CN116534271A - Solar unmanned aerial vehicle sliding test method and pneumatic parameter back calculation method - Google Patents
Solar unmanned aerial vehicle sliding test method and pneumatic parameter back calculation method Download PDFInfo
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Abstract
The invention provides a solar unmanned aerial vehicle sliding test method and a pneumatic parameter back calculation method, wherein the method comprises the following steps: driving a propeller by using a motor at a preset rotating speed to drive a solar unmanned aerial vehicle to accelerate running on a runway; when the solar unmanned aerial vehicle reaches a preset height, reducing the rotating speed of the motor from a preset rotating speed to zero and shifting the sliding central line of the solar unmanned aerial vehicle according to a preset lateral deviation; and landing the solar unmanned aerial vehicle from a preset height until landing to ground so as to test the sideslip landing performance of the solar unmanned aerial vehicle. By applying the technical scheme of the invention, the technical problem that the side deviation landing performance of the unmanned aerial vehicle is difficult to truly verify in the prior art is solved.
Description
Technical Field
The invention relates to the technical field of solar unmanned aerial vehicles, in particular to a sliding test method and a pneumatic parameter back calculation method of a solar unmanned aerial vehicle.
Background
The unmanned aerial vehicle sliding test is also called an unmanned aerial vehicle sliding test, is a large-scale ground test with high complexity, high technical difficulty and wide cooperation surface, can confirm the working correctness and coordination of each subsystem of the unmanned aerial vehicle and ground equipment before first flying through the ground sliding test, and simultaneously checks the control performance in the unmanned aerial vehicle ground sliding process and releases risks in advance. Compared with the conventional unmanned plane, the solar unmanned plane can independently acquire the energy required by maintaining the flight of the unmanned plane from the outside in the flight process, can theoretically realize infinite endurance, has wide application prospect, and meanwhile, in order to realize the long-endurance day-and-night flight at high altitude, the low-wing load, large span and large aspect ratio layout are generally adopted, the take-off and landing speed and the flight speed are lower, the running distance is shorter, and the side-bias landing performance and the aerodynamic performance are required to be focused. However, the existing running tests are all non-off-ground tests, the sideslip landing performance of the unmanned aerial vehicle cannot be truly verified, meanwhile, the existing aerodynamic performance verification method is usually through a wind tunnel test and a flight test, the wind tunnel test has a certain gap from the actual simulated flight working condition, and the flight test risk is larger.
Disclosure of Invention
In order to solve one of the problems in the prior art, the invention provides a solar unmanned aerial vehicle sliding test method and a pneumatic parameter back calculation method.
According to an aspect of the invention, there is provided a solar unmanned aerial vehicle sliding test method, the method comprising:
driving a propeller by using a motor at a preset rotating speed to drive a solar unmanned aerial vehicle to accelerate running on a runway;
when the solar unmanned aerial vehicle reaches a preset height, reducing the rotating speed of the motor from a preset rotating speed to zero and shifting the sliding central line of the solar unmanned aerial vehicle according to a preset lateral deviation;
and landing the solar unmanned aerial vehicle from a preset height until landing to ground so as to test the sideslip landing performance of the solar unmanned aerial vehicle.
Further, the method further comprises: and collecting the speed, the ground speed, the dynamic pressure and the resistance of the propeller windmill in the process of landing from a preset height to grounding of the solar unmanned aerial vehicle in real time.
Further, the method further comprises judging whether the solar unmanned aerial vehicle reaches a preset safety control condition in the running acceleration process, if not, continuing the running acceleration until reaching a preset height, and if so, reducing the rotating speed of the motor from a preset rotating speed to zero.
Further, preset safety control conditions are as follows:
the indicated airspeed of the solar unmanned aerial vehicle is greater than or equal to the running speed threshold; and/or
The distance between the position of the solar unmanned aerial vehicle and the starting point is greater than or equal to the running distance threshold value; and/or
The pitch angle of the solar unmanned aerial vehicle is smaller than the pitch angle threshold; and/or
The lateral deviation of the solar unmanned aerial vehicle is larger than a lateral deviation threshold value; and/or
The course angle deviation of the solar unmanned aerial vehicle is larger than a course angle deviation threshold value.
According to another aspect of the invention, a method for back calculation of aerodynamic parameters of a solar unmanned aerial vehicle is provided, and the aerodynamic parameters of the solar unmanned aerial vehicle are back calculated according to the total machine quality, wing load and the speed, ground speed, dynamic pressure and propeller windmill resistance acquired by the sliding test method.
Further, the aerodynamic parameters include a lift coefficient and a drag coefficient, and the aerodynamic parameters of the back-calculation solar unmanned aerial vehicle include:
reversely calculating a lift coefficient according to dynamic pressure, wing load and the speed;
and (5) reversely calculating the resistance coefficient according to dynamic pressure, wing load, total machine mass, propeller windmill resistance, top speed and ground speed.
Further, the inverse calculation of the lift coefficient according to the dynamic pressure, the wing load and the airspeed includes: and calculating an extremum of the mean square deviation of the lift coefficient according to the dynamic pressure, the wing load and the sky speed, and taking the lift coefficient corresponding to the extremum of the mean square deviation of the lift coefficient as the lift coefficient obtained by back calculation.
Further, the back calculation of the drag coefficient from dynamic pressure, wing load, full machine mass, propeller windmilling drag, airspeed, and ground speed includes: and calculating the extremum of the mean square deviation of the resistance coefficient according to the dynamic pressure, the wing load, the whole machine mass, the resistance of the propeller windmill, the top speed and the ground speed, and taking the resistance coefficient corresponding to the extremum of the mean square deviation of the resistance coefficient as the resistance coefficient obtained by back calculation.
Further, the extremum of the mean square error of the lift coefficient is calculated by the following formula:
in the above, W y (C y ,v y0 ) Represents the mean square error of lift coefficient, q represents the dynamic pressure at time t, C y Representing a lift coefficient, delta representing wing load, g representing gravitational acceleration, t representing acquisition time, v, of a solar unmanned aerial vehicle in the process from a preset altitude landing to landing grounding y0 Represents the vertical initial velocity, v y The speed of the day at time t is shown.
Further, the extremum of the mean square error of the drag coefficient is calculated by the following formula:
in the above, W x (C x ,v 0 ) Represents the mean square error of the resistance coefficient, C x The drag coefficient at time t, V c Indicating airspeed at time t, f p The propeller windmill resistance coefficient at the time t is equal to the ratio of the propeller windmill resistance to the total machine mass, and is related to the indicated airspeed, phi represents the track dip,v d represents the ground speed at time t, v 0 Representing the initial ground speed.
By using the technical scheme of the invention, the invention provides a slip test method and a pneumatic parameter back calculation method for a solar unmanned aerial vehicle, wherein a motor is used for driving a propeller at a preset rotating speed to drive the solar unmanned aerial vehicle to run on a runway in an accelerating way until reaching a preset height, then the rotating speed of the motor is reduced to zero, and an on-board autonomous bias operation is carried out, so that the unmanned aerial vehicle drops to the landing ground from the preset height in a slip superposition lateral bias state, thereby testing the lateral bias landing performance of the unmanned aerial vehicle.
Drawings
The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention. It is evident that the drawings in the following description are only some embodiments of the present invention and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art.
FIG. 1 shows a block flow diagram of a method for a solar unmanned aerial vehicle slip test provided in accordance with a specific embodiment of the present invention;
fig. 2 shows a schematic diagram of a safety control flow of a solar unmanned aerial vehicle sliding test according to an embodiment of the invention;
FIG. 3 illustrates an overall flow diagram of a solar unmanned aerial vehicle slip test provided in accordance with an embodiment of the present invention;
fig. 4 shows a schematic diagram of a height judgment flow of a solar unmanned aerial vehicle sliding test according to an embodiment of the invention.
Detailed Description
It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but should be considered part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
As shown in fig. 1, according to an embodiment of the present invention, there is provided a method for testing a solar unmanned aerial vehicle, including:
s1, driving a propeller at a preset rotating speed by using a motor to drive a solar unmanned aerial vehicle to accelerate and run on a runway;
s2, when the solar unmanned aerial vehicle reaches a preset height, reducing the rotating speed of the motor from a preset rotating speed to zero and shifting the sliding center line of the solar unmanned aerial vehicle according to a preset lateral deviation;
s3, enabling the solar unmanned aerial vehicle to land from a preset height until landing is grounded so as to test the lateral landing performance of the solar unmanned aerial vehicle.
The specific value of the preset rotating speed is determined according to the configuration condition of the solar unmanned aerial vehicle, and as a specific embodiment of the invention, the solar unmanned aerial vehicle adopts a double GPS and double redundancy differential positioning system to provide high-precision position information including height, the landing gear layout adopts a bicycle type landing gear, and the power device adopts a motor and a propeller. The specific value of the preset height is also determined according to the configuration situation of the solar unmanned aerial vehicle, for example, in the embodiment of the invention, the preset height value is 1.5m.
By using the configuration mode, the method utilizes the motor to drive the propeller at a preset rotating speed to drive the solar unmanned aerial vehicle to run on the runway in an accelerating way until reaching a preset height, then reduces the rotating speed of the motor to zero and performs autonomous bias operation on the unmanned aerial vehicle, so that the unmanned aerial vehicle drops to the landing ground from the preset height in a state of sliding and overlapping bias, and the bias landing performance of the unmanned aerial vehicle is tested. Compared with the prior art, the technical scheme of the invention can solve the technical problem that the side deviation landing performance of the unmanned aerial vehicle is difficult to truly verify in the prior art.
In order to ensure the safety of the solar unmanned aerial vehicle to be tested, in the embodiment of the invention, the drifting test method further comprises the steps of judging whether the solar unmanned aerial vehicle reaches a preset safety control condition in the accelerated drifting process, if not, continuing to accelerate the drifting until reaching a preset height, and if so, reducing the rotating speed of the motor from a preset rotating speed to zero. Here, reducing the rotational speed of the motor from the preset rotational speed to zero is an autonomous emergency treatment process designed for the unmanned aerial vehicle to reach the preset safety control condition.
Specifically, in the embodiment of the present invention, the preset security conditions are:
1) The indicated airspeed of the solar unmanned aerial vehicle is greater than or equal to the running speed threshold; and/or
2) The distance between the position of the solar unmanned aerial vehicle and the starting point is greater than or equal to the running distance threshold value; and/or
3) The pitch angle of the solar unmanned aerial vehicle is smaller than the pitch angle threshold; and/or
4) The lateral deviation of the solar unmanned aerial vehicle is larger than a lateral deviation threshold value; and/or
5) The course angle deviation of the solar unmanned aerial vehicle is larger than a course angle deviation threshold value.
Before a drifting test is carried out, static verification of security measures is carried out on the basis of the real state of the solar unmanned aerial vehicle, specifically, a speed threshold value, a drifting distance threshold value, a pitch angle threshold value, a lateral deviation threshold value and a course angle deviation threshold value are bound to the solar unmanned aerial vehicle, faults such as position deviation and course deviation are simulated in a mode of differential reference station (dual redundancy differential positioning system) bias, dual GPS azimuth bias and the like are adopted, and therefore validity of an autonomous emergency treatment process of the unmanned aerial vehicle under the fault condition is verified. In addition, the preset height can be bound to the solar unmanned aerial vehicle, and whether the solar unmanned aerial vehicle can execute a set process when the simulated height reaches the preset height or not is verified together in the static verification process of the safety control measures, so that the safety of the test is improved.
In order to more clearly understand the method of the present invention, the following descriptions of the above-mentioned processes will be provided with reference to the embodiments of fig. 2, 3 and 4, and those skilled in the art will understand that this example is only for more clearly understanding the method of the present invention, and is not limited to any technology.
As shown in fig. 2 and fig. 3, the static verification method of the security measure is firstly performed according to the static verification method of the security measure, after verification, the ground station opens the energy storage battery on the unmanned aerial vehicle to supply power, the energy storage battery supplies power to the on-board equipment independently so as to enable the unmanned aerial vehicle to be electrified and started, and after the unmanned aerial vehicle is electrified and started, the unmanned aerial vehicle and the ground station interact to autonomously complete the processes of self-checking of the on-board equipment, parameter binding, inertial navigation, parameter binding, state judgment before take-off and the like. After judging that the state before taking off is normal, the unmanned aerial vehicle autonomously judges the lateral deviation of the actual position of the unmanned aerial vehicle and the central line of the runway, and the course angle deviation of the course of the unmanned aerial vehicle and the direction of the runway, and the unmanned aerial vehicle has taking off conditions after meeting the requirements. Then, the ground start enabling switch sends a motor rotating speed control command to start the motor through a wireless link command, and the motor is independently judged whether the motor is started normally or not through the rotating speed control command and the feedback rotating speed.
After the motor is normally started, starting the output of a solar battery, supplying power to the unmanned aerial vehicle by the solar battery, sending a take-off command to the unmanned aerial vehicle, controlling a motor controller to drive a motor and a propeller windmill to generate tension according to the bound motor rotating speed (motor preset rotating speed) after the take-off command is received by the unmanned aerial vehicle, thereby driving the unmanned aerial vehicle to accelerate the running, firstly, utilizing aileron differential to complete the wing-flat control, changing the three-wheel (main wheel, tail wheel and one-side wing auxiliary wheel are grounded) running of the unmanned aerial vehicle into the wing-flat state (main wheel and tail wheel are grounded), then utilizing an elevator to complete pitching control, and changing the two-wheel running of the unmanned aerial vehicle into single-wheel running (only main wheel is grounded).
In the process of accelerating running, a radio altimeter (double GPS) and a double-redundancy differential positioning system are utilized to measure the ground clearance of the unmanned aerial vehicle at any time, as shown in fig. 4, when the ground clearance measured by one or more sensors in the two paths of the altimeter and the differential system is continuously judged to be greater than or equal to the preset binding height, the following processes are executed autonomously and sequentially: (1) the motor automatically sends a 0-rotation speed command to the power device, and the power device gradually reduces the rotation speed to 0 according to the gradient limit of the rotation speed of the motor after receiving the command; (2) the deviation setting operation is automatically executed on the unmanned plane, the center line of the theoretical runway of the unmanned plane is deviated leftwards or rightwards according to the size and the direction of the preset lateral deviation, and the deviation DY=DY of the actual position of the unmanned plane and the center line of the theoretical runway after the deviation setting pr +DY 0 Wherein DY pr Representing preset lateral deviation, positive left deviation, negative right deviation and DY 0 Representing the deviation between the actual position of the unmanned aerial vehicle and the center line of the theoretical runway before deviation; (3) the unmanned aerial vehicle rectifies the deviation in the air along the center line of the offset runway, and simultaneously reduces the aerodynamic lift under the action of aerodynamic resistance and the resistance of the propeller windmill. Of course, if during the test, the drone has reached the safety control conditions, then flow (1) and/or (3) is performed.
With the reduction of aerodynamic lift, the unmanned aerial vehicle is grounded with the sideslip landing under the action of gravity, and the single-wheel grounding condition that the actual position of the unmanned aerial vehicle is not in the center of a runway during landing is truly simulated, and whether the landing gear and the machine body structure are normal or not is confirmed through observation and relevant tests in the follow-up, so that the sideslip landing performance can be evaluated. The unmanned aerial vehicle further decelerates under the effect of ground friction resistance after landing, and the unmanned aerial vehicle is gradually converted to main wheel and tail pulley two-wheel running by main wheel single-wheel running to utilize tail pulley and rudder to link and rectify, after the unmanned aerial vehicle speed reduces to the predetermined value, the unmanned aerial vehicle is on-board independently closes MPPT controller output, thereby disconnection solar cell power supply output, on-board rudder goes back to zero, on-board power is closed on ground, and the test of sliding is ended.
In addition, in the embodiment of the invention, the method further comprises the following steps: and collecting the speed, the ground speed, the dynamic pressure and the resistance of the propeller windmill in the process of landing from a preset height to grounding of the solar unmanned aerial vehicle in real time. In this way, the aerodynamic parameters of the solar unmanned aerial vehicle can be further back calculated according to the data.
Based on the above embodiment, according to another aspect of the present invention, a method for back calculation of pneumatic parameters of a solar unmanned aerial vehicle is provided, where the pneumatic parameters of the solar unmanned aerial vehicle are back calculated according to the total machine quality, wing load and the speed, ground speed, dynamic pressure and resistance of a propeller windmill collected by the sliding test method provided by the present invention.
The aerodynamic parameters comprise a lift coefficient and a resistance coefficient, and the aerodynamic parameters of the back calculation solar unmanned aerial vehicle comprise:
reversely calculating a lift coefficient according to dynamic pressure, wing load and the speed;
and (5) reversely calculating the resistance coefficient according to dynamic pressure, wing load, total machine mass, propeller windmill resistance, top speed and ground speed.
Further, as a specific embodiment of the present invention, the inverse calculation of the lift coefficient from the dynamic pressure, the wing load, and the airspeed includes: calculating an extremum of the mean square error of the lift coefficient according to the dynamic pressure, the wing load and the sky speed, and taking the lift coefficient corresponding to the extremum of the mean square error of the lift coefficient as the lift coefficient obtained by back calculation; the back calculation drag coefficient according to dynamic pressure, wing load, full machine mass, propeller windmill resistance, top speed and ground speed comprises the following steps: and calculating the extremum of the mean square deviation of the resistance coefficient according to the dynamic pressure, the wing load, the whole machine mass, the resistance of the propeller windmill, the top speed and the ground speed, and taking the resistance coefficient corresponding to the extremum of the mean square deviation of the resistance coefficient as the resistance coefficient obtained by back calculation.
In the embodiment of the invention, the extremum of the mean square error of the lift coefficient is calculated by the following formula:
in the above, W y (C y ,v y0 ) Represents the mean square error of lift coefficient, q represents the dynamic pressure at time t, C y Representing a lift coefficient, delta representing wing load, g representing gravitational acceleration, t representing acquisition time, v, of a solar unmanned aerial vehicle in the process from a preset altitude landing to landing grounding y0 Represents the vertical initial velocity, v y In this embodiment, the extremum refers to the minimum value, and the vertical initial speed, that is, the vertical initial speed of the back calculation, can be obtained while the minimum value of the mean square error of the lift coefficient is calculated.
Further, in the embodiment of the invention, the factors of the resistance of the propeller windmill after the motor and the propeller power device are stopped are considered, namely, the extremum of the mean square error of the resistance coefficient is calculated by the following formula:
in the above, W x (C x ,v 0 ) Represents the mean square error of the resistance coefficient, C x Representing the drag coefficient, V c Indicating airspeed at time t, f p The propeller windmill resistance coefficient at the time t is equal to the ratio of the propeller windmill resistance to the total machine mass, and is related to the indicated airspeed, phi represents the track dip,v d represents the ground speed at time t, v 0 In this embodiment, the extremum refers to the minimum value, and the minimum value of the mean square error of the resistance coefficient is calculated, and the initial ground speed, that is, the back calculated initial ground speed, can be obtained.
Further, by utilizing telemetry data such as pitch angle, rudder deflection angle and the like in the sliding test and combining theoretical pneumatic data interpolation, the theoretical lift coefficient and the theoretical resistance coefficient of the unmanned aerial vehicle can be calculated, and the actual lift coefficient and the actual resistance coefficient which are obtained by back calculation in the sliding test are compared with the theoretical lift coefficient and the theoretical resistance coefficient, so that the pneumatic characteristic deviation of the unmanned aerial vehicle can be relatively accurately calculated back, and the pneumatic characteristic deviation of the unmanned aerial vehicle can be used as the basis of pneumatic data correction, and the pneumatic data accuracy of the solar unmanned aerial vehicle is improved. Through the slide and drift test, the pneumatic characteristics of the near-field section of the unmanned aerial vehicle can be subjected to full-state verification, and the problem that the pneumatic characteristics of the full-automatic solar unmanned aerial vehicle are difficult to back calculate before first flying is solved.
In summary, the invention provides a method for testing the sliding and drifting of a solar unmanned aerial vehicle and a pneumatic parameter back calculation method, the method utilizes a motor to drive a propeller at a preset rotating speed to drive the solar unmanned aerial vehicle to slide on a runway until reaching a preset height, then reduces the rotating speed of the motor to zero and performs autonomous deviation-setting operation on the runway, so that the unmanned aerial vehicle drops to landing ground from the preset height in a sliding and drifting superposition lateral deviation state, and the lateral deviation landing performance of the unmanned aerial vehicle is tested. Compared with the prior art, the technical scheme of the invention can solve the technical problem that the side deviation landing performance of the unmanned aerial vehicle is difficult to truly verify in the prior art.
Spatially relative terms, such as "above … …," "above … …," "upper surface at … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
In addition, the terms "first", "second", etc. are used to define the components, and are only for convenience of distinguishing the corresponding components, and the terms have no special meaning unless otherwise stated, and therefore should not be construed as limiting the scope of the present invention.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A method for testing a solar unmanned aerial vehicle sliding, the method comprising:
driving a propeller by using a motor at a preset rotating speed to drive a solar unmanned aerial vehicle to accelerate running on a runway;
when the solar unmanned aerial vehicle reaches a preset height, reducing the rotating speed of the motor from the preset rotating speed to zero and shifting the sliding center line of the solar unmanned aerial vehicle theory according to preset lateral deviation;
and enabling the solar unmanned aerial vehicle to land from the preset height until landing is grounded so as to test the lateral landing performance of the solar unmanned aerial vehicle.
2. The method according to claim 1, wherein the method further comprises: and collecting the speed, the ground speed, the dynamic pressure and the resistance of the propeller windmill in the process of landing from the preset height to the grounding of the solar unmanned aerial vehicle in real time.
3. The method of claim 2, further comprising determining whether the solar unmanned aerial vehicle reaches a preset safety control condition during the acceleration run, and if not, continuing the acceleration run until the preset altitude is reached, and if so, reducing the rotational speed of the motor from the preset rotational speed to zero.
4. A method according to claim 3, wherein the preset safety control conditions are:
the indicated airspeed of the solar unmanned aerial vehicle is greater than or equal to the running speed threshold; and/or
The distance between the position of the solar unmanned aerial vehicle and the starting point is greater than or equal to the running distance threshold value; and/or
The pitch angle of the solar unmanned aerial vehicle is smaller than the pitch angle threshold; and/or
The lateral deviation of the solar unmanned aerial vehicle is larger than a lateral deviation threshold value; and/or
The course angle deviation of the solar unmanned aerial vehicle is larger than a course angle deviation threshold value.
5. A method for back calculation of pneumatic parameters of a solar unmanned aerial vehicle, wherein the pneumatic parameters of the solar unmanned aerial vehicle are back calculated according to the total machine mass, wing load and the speed, ground speed, dynamic pressure and propeller windmill resistance of the solar unmanned aerial vehicle, which are acquired by the sliding test method according to any one of claims 2 to 4.
6. The method of claim 5, wherein the aerodynamic parameters include a lift coefficient and a drag coefficient, and back-calculating the aerodynamic parameters of the solar unmanned aerial vehicle comprises:
back calculating the lift coefficient according to the dynamic pressure, the wing load and the airspeed;
and back calculating the resistance coefficient according to the dynamic pressure, the wing load, the full-engine mass, the resistance of the propeller windmill, the airspeed and the ground speed.
7. The method of claim 6, wherein back-calculating the lift coefficient from the dynamic pressure, the wing load, and the airspeed comprises: and calculating an extremum of the mean square deviation of the lift coefficient according to the dynamic pressure, the wing load and the sky speed, and taking the lift coefficient corresponding to the extremum of the mean square deviation of the lift coefficient as the lift coefficient obtained by back calculation.
8. The method of claim 7, wherein back-calculating the drag coefficient from the dynamic pressure, the wing load, the total machine mass, the propeller windmill drag, the airspeed, and the ground speed comprises: and calculating an extremum of a mean square error of the resistance coefficient according to the dynamic pressure, the wing load, the full-plane mass, the propeller windmill resistance, the sky speed and the ground speed, and taking the resistance coefficient corresponding to the extremum of the mean square error of the resistance coefficient as a resistance coefficient obtained by back calculation.
9. The method of claim 8, wherein the extremum of the mean square error of the lift coefficient is calculated by the formula:
in the above, W y (C y ,v y0 ) Represents the mean square error of lift coefficient, q represents the dynamic pressure at time t, C y Representing a lift coefficient, delta representing wing load, g representing gravitational acceleration, t representing the acquisition time, v, of the solar unmanned aerial vehicle during landing from the preset altitude to landing ground y0 Represents the vertical initial velocity, v y The speed of the day at time t is shown.
10. The method of claim 9, wherein the extremum of the mean square error of the drag coefficient is calculated by the formula:
in the above, W x (C x ,v 0 ) Represents the mean square error of the resistance coefficient, C x Representing the drag coefficient, V c Indicating airspeed at time t, f p The propeller windmill resistance coefficient at the time t is equal to the ratio of the propeller windmill resistance to the total machine mass, and is related to the indicated airspeed, phi represents the track dip,v d represents the ground speed at time t, v 0 Representing the initial ground speed.
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