuring a preset touch area at an application program interface;
when a touch signal is detected at a preset touch area, providing a parameter display input interface for editing landing route parameters at a touch display unit;
and providing a landing route generation unit for displaying the edited landing route parameters at the input interface by using the current position and parameters of the vertical take-off and landing fixed wing to generate a landing route for execution by the vertical take-off and landing fixed wing.
By the aid of the method, the landing route can be planned independently of the currently executed flight route of the vertical take-off and landing fixed wing, and accordingly the vertical take-off and landing fixed wing can be well landed at any time.
Preferably, the preset touch area is configured to be at any area of the application program interface while the vertical takeoff and landing fixed wing is in flight. So that the operation can be preferably facilitated.
Preferably, the landing route parameters include the longitude and latitude of the landing point, the longitude and latitude of the descent spiral point, the height of the descent spiral point, the radius of the descent spiral circumference, the switching height and the height of the landing point, and are displayed at the parameter display input interface. Therefore, planning of the landing route can be preferably realized.
Preferably, the application program interface is also provided with a map display interface displayed at the touch display unit, the longitude and latitude of the landing point and the longitude and latitude of the descending spiral point respond to the touch action through the map display interface, and the longitude and latitude data corresponding to the corresponding touch point are returned to the parameter display input interface. Therefore, the planning function of the landing route can be intuitively provided.
Preferably, a position obtaining unit is provided, which is used for obtaining the spatial position of the vertical take-off and landing fixed wing when the parameter display input interface finishes the parameter editing of the landing route, and taking the spatial position as the current position of the vertical take-off and landing fixed wing. Therefore, the original flight route is not interfered during the planning of the landing route, and the landing route can be switched from the original flight route to the landing route after the planning of the landing route is finished.
Preferably, a delay calculating unit is provided, which is used for acquiring the space position of the vertical take-off and landing fixed wing after a delay period based on the space position and the flying speed of the vertical take-off and landing fixed wing when the parameter editing of the landing route is completed at the parameter display input interface, and taking the space position as the current position of the vertical take-off and landing fixed wing. Thus, the position deviation of the vertical take-off and landing fixed wing generated during the period from the start triggering of the landing route to the start execution can be compensated.
Preferably, the delay period is a preset value. Therefore, the method is simple and easy to implement.
Preferably, the landing route generating unit, the position obtaining unit and the delay calculating unit are all arranged at the terminal where the touch display unit is located. Therefore, the calculation of related data can be better realized, and the data processing amount at the vertical take-off and landing fixed wing is reduced.
Preferably, the landing route generating unit, the position acquiring unit and the time delay calculating unit are all arranged at the vertical take-off and landing fixed wing. By the aid of the method, the position deviation of the vertical take-off and landing fixed wing generated during the period from the start of triggering to the start of executing of the landing route can be reduced, and therefore the landing route can be executed more timely and effectively.
In addition, the invention also provides a landing route generating device for the vertical take-off and landing fixed wing, which comprises,
the touch display unit is used for displaying an application program interface; the application program interface is provided with a preset touch area, and when a touch signal is detected at the preset touch area, a parameter display input interface for editing landing route parameters is provided at the touch display unit;
the method comprises the steps of,
and the landing route generation unit is used for displaying the edited landing route parameters at the input interface by using the current position and parameters of the vertical take-off and landing fixed wing to generate a landing route for execution by the vertical take-off and landing fixed wing.
Therefore, the planning of the landing route can be preferably realized.
Drawings
FIG. 1 is a schematic illustration of a mission route for a vertical take-off and landing fixed wing;
FIG. 2 is a schematic illustration of a landing profile of a vertical take-off and landing fixed wing;
FIG. 3 is a schematic diagram of a method of generating a landing pattern in example 3;
FIG. 4 is a schematic illustration of the landing profile of example 4 without position delay compensation;
FIG. 5 is a schematic illustration of the landing profile with position delay compensation added in example 5.
Detailed Description
For a further understanding of the present invention, the present invention will be described in detail with reference to the drawings and examples. It is to be understood that the examples are illustrative of the present invention and are not intended to be limiting.
Example 1
The embodiment provides a landing control method for a vertical take-off and landing fixed wing, which is applied to a vertical take-off and landing unmanned aerial vehicle; comprising the following steps:
acquiring landing route parameters, wherein the landing route parameters comprise landing point information, descending spiral point information and mode switching height;
generating a landing route according to the landing route parameters, wherein the landing route comprises a horizontal transfer section, a descending spiral section, a mode switching section and a vertical landing section;
generating a landing instruction according to a landing route, wherein the starting point of the landing route is the current position of the unmanned aerial vehicle;
and receiving a landing instruction, and executing a landing task by the unmanned aerial vehicle according to a landing route.
By the aid of the method, the landing route can be planned independently of the currently executed flight route of the vertical take-off and landing fixed wing, and accordingly the vertical take-off and landing fixed wing can be well landed at any time.
In this embodiment, the landing route parameters include landing route parameters including longitude and latitude of a landing point, longitude and latitude of a descending spiral point, height of the descending spiral point, radius of a descending spiral circumference, mode switching height, and height of the landing point; acquiring landing route parameters comprises the following steps:
acquiring the longitude and latitude of a landing point and the longitude and latitude of a descending spiral point according to the three-dimensional map;
and confirming the height of the descending spiral point, the radius of the descending spiral circumference, the mode switching height and the landing point height according to the current pose information and the speed of the unmanned aerial vehicle.
The acquisition of the relevant parameters can be realized better.
In this embodiment, the starting point of the landing route is the current position of the unmanned aerial vehicle, including:
calculating a delay distance according to the current speed of the unmanned aerial vehicle and delay time, wherein the delay time comprises the acquisition of landing route parameter time, signaling transfer time and route calculation time;
and calculating the delay position coordinate of the unmanned aerial vehicle after delay according to the current position and the delay distance of the unmanned aerial vehicle when the parameters of the landing route are acquired, wherein the delay position coordinate is the starting point of the landing route.
Thus, the position deviation of the vertical take-off and landing fixed wing generated during the period from the start triggering of the landing route to the start execution can be compensated.
In this embodiment, generating the landing instruction according to the landing route includes:
before generating a landing instruction, the unmanned aerial vehicle executes a flight task according to a current task route;
and after the landing instruction is generated, resetting the current task route execution progress of the unmanned aerial vehicle.
So that it is possible to preferably not interfere with the currently performed flight path.
In this embodiment, receiving a landing instruction, the unmanned aerial vehicle executing a landing task according to a landing route includes:
the unmanned aerial vehicle flies horizontally to a descending spiral point according to the horizontal transfer flight;
the unmanned aerial vehicle spirals down to the mode switching height according to the descending spiral navigation section;
the unmanned aerial vehicle takes the end point of the spiral path of the unmanned aerial vehicle as a starting point, takes the mode switching height as a flying height, flies horizontally to a vertical overhead point corresponding to the landing point, and vertically drops to the landing point from the vertical overhead point.
Through the above, the unmanned aerial vehicle can be well landed.
Example 2
The embodiment also provides a landing control method for the vertical lifting fixed wing, which is applied to the ground station; comprising the following steps:
editing landing route parameters, wherein the landing route parameters comprise landing point information, descending spiral point information and mode switching height;
generating a landing route according to the landing route parameters, wherein the landing route comprises a horizontal transfer section, a descending spiral section, a mode switching section and a vertical landing section;
generating a landing instruction according to a landing route, wherein the starting point of the landing route is the current position of the unmanned aerial vehicle;
and sending a landing instruction to control the unmanned aerial vehicle to execute a landing task according to the landing route.
By the aid of the method, the landing route can be planned independently of the currently executed flight route of the vertical take-off and landing fixed wing, and accordingly the vertical take-off and landing fixed wing can be well landed at any time.
In this embodiment, the landing route parameters include landing route parameters including longitude and latitude of a landing point, longitude and latitude of a descending spiral point, height of the descending spiral point, radius of a descending spiral circumference, mode switching height, and height of the landing point; acquiring landing route parameters comprises the following steps:
editing the longitude and latitude of the landing point and the longitude and latitude of the descending spiral point according to the three-dimensional map;
and acquiring current pose information and speed of the unmanned aerial vehicle, and confirming the height of the descending spiral point, the radius of the circumference of the descending spiral, the mode switching height and the landing point according to the current pose information and speed of the unmanned aerial vehicle.
The acquisition of the relevant parameters can be realized better.
In this embodiment, the starting point of the landing route is the current position of the unmanned aerial vehicle, including:
acquiring the current speed and delay time of the unmanned aerial vehicle, and calculating a delay distance according to the current speed and delay time of the unmanned aerial vehicle, wherein the delay time comprises the acquisition of landing route parameter time, signaling transfer time and route calculation time;
and calculating the delay position coordinate of the unmanned aerial vehicle after delay according to the current position and the delay distance of the unmanned aerial vehicle when the parameters of the landing route are edited, wherein the delay position coordinate is the starting point of the landing route.
Thus, the position deviation of the vertical take-off and landing fixed wing generated during the period from the start triggering of the landing route to the start execution can be compensated.
In this embodiment, generating the landing instruction according to the landing route includes:
before generating a landing instruction, controlling the unmanned aerial vehicle to execute a flight task according to a current task route;
and after the landing instruction is generated, resetting the current task route execution progress of the unmanned aerial vehicle.
So that it is possible to preferably not interfere with the currently performed flight path.
In this embodiment, sending a landing instruction, controlling the unmanned aerial vehicle to execute a landing task according to a landing route includes:
according to the horizontal transfer flight section, controlling the unmanned plane to fly to a descending spiral point;
according to the descending spiral navigation section, controlling the unmanned aerial vehicle to descend to a mode switching height in a spiral mode;
and taking the end point of the spiral path of the unmanned plane as a starting point, taking the mode switching height as a flight height, flatly flying to a vertical overhead point corresponding to the landing point, and vertically landing to the landing point from the vertical overhead point.
Through the above, the unmanned aerial vehicle can be well landed.
Example 3
Referring to fig. 3, the present embodiment also provides a landing planning method for the vertical lifting fixed wing, which is applied to the touch device; the method comprises the following steps:
providing a touch display unit for displaying an application program interface;
configuring a preset touch area at an application program interface;
when a touch signal is detected at a preset touch area, providing a parameter display input interface for editing landing route parameters at a touch display unit;
and providing a landing route generation unit for displaying the edited landing route parameters at the input interface by using the current position and parameters of the vertical take-off and landing fixed wing to generate a landing route for execution by the vertical take-off and landing fixed wing.
By the aid of the method, the landing route can be planned independently of the currently executed flight route of the vertical take-off and landing fixed wing, and accordingly the vertical take-off and landing fixed wing can be well landed at any time.
The generation and reception of the landing command are the same as those in embodiment 1 or 2.
It can be appreciated that one of the main purposes of the present embodiment is to provide a method for generating a landing route, and the control of the vertical take-off/landing fixed wing, such as pose, flight mode, speed, etc., can be implemented based on the existing means when executing the landing route, so that the description is omitted in the present embodiment.
In this embodiment, the preset touch area is configured to be at any area of the application program interface when the vertical take-off and landing fixed wing is in the flight. So that the operation can be preferably facilitated.
In this embodiment, the landing route parameters include the longitude and latitude of the landing point, the longitude and latitude of the descending spiral point, the height of the descending spiral point, the radius of the descending spiral circumference, the switching height and the height of the landing point, and are displayed on the parameter display input interface. Therefore, planning of the landing route can be preferably realized.
In this embodiment, the application program interface is further provided with a map display interface displayed at the touch display unit, and the longitude and latitude of the landing point and the longitude and latitude of the descending spiral point respond to the touch action through the map display interface, and return the longitude and latitude data corresponding to the corresponding touch point to the parameter display input interface. Therefore, the planning function of the landing route can be intuitively provided.
In this embodiment, a position obtaining unit is provided, which is configured to obtain a spatial position of the vertical take-off and landing fixed wing when parameter editing of the landing route is completed at the parameter display input interface, and use the spatial position as a current position of the vertical take-off and landing fixed wing. Therefore, the original flight route is not interfered during the planning of the landing route, and the landing route can be switched from the original flight route to the landing route after the planning of the landing route is finished.
In this embodiment, a delay calculating unit is provided, which is configured to obtain, based on a spatial position and a flight speed of the vertical take-off and landing fixed wing when parameter editing of the landing route is completed at the parameter display input interface, a spatial position of the vertical take-off and landing fixed wing after a delay period is passed, and use the spatial position as a current position of the vertical take-off and landing fixed wing. Thus, the position deviation of the vertical take-off and landing fixed wing generated during the period from the start triggering of the landing route to the start execution can be compensated.
As shown in fig. 4, a certain time is required for signal transmission, calculation of landing route, etc., and the flying speed of the vertical take-off and landing fixed wing is high; therefore, if no delay compensation is added, the starting point of the landing route is behind the actual position of the vertical take-off and landing fixed wing when the landing route is actually executed, and therefore, the vertical take-off and landing fixed wing is difficult to smoothly switch from the current flight route to the landing route.
As shown in fig. 4, the above problem can be preferably solved by adding the delay compensation by the position deviation.
In this embodiment, the delay period can be, for example, a preset value. Therefore, the method is simple and easy to implement.
In a specific embodiment, the landing route generating unit, the position obtaining unit and the delay calculating unit can be all arranged at a terminal where the touch display unit is located. Therefore, the calculation of related data can be better realized, and the data processing amount at the vertical take-off and landing fixed wing is reduced.
In another specific embodiment, the landing profile generation unit, the position acquisition unit and the delay calculation unit can be provided at, for example, a vertical lift fixed wing. By the aid of the method, the position deviation of the vertical take-off and landing fixed wing generated during the period from the start of triggering to the start of executing of the landing route can be reduced, and therefore the landing route can be executed more timely and effectively.
In this embodiment, the same as that in embodiment 1 or 2 or the prior art will not be repeated.
In addition, the embodiment also provides a landing route generating device for the vertical lifting fixed wing, which comprises,
the touch display unit is used for displaying an application program interface; the application program interface is provided with a preset touch area, and when a touch signal is detected at the preset touch area, a parameter display input interface for editing landing route parameters is provided at the touch display unit;
the method comprises the steps of,
and the landing route generation unit is used for displaying the edited landing route parameters at the input interface by using the current position and parameters of the vertical take-off and landing fixed wing to generate a landing route for execution by the vertical take-off and landing fixed wing.
Therefore, the planning of the landing route can be preferably realized.
It is to be understood that, based on one or several embodiments provided herein, those skilled in the art may combine, split, reorganize, etc. the embodiments of the present application to obtain other embodiments, which do not exceed the protection scope of the present application.
The invention and its embodiments have been described above by way of illustration and not limitation, and the invention is illustrated in the accompanying drawings and described in the drawings in which the actual structure is not limited thereto. Therefore, if one of ordinary skill in the art is informed by this disclosure, the structural mode and the embodiments similar to the technical scheme are not creatively designed without departing from the gist of the present invention.
Claims (10)
1. A landing control method for a vertical take-off and landing fixed wing is applied to a vertical take-off and landing unmanned aerial vehicle; comprising the following steps:
acquiring landing route parameters, wherein the landing route parameters comprise landing point information, descending spiral point information and mode switching height;
generating a landing route according to the landing route parameters, wherein the landing route comprises a horizontal transfer section, a descending spiral section, a mode switching section and a vertical landing section;
generating a landing instruction according to a landing route, wherein the starting point of the landing route is the current position of the unmanned aerial vehicle;
and receiving a landing instruction, and executing a landing task by the unmanned aerial vehicle according to a landing route.
2. The method according to claim 1, characterized in that: the landing route parameters comprise landing route parameters, wherein the landing route parameters comprise the longitude and latitude of a landing point, the longitude and latitude of a descending spiral point, the height of the descending spiral point, the radius of the descending spiral circumference, the mode switching height and the height of the landing point; acquiring landing route parameters comprises the following steps:
acquiring the longitude and latitude of a landing point and the longitude and latitude of a descending spiral point according to the three-dimensional map;
and confirming the height of the descending spiral point, the radius of the descending spiral circumference, the mode switching height and the landing point height according to the current pose information and the speed of the unmanned aerial vehicle.
3. The method of claim 2, wherein the starting point of the landing route is the current position of the drone comprises:
calculating a delay distance according to the current speed of the unmanned aerial vehicle and delay time, wherein the delay time comprises the acquisition of landing route parameter time, signaling transfer time and route calculation time;
and calculating the delay position coordinate of the unmanned aerial vehicle after delay according to the current position and the delay distance of the unmanned aerial vehicle when the parameters of the landing route are acquired, wherein the delay position coordinate is the starting point of the landing route.
4. The method of claim 1, wherein generating a landing instruction from a landing profile comprises:
before generating a landing instruction, the unmanned aerial vehicle executes a flight task according to a current task route;
and after the landing instruction is generated, resetting the current task route execution progress of the unmanned aerial vehicle.
5. The method of any of claims 1-4, wherein receiving a landing instruction, the drone performing a landing mission according to a landing route comprises:
the unmanned aerial vehicle flies horizontally to a descending spiral point according to the horizontal transfer flight;
the unmanned aerial vehicle spirals down to the mode switching height according to the descending spiral navigation section;
the unmanned aerial vehicle takes the end point of the spiral path of the unmanned aerial vehicle as a starting point, takes the mode switching height as a flying height, flies horizontally to a vertical overhead point corresponding to the landing point, and vertically drops to the landing point from the vertical overhead point.
6. A landing control method for a vertical take-off and landing fixed wing is applied to a ground station; comprising the following steps:
editing landing route parameters, wherein the landing route parameters comprise landing point information, descending spiral point information and mode switching height;
generating a landing route according to the landing route parameters, wherein the landing route comprises a horizontal transfer section, a descending spiral section, a mode switching section and a vertical landing section;
generating a landing instruction according to a landing route, wherein the starting point of the landing route is the current position of the unmanned aerial vehicle;
and sending a landing instruction to control the unmanned aerial vehicle to execute a landing task according to the landing route.
7. The method according to claim 6, wherein: the landing route parameters comprise landing route parameters, wherein the landing route parameters comprise the longitude and latitude of a landing point, the longitude and latitude of a descending spiral point, the height of the descending spiral point, the radius of the descending spiral circumference, the mode switching height and the height of the landing point; acquiring landing route parameters comprises the following steps:
editing the longitude and latitude of the landing point and the longitude and latitude of the descending spiral point according to the three-dimensional map;
and acquiring current pose information and speed of the unmanned aerial vehicle, and confirming the height of the descending spiral point, the radius of the circumference of the descending spiral, the mode switching height and the landing point according to the current pose information and speed of the unmanned aerial vehicle.
8. The method of claim 7, wherein the starting point of the landing leg is the current position of the drone comprises:
acquiring the current speed and delay time of the unmanned aerial vehicle, and calculating a delay distance according to the current speed and delay time of the unmanned aerial vehicle, wherein the delay time comprises the acquisition of landing route parameter time, signaling transfer time and route calculation time;
and calculating the delay position coordinate of the unmanned aerial vehicle after delay according to the current position and the delay distance of the unmanned aerial vehicle when the parameters of the landing route are edited, wherein the delay position coordinate is the starting point of the landing route.
9. The method of claim 6, wherein generating a landing instruction from a landing profile comprises:
before generating a landing instruction, controlling the unmanned aerial vehicle to execute a flight task according to a current task route;
and after the landing instruction is generated, resetting the current task route execution progress of the unmanned aerial vehicle.
10. The method of any of claims 6-9, wherein sending a landing instruction to control the drone to perform a landing mission according to a landing profile comprises:
according to the horizontal transfer flight section, controlling the unmanned plane to fly to a descending spiral point;
according to the descending spiral navigation section, controlling the unmanned aerial vehicle to descend to a mode switching height in a spiral mode;
and taking the end point of the spiral path of the unmanned plane as a starting point, taking the mode switching height as a flight height, flatly flying to a vertical overhead point corresponding to the landing point, and vertically landing to the landing point from the vertical overhead point.
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