CN116339387B - Unmanned aerial vehicle safety distance maintaining method under influence of complex turbulence in narrow space - Google Patents
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Abstract
The invention provides a method for keeping the safety distance of an unmanned aerial vehicle under the influence of complex turbulence in a narrow space, which aims to solve the problem that the safety obstacle avoidance is influenced by air flow interference when the unmanned aerial vehicle executes an operation task in the narrow space, and comprises the following steps: firstly, carrying out deep coupling modeling of a turbulent flow effect in a narrow space; then, an unmanned plane motion and dynamics model containing airflow disturbance is constructed, and a turbulence observer is designed according to the deep coupling interference model; secondly, establishing a safe flight corridor of the unmanned aerial vehicle, and converting Euclidean distance constraint into safety constraint related to lifting force of the unmanned aerial vehicle based on a control obstacle function theory and an unmanned aerial vehicle model with disturbance information; and finally, designing a nonlinear model prediction controller aiming at the track tracking performance and the safety obstacle avoidance requirement of the unmanned aerial vehicle, and solving the optimal expected lift force and angular velocity of the unmanned aerial vehicle in a future flight time. The invention can obviously improve the autonomous safety obstacle avoidance performance of the unmanned aerial vehicle under complex interference, and can be used for special operation tasks of underground comprehensive pipe racks and electric power tunnels.
Description
Technical Field
The invention belongs to the field of special operation of flying robots, and particularly relates to a method for keeping a safe distance of an unmanned aerial vehicle under the influence of complex turbulence in a narrow space, which is suitable for an unmanned aerial vehicle control system which needs to execute inspection tasks such as an underground comprehensive pipe gallery, an electric power tunnel and the like.
Background
With the increasing speed of urban transformation, the overground space part of the city can not completely meet the development requirement of the city, so the full development and utilization of the underground space of the city are particularly critical. As an important foundation for intelligent city construction, in recent years, underground utility tunnel construction in China is developing at a high speed. Underground pipe galleries are generally hidden outside the line of sight of citizens, and if dangerous situations occur like 'thrombosis' of cities, great inconvenience and loss are brought to urban residents.
In order to better manage and maintain the comprehensive pipe rack, regular inspection needs to be carried out on the comprehensive pipe rack, the problems are found and solved in time, and the normal operation of the comprehensive pipe rack is ensured. The traditional inspection mode mainly comprises manual inspection, fixed point position sensor monitoring and ground robot inspection. The manual inspection frequency is low, and the underground environment is particularly severe, and the environment with high temperature, high humidity and oxygen deficiency brings great harm to the life and health of workers. The fixed monitoring equipment is influenced by factors such as piping lane spatial layout, facility equipment and the like, and the problems that detection blind areas are difficult to eliminate, false alarm and missing alarm phenomena are excessive and the like exist. The underground inspection robot is flexible to move, but cannot detect high-altitude targets. The underground infrastructure environment is faint, satellite signals are naturally refused, and the underground inspection robot is difficult to perceive and position. And the underground comprehensive pipe rack has a plurality of irregular narrow channels, so that the underground robot is difficult to cross over, and the application range of the underground robot is greatly limited. In general, the manual inspection potential safety hazard is high, the report missing rate of the fixed monitoring equipment is high, the underground robot has poor trafficability, and the requirements of autonomous, efficient and safe inspection in the underground comprehensive pipe gallery are difficult to adapt.
Aiming at the bottleneck problems of 'people can not reach, the machine can not reach' and the like in the inspection of the utility tunnel, the use of an unmanned aerial vehicle for the inspection of the utility tunnel has become a new state of management of modern urban infrastructure, and has obvious advantages in the aspects of inspection efficiency, safety, precision and the like. The utility tunnel often space is all very narrow and small, and when unmanned aerial vehicle carries out safe area planning, physical constraint is stronger to unmanned aerial vehicle is when wherein flying, is extremely easily influenced by air current disturbance such as ground effect, ceiling effect, and this has put forward higher requirement to unmanned aerial vehicle's orbit planning and control. In order to further enhance the safety of the unmanned aerial vehicle in the operation task, the aerial flying robot, particularly the inspection unmanned aerial vehicle, has the autonomous obstacle avoidance capability under the influence of limited physical space constraint and complex turbulence disturbance, and the tasks such as autonomous inspection and the like are completed. The unmanned aerial vehicle planning and control algorithm must solve the above mentioned problem of the influence of strong physical constraint and composite interference on unmanned aerial vehicle trajectory tracking and safe distance maintenance in the design process.
Chinese patent application CN202110367278.2 proposes an underground piping lane inspection method based on unmanned aerial vehicle, but there are two problems: (1) The autonomous safety obstacle avoidance function of the unmanned aerial vehicle is not considered in the inspection process; (2) Air flow disturbance generated by interaction of the unmanned aerial vehicle and the underground pipe gallery is not considered; chinese patent application CN201910242470.1 proposes a system for inspecting underground utility tunnel, but there are two similar problems: (1) Generating safety obstacle avoidance constraint in real time according to the established map; (2) The complex airflow in a narrow space is not modeled, and the influence of the complex interference is considered in unmanned plane planning and control; the Chinese patent application CN202210346957.6 proposes an autonomous navigation method and an autonomous navigation system of a rotor unmanned aerial vehicle in a tunnel environment, but a base station is required to be arranged in the tunnel in advance for positioning the unmanned aerial vehicle, and the autonomous navigation system does not have an autonomous safety obstacle avoidance function; chinese patent application CN201910185232.1 proposes a cable tunnel inspection flight method for unmanned aerial vehicles, but in the method, unmanned aerial vehicles can only carry out line inspection flight, and have no functions of autonomous drawing construction and obstacle avoidance.
Therefore, the method does not consider the problem of keeping the safety distance of the unmanned aerial vehicle under the condition of complex turbulence interference, so as to complete the task of autonomous inspection operation with high difficulty.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides an unmanned aerial vehicle autonomous safety distance keeping method under the influence of complex turbulence in a narrow space for an unmanned aerial vehicle system for autonomous inspection operation. The method can ensure the safety of operation of the unmanned aerial vehicle in a limited space and improve the autonomous obstacle avoidance capability of the unmanned aerial vehicle under the disturbance condition.
In order to achieve the above purpose, the invention adopts the following technical scheme:
a method for keeping the safe distance of an unmanned aerial vehicle under the influence of complex turbulence in a narrow space comprises the following steps:
firstly, carrying out deep coupling modeling of turbulence interference of an underground space to realize a turbulence effect model of deep coupling;
secondly, establishing an unmanned plane kinematics and dynamics model containing a turbulence effect, and designing a turbulence observer to estimate interference;
thirdly, establishing a safe flight corridor according to a real-time three-dimensional map, and converting the safe flight corridor into a safety constraint related to the lift force of the unmanned aerial vehicle based on a high-fidelity unmanned aerial vehicle model;
and fourthly, designing a nonlinear model predictive controller, and solving the optimal control quantity of the unmanned aerial vehicle which meets the track tracking and safety obstacle avoidance requirements for a period of time in the future.
Further, the first step includes:
for a rotor of a four-rotor unmanned aerial vehicle, the rotor is in a region not affected by aerodynamic effects and has a rotating speed ofWhen the lift force is generated is +.>,/>For lift coefficient>The number of the rotor wing is given. When the single rotor is in the area affected by the turbulence effect, the lift force +.>The rotor wing is changed along with the height from the ground, specifically:
，
wherein ,for the height of the rotor from the ground, +.>Is the radius of the propeller;
thus the total lift of the quadrotor unmanned aerial vehicleThe disturbing external force of the turbulent flow effect is:
,
suppose that the unmanned aerial vehicle is at pitch angleForward flight, the turbulence effect is applied at this time to interfere with external force:
，
wherein ,for unmanned aerial vehicle range altitude, +.>Is the length between the rotor and the geometric center of the unmanned aerial vehicle.
Further, the second step includes:
the turbulence is considered to generate interference external force influence on the unmanned aerial vehicle, and the model form of the unmanned aerial vehicle is established as follows:
，
wherein ,indicating the position of the drone->Representation->Derivative (F)>Representing the speed of the unmanned aerial vehicle, +.>Representation->Derivative (F)>Is the total weight of the inspection unmanned aerial vehicle, < +.>Represents the thrust vector under the unmanned aerial vehicle body coordinate system, < ->Representing the total thrust of the unmanned aerial vehicle motor, +.>Is unmanned plane attitude rotation matrix representation form, +.>Representation->Derivative (F)>Indicating the acceleration of gravity>Represents the angular velocity of the unmanned aerial vehicle, +.>Indicating angular velocity +.>Is used for the matrix of the anti-symmetry of (a),representation->Derivative (F)>Representing the total torque produced by the unmanned aerial vehicle motor, < >>The unit vector is represented by a vector of units,indicating the air flow disturbance external force to which the unmanned plane is subjected, < ->，/>，/>Respectively represent the components of the disturbance external force under the inertia system,coefficient matrix->Is defined as:
，
according to the dynamics and kinematics model of the unmanned plane and the deep-coupling turbulence effect model, a turbulence observer is designed, and the form is as follows:
，
wherein ,for observer gain, +.>Is a coefficient matrix->Is an intermediate auxiliary variable->Is->Estimated value of ∈10->Is turbulent external force->Estimate value->Is input to the controller.
Further, the third step includes:
establishing a three-dimensional terrain voxel map according to the pose estimated by the airborne visual inertial odometer and the surrounding environment depth information perceived by the depth camera; in the three-dimensional terrain voxel map, a safety flight corridor taking the unmanned aerial vehicle flight track as a reference is obtained by a reference track local point expansion method, and the safety flight corridor is a convex polyhedron, and the form of the safety flight corridor is expressed as follows:
,
wherein , and />Is a convex polyhedron half-space linear constraint condition, < ->Representing the position of the unmanned aerial vehicle;
based on the control obstacle function theory and the unmanned aerial vehicle kinematics and dynamics model including the turbulence effect established in the second step, the safety flight corridor described by the Euclidean distance between the unmanned aerial vehicle and the obstacle is converted into the safety flight corridor constraint expressed by the lifting force of the unmanned aerial vehicle, and the form is as follows:
，
wherein ,representing the total thrust of the unmanned aerial vehicle motor, +.>Indicating the position of the drone->，/>Representing system coefficients>The safety corridor represented for the geometrical constraint,based on unmanned plane translational motion kinematic model pair +.>The derivative is obtained and the first time is used,based on unmanned plane translational dynamics model pair +.>The second derivatives were obtained and their specific forms are shown below:
，
，
，
wherein ,express the->Line->Column elements; />Is the real part of the gesture quaternion, +.>，/>，/>The imaginary part of the gesture quaternion; />，/>，/>Respectively representing the velocity components of the unmanned aerial vehicle in the inertial system.
When inequality is givenSolving a lift interval, wherein the lift interval ensures the obstacle avoidance reliability of the unmanned aerial vehicle under the influence of turbulence disturbance.
Further, the fourth step includes:
the nonlinear model predictive controller adjusts the control quantity of the unmanned aerial vehicle under the condition of meeting various constraint conditions, and ensures the unmanned aerial vehicle to avoid the obstacle safely while finishing track tracking, and the specific form is as follows:
，
wherein ,respectively represent the position, the speed and the gesture of the unmanned plane,representing the total thrust and triaxial angular velocity of the unmanned aerial vehicle motor required for control input; />For model predictive control cost function, +.>Each element of the representation vector sums squared; />Is a weight matrix of the process state, +.>For process position error, +.>Is the weight moment of the process outputArray (S)>Error is output for the process->Is a weight matrix of terminal states, +.>Is a terminal position error; />Represents the number of optimization iterations, +.>Representing an initial value of the state of the unmanned aerial vehicle before model predictive control optimization; />The method comprises the steps of establishing a model of unmanned plane kinematics and dynamics comprising a turbulence effect in the second step; />The safety constraint related to the lifting force of the unmanned aerial vehicle established in the third step is adopted; /> and />Representing saturation constraints of the actuator.
Compared with the prior art, the invention has the beneficial effects that:
the unmanned aerial vehicle inspection system is mainly oriented to an unmanned aerial vehicle system for autonomous inspection in a narrow space, and compared with a traditional inspection mode, the unmanned aerial vehicle inspection system has the advantages of being wider in range and higher in efficiency. However, the reliability of obstacle avoidance of the unmanned aerial vehicle can be reduced due to kinematic interference caused by the turbulence effect in a narrow space, so that the inspection task fails. The invention is oriented to the problem of autonomous safe distance maintenance of the unmanned aerial vehicle under the influence of space limitation and pneumatic interference, and firstly, turbulent effect deep coupling modeling is carried out; then, an unmanned plane motion and dynamics model containing airflow disturbance is constructed, and a turbulence observer is designed according to the deep coupling interference model; secondly, establishing a safe flight corridor of the unmanned aerial vehicle, and converting Euclidean distance constraint into safety constraint related to lifting force of the unmanned aerial vehicle based on a control obstacle function theory and an unmanned aerial vehicle model with disturbance information; and finally, designing a nonlinear model prediction controller aiming at the track tracking performance and the safety obstacle avoidance requirement of the unmanned aerial vehicle, and solving the optimal expected lift force and angular velocity of the unmanned aerial vehicle in a future flight time. The invention can obviously improve the success rate of safety obstacle avoidance of the unmanned aerial vehicle under complex interference and ensure the quality of operation tasks.
Drawings
Fig. 1 is a flow chart of a method for maintaining a safe distance of an unmanned aerial vehicle under the influence of complex turbulence in a narrow space.
Detailed Description
Taking a general unmanned aerial vehicle inspection platform as an example to illustrate the specific implementation of the system and the method, the unmanned aerial vehicle has high requirements on the safety of the unmanned aerial vehicle when executing high-precision operation tasks in a narrow space;
as shown in fig. 1, the method for maintaining the safe distance of the unmanned aerial vehicle under the influence of complex turbulence in a small space is implemented by the following steps:
and firstly, carrying out deep coupling modeling of turbulence interference of the underground space to realize a turbulence effect model of deep coupling.
Turbulence has a significant effect on the lift generated by four rotors of a drone, one of which is exemplified by a rotor of a quad-rotor drone, which rotor is at a rotational speed in a region that is not affected by aerodynamic effectsWhen the lift force is generated is +.>,/>For lift coefficient>The number of the rotor wing is given. When the single rotor is in the area affected by the turbulence effect, the lift force +.>The rotor wing is changed along with the height from the ground, specifically:
，
wherein ,for the height of the rotor from the ground, +.>For the radius of the propeller, the rotor is,
thus the total lift of the quadrotor unmanned aerial vehicleThe disturbing external force of the turbulent flow effect is:
，
suppose that the unmanned aerial vehicle is at pitch angleForward flight, the turbulence effect is applied at this time to interfere with external force:
，
wherein ,for unmanned aerial vehicle range altitude, +.>Is the length between the rotor and the geometric center of the unmanned aerial vehicle. The pneumatic corresponding model comprises the height of the unmanned aerial vehicle from the groundAnd a state of the unmanned aerial vehicle such as a pitch angle when the unmanned aerial vehicle flies forward. The built aerodynamic effect model is a deep coupling interference model.
And secondly, establishing a unmanned plane kinematics and dynamics model containing turbulence effect, and designing a turbulence observer to estimate interference.
Under the influence of turbulence effect, the traditional unmanned aerial vehicle kinematics and dynamics model needs to be further improved, the influence of turbulence on external interference force generated by the unmanned aerial vehicle is considered, and the established unmanned aerial vehicle model is as follows:
，
wherein ,indicating the position of the drone->Representation->Derivative (F)>Representing the speed of the unmanned aerial vehicle, +.>Representation->Derivative (F)>Is the total weight of the inspection unmanned aerial vehicle, < +.>Represents the thrust vector under the unmanned aerial vehicle body coordinate system, < ->Representing the total thrust of the unmanned aerial vehicle motor, +.>Is unmanned plane attitude rotation matrix representation form, +.>Representation->Derivative (F)>Indicating the acceleration of gravity>Represents the angular velocity of the unmanned aerial vehicle, +.>Indicating angular velocity +.>Is an antisymmetric matrix of>Representation->Derivative (F)>Representing the total torque produced by the unmanned aerial vehicle motor, < >>The unit vector is represented by a vector of units,indicating the air flow disturbance external force to which the unmanned plane is subjected, < ->，/>，/>Respectively represent the components of the disturbance external force under the inertia system,coefficient matrix->Is defined as:
，
according to the dynamics and kinematics model of the unmanned plane and the deep-coupling turbulence effect model, a turbulence observer is designed, and the form is as follows:
，
wherein ,for observer gain, +.>Is a coefficient matrix->Is an intermediate auxiliary variable->Is->Estimated value of ∈10->Is a turbulent external forceEstimate value->Is input to the controller.
And thirdly, establishing a safe flight corridor according to the real-time three-dimensional map, and converting the safe flight corridor into a safety constraint related to the lift force of the unmanned aerial vehicle based on the high-fidelity unmanned aerial vehicle model.
Establishing a three-dimensional terrain voxel map according to the pose estimated by the airborne visual inertial odometer and the surrounding environment depth information perceived by the depth camera; in the three-dimensional terrain voxel map, a safety flight corridor taking the unmanned aerial vehicle flight track as a reference is obtained by a reference track local point expansion method, and the safety flight corridor is a convex polyhedron, and the form of the safety flight corridor is expressed as follows:
，
wherein , and />Is a convex polyhedron half-space linear constraint condition, < ->Indicating the position of the drone.
The safety flight corridor represents the Euclidean distance constraint between the position of the unmanned aerial vehicle and surrounding obstacles, and the geometric constraint plays a role in constraint only when the unmanned aerial vehicle approaches to the boundary of the safety flight corridor, so that the safety flight corridor has conservation to the safety obstacle avoidance of the unmanned aerial vehicle. In addition, the safety boundary of the unmanned aerial vehicle in the flight process needs to be dynamically adjusted along with the interference, and the geometrical constraint lacks quantification of the influence of turbulence disturbance on the safety boundary. In order to overcome the difficulty, based on the theory of the control barrier function and the unmanned aerial vehicle kinematics and dynamics model comprising the turbulence effect established in the second step, the safety flight corridor described by the Euclidean distance between the unmanned aerial vehicle and the barrier is converted into the safety flight corridor constraint expressed by the lifting force of the unmanned aerial vehicle, and the safety flight corridor constraint is formed as follows:
，
wherein ,representing the total thrust of the unmanned aerial vehicle motor, +.>Indicating the position of the drone->，/>Representing system coefficients>The safety corridor represented for the geometrical constraint,based on unmanned plane translational motion kinematic model pair +.>The derivative is obtained and the first time is used,based on unmanned plane translational dynamics model pair +.>The second derivatives were obtained and their specific forms are shown below:
,
，
，
wherein ,express the->Line->Column elements. />Is the real part of the gesture quaternion, +.>，/>，/>Is the imaginary part of the gesture quaternion. />，/>，/>Respectively representing the velocity components of the unmanned aerial vehicle in the inertial system.
When inequality is givenSolving a lift interval, wherein the lift interval ensures the obstacle avoidance reliability of the unmanned aerial vehicle under the influence of turbulence disturbance.
And fourthly, designing a nonlinear model predictive controller, and solving the optimal control quantity of the unmanned aerial vehicle which meets the track tracking and safety obstacle avoidance requirements for a period of time in the future.
When the unmanned aerial vehicle works in a narrow space, the unmanned aerial vehicle is required to track the reference track points solved by the global path planning module, and meanwhile, safety constraint required by obstacle avoidance in the flight process is met. The nonlinear model predictive controller can generate control quantity of the unmanned aerial vehicle under various constraint conditions, and ensure safety obstacle avoidance of the unmanned aerial vehicle while finishing track tracking. The specific form is as follows:
，
wherein ,respectively represent the position, the speed and the gesture of the unmanned plane,representing the total thrust and triaxial angular velocity of the unmanned aerial vehicle motor required for control input;for model predictive control cost function, +.>Representing the sum of squares of the elements of the vector. />Is a weight matrix of the process state, +.>For process position error, +.>Is a weight matrix of the process output, +.>Error is output for the process->Is a matrix of weights for the states of the terminals,is a terminal position error; />Represents the number of optimization iterations, +.>Representing an initial value of the state of the unmanned aerial vehicle before model predictive control optimization; />The method comprises the steps of establishing a model of unmanned plane kinematics and dynamics comprising a turbulence effect in the second step; />The safety constraint related to the lifting force of the unmanned aerial vehicle established in the third step is adopted; /> and />Representing saturation constraints of the actuator.
What is not described in detail in the present specification belongs to the prior art known to those skilled in the art.
Claims (1)
1. The unmanned aerial vehicle safety distance maintaining method under the influence of complex turbulence in a narrow space is characterized by comprising the following steps of:
the first step, carrying out deep coupling modeling of turbulence interference of an underground space to realize a turbulence effect model of deep coupling, wherein the method comprises the following steps:
for a rotor of a four-rotor unmanned aerial vehicle, the rotor is in a region not affected by aerodynamic effects and has a rotating speed ofWhen the lift force is generated is +.>,/>For lift coefficient>For numbering the rotors, lift +.>The rotor wing is changed along with the height from the ground, specifically:
，
wherein ,for the height of the rotor from the ground, +.>Is the radius of the propeller;
thus the total lift of the quadrotor unmanned aerial vehicleThe disturbing external force of the turbulent flow effect is:
，
suppose that the unmanned aerial vehicle is at pitch angleForward flight, the turbulence effect is applied at this time to interfere with external force:
，
wherein ,for unmanned aerial vehicle range altitude, +.>Is the length between the rotor wing and the geometric center of the unmanned plane;
secondly, establishing a unmanned plane kinematics and dynamics model containing turbulence effect, and designing a turbulence observer to estimate interference, wherein the method comprises the following steps:
the turbulence is considered to generate interference external force influence on the unmanned aerial vehicle, and the model form of the unmanned aerial vehicle is established as follows:
，
wherein ,indicating the position of the drone->Representation->Derivative (F)>Representing the speed of the unmanned aerial vehicle, +.>Representation->Derivative (F)>Is the total weight of the inspection unmanned aerial vehicle, < +.>Represents the thrust vector under the unmanned aerial vehicle body coordinate system, < ->Representing the total thrust of the unmanned aerial vehicle motor, +.>Is unmanned plane attitude rotation matrix representation form, +.>Representation->The derivative of the derivative is used to determine,indicating the acceleration of gravity>Represents the angular velocity of the unmanned aerial vehicle, +.>Indicating angular velocity +.>Is an antisymmetric matrix of>Representation->Derivative (F)>Representing the total torque produced by the unmanned aerial vehicle motor, < >>The unit vector is represented by a vector of units,indicating that the unmanned aerial vehicle is disturbed by the air flow disturbance to interfere with the external force,，/>，/>respectively represent the components of the disturbance external force under the inertia system,coefficient matrix->Is defined as:
，
according to the dynamics and kinematics model of the unmanned plane and the deep-coupling turbulence effect model, a turbulence observer is designed, and the form is as follows:
，
wherein ,for observer gain, +.>Is a coefficient matrix->As an intermediate auxiliary variable, a variable is provided,is->Estimated value of ∈10->Is turbulentExternal force of flowEstimate value->Is input to the controller;
third, a safe flight corridor is established according to a real-time three-dimensional map, and is converted into a safe constraint related to unmanned aerial vehicle lifting force based on a high-fidelity unmanned aerial vehicle model, and the method comprises the following steps:
establishing a three-dimensional terrain voxel map according to the pose estimated by the airborne visual inertial odometer and the surrounding environment depth information perceived by the depth camera; in the three-dimensional terrain voxel map, a safety flight corridor taking the unmanned aerial vehicle flight track as a reference is obtained by a reference track local point expansion method, and the safety flight corridor is a convex polyhedron, and the form of the safety flight corridor is expressed as follows:
，
wherein , and />Is a convex polyhedron half-space linear constraint condition, < ->Representing the position of the unmanned aerial vehicle;
based on the control obstacle function theory and the unmanned aerial vehicle kinematics and dynamics model including the turbulence effect established in the second step, the safety flight corridor described by the Euclidean distance between the unmanned aerial vehicle and the obstacle is converted into the safety flight corridor constraint expressed by the lifting force of the unmanned aerial vehicle, and the form is as follows:
，
wherein ,representing the total thrust of the unmanned aerial vehicle motor, +.>Indicating the position of the unmanned aerial vehicle,，/>representing system coefficients>The safety corridor represented for the geometrical constraint,based on unmanned plane translational motion kinematic model pair +.>The derivative is obtained and the first time is used,based on unmanned plane translational dynamics model pair +.>The second derivatives were obtained and their specific forms are shown below:
，
，
，
wherein ,express the->Line->Column elements; />Is the real part of the gesture quaternion, +.>，/>，/>The imaginary part of the gesture quaternion; />，/>，/>Respectively representing the speed components of the unmanned aerial vehicle under an inertial system;
when inequality is givenSolving a lift interval, wherein the lift interval ensures the obstacle avoidance reliability of the unmanned aerial vehicle under the influence of turbulence disturbance;
fourth, designing a nonlinear model predictive controller, solving an optimal control quantity of the unmanned aerial vehicle meeting track tracking and safety obstacle avoidance requirements for a period of time in the future, wherein the method comprises the following steps:
the nonlinear model predictive controller adjusts the control quantity of the unmanned aerial vehicle under the condition of meeting various constraint conditions, and ensures the unmanned aerial vehicle to avoid the obstacle safely while finishing track tracking, and the specific form is as follows:
，
wherein ,respectively represent the position, the speed and the gesture of the unmanned plane,representing the total thrust and triaxial angular velocity of the unmanned aerial vehicle motor required for control input;for model predictive control cost function, +.>Each element of the representation vector sums squared; />Is a weight matrix of the process state, +.>For process position error, +.>Is a weight matrix of the process output, +.>Error is output for the process->Is a weight matrix of terminal states, +.>Is a terminal position error; />Represents the number of optimization iterations, +.>Representing an initial value of the state of the unmanned aerial vehicle before model predictive control optimization; />The method comprises the steps of establishing a model of unmanned plane kinematics and dynamics comprising a turbulence effect in the second step; />The safety constraint related to the lifting force of the unmanned aerial vehicle established in the third step is adopted; /> and />Representing saturation constraints of the actuator.
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