CN116859959A - Unmanned aerial vehicle unpowered accurate landing autonomous navigation method with fixed wings - Google Patents
Unmanned aerial vehicle unpowered accurate landing autonomous navigation method with fixed wings Download PDFInfo
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Abstract
The invention relates to an unpowered accurate landing autonomous navigation method of a fixed-wing unmanned aerial vehicle, wherein after an engine is stopped in the air flight process of the fixed-wing unmanned aerial vehicle, the fixed-wing unmanned aerial vehicle glides and flies to the upper part of an extension line of a runway of a field; according to the spiral radius R, performing spiral descending flying, and determining the altitude H when descending to the glide ratio ‑j And when the unmanned aerial vehicle is in descending operation, the determination height of the radius change of the last circle of the spiral descending height of the unmanned aerial vehicle and the radius of the last circle are obtained according to the real height change of the complete circle, the distance L between the runway landing point and the heading entry point and the tail end sliding height on the heading entry point. And the unmanned aerial vehicle carries out the final circle of coil height reduction according to the final circle of radius, enters a course cut-in point and tracks the tail end downslide course. And finally, according to the rated sliding speed and the safe landing gesture, realizing accurate landing. The invention is a more accurate autonomous navigation landing method. Has wider industry application prospect.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle unpowered recovery, and relates to an unpowered accurate landing autonomous navigation method of a fixed-wing unmanned aerial vehicle.
Background
At present, an unpowered emergency landing autonomous navigation method is used for solving the problems that after a running, taking off and landing fixed-wing unmanned aerial vehicle engine stops, part of unmanned aerial vehicles adopt the concept of a ring-shaped landing domain, the landing range to be planned is wider, landing points are scattered, and accurate landing is not facilitated; the other part of unmanned aerial vehicle adopts a mode that the tracking route slides downwards in a large angle from the engine stopping point, the planned route is longer, external interference such as wind shear is easy to occur in the long-time large-angle tracking route process, and the flight safety risk is increased; or in the process of returning to the airport runway, the speed and height of the airport runway are reduced by adopting a manner of reducing the speed of an 8-shaped character plate and the like, so that excessive maneuver is made, and the safety of flying is not facilitated. Therefore, how to ensure that the running and taking-off and landing fixed-wing unmanned aerial vehicle can keep a lower speed after landing in an unpowered condition, meets the landing posture and the accurate landing point of the flight quality, and provides an unmanned precise landing autonomous navigation method of the running and taking-off and landing fixed-wing unmanned aerial vehicle.
Disclosure of Invention
Technical problem to be solved
In order to avoid the defects of the prior art, the invention provides the unmanned precise landing autonomous navigation method of the fixed-wing unmanned aerial vehicle, which can safely and precisely land on the runway of the field under the condition of abnormal parking of the engine of the fixed-wing unmanned aerial vehicle.
Technical proposal
The unmanned aerial vehicle unpowered accurate landing autonomous navigation method with the fixed wings is characterized by comprising the following steps of:
step 1: in the flying process of the fixed wing unmanned plane in the air, after an engine is stopped in the running and taking off process, a fixed sliding angle is kept from an engine stopping point according to a rated safety speed, and the fixed wing unmanned plane glides to the upper part of a runway extension line of the field;
step 2: and (3) performing spiral altitude-lowering flight according to a spiral radius R above the runway extension line, wherein the process is as follows:
during the spiral descending flight, the rated safe speed and the rated safe speed according to the step 1 are adoptedMaintaining a fixed sliding angle, and flying according to a spiral radius R, wherein the rolling angle of the unmanned aerial vehicle meets the maximum rolling angle constraint phi less than or equal to phi max ；
Step 3: when the altitude is reduced to the glide ratio determination altitude H -j At this time, the height change amount Δh of the complete one turn is recorded:
calculating the final circle of radius change determination height H of the spiral descending height of the unmanned aerial vehicle -max ：
H -max ＝H -xh +2*ΔH
Wherein: heading cut-in point tip-down altitude H -xh Equal to:
wherein: k is the glide ratio of the unmanned aerial vehicle before landing, and L is the horizontal distance from the runway landing point to the heading entry point;
step 4: when the altitude H of the heading access point swept by the unmanned aerial vehicle is lower than the radius change determination altitude H -max When the radius R' of the last circle is autonomously calculated on line in real time:
the unmanned aerial vehicle carries out the final circle of spiral height reduction according to the changed radius R';
step 5: the unmanned plane carries out the final circle of spiral height reduction according to the radius R' after the change, and the height is reduced to H -xh Autonomous navigation enters a course entry point, and a tail end gliding route is tracked;
and finally, according to the rated sliding speed and the safe landing gesture, realizing accurate landing.
The height change amount Δh=h of the complete one turn up -H down Wherein: h up 、H down In order to determine the altitude, the first unmanned aerial vehicle is rotated down to the altitude passing the course cut-in point S on the runway extension line and the second unmanned aerial vehicle is rotated down to the altitude passing the course cut-in point on the runway extension line.
The height H up 、H down The amount of change is obtained directly from the height sensor.
The glide ratio is proportional to the coil descending height of the unmanned plane according to the circumference of the unmanned planeAnd calculating the glide ratio K of the unmanned aerial vehicle before landing.
The roll angleWherein V is s Is the tangential component of the nominal safe speed.
Advantageous effects
According to the unmanned aerial vehicle unpowered accurate landing autonomous navigation method, after an engine is stopped in the air flight process of the unmanned aerial vehicle, the unmanned aerial vehicle glides and flies to the upper part of a runway extension line of the field; according to the spiral radius R, performing spiral descending flying, and determining the altitude H when descending to the glide ratio -j And when the unmanned aerial vehicle is in descending operation, the determination height of the radius change of the last circle of the spiral descending height of the unmanned aerial vehicle and the radius of the last circle are obtained according to the real height change of the complete circle, the distance L between the runway landing point and the heading entry point and the tail end sliding height on the heading entry point. And the unmanned aerial vehicle carries out the final circle of coil height reduction according to the final circle of radius, enters a course cut-in point and tracks the tail end downslide course. And finally, according to the rated sliding speed and the safe landing gesture, realizing accurate landing.
The method has the specific beneficial effects that:
1. for an unmanned aerial vehicle engine parking unpowered downslide emergency scene, the precise autonomous navigation control method for returning to the scene is provided, the concept of an annular landing area is omitted, and multipoint forced landing is not caused. The runway extension line returns from the stopping point to the runway extension line of the present field, and the runway is not tracked in the gliding process, so that the long runway is avoided from bringing a large angle and is easily affected by high altitude wind shear and the like. Meanwhile, when the course is cut into the tail end and the course is tracked, large maneuvering operations such as '8' character plate and the like are not needed, the condition of unsuitable speed and height of the cut-in point is eliminated, and the flight safety is enhanced.
2. When the unmanned aerial vehicle calculates the current flight glide ratio, factors such as the current flight wind speed and the environmental weather before landing are considered, the unmanned aerial vehicle is not influenced by air disturbance, the glide mode is ensured to be considerable and controllable, and accurate landing is realized.
3. In the process of sliding and spiraling, the radius transformation program calculates in real time on line, so that the influence of different pilots by artificial uncontrollable factors such as different physical qualities or operation skills is avoided, and autonomous navigation control is realized.
4. When the method enters the terminal guidance route tracking, the height and speed control precision is higher, and the precision of a final landing point and the safety of touchdown are ensured in advance.
5. The method provides a feasible autonomous navigation landing method for a single-shot fixed-wing unmanned aerial vehicle engine parking unpowered gliding emergency scene. Has wider industry application prospect.
Drawings
Fig. 1: accurate landing autonomous navigation side view schematic diagram
Fig. 2: precise landing autonomous navigation overlook schematic diagram
Fig. 3: flow chart of the method of the invention
Detailed Description
The invention will now be further described with reference to examples, figures:
the flow is shown in fig. 3, and the specific implementation includes the following steps:
step one: after an engine is stopped in the air flight process of the jogging take-off and landing fixed wing unmanned aerial vehicle, a horizontal tail elevator control surface is controlled according to a rated safety speed, a fixed sliding angle is kept from an engine stopping point, and the unmanned aerial vehicle glides and flies to the upper part of a runway extension line of the field;
the method comprises the following steps: the engine is stopped in the air flight process of a certain fixed wing unmanned aerial vehicle, the current stopping altitude is 3000m, a fixed sliding angle of-3 degrees is kept from an engine stopping point according to the rated safety speed of 130km/h, and the unmanned aerial vehicle glides to the upper part of the runway extension line of the field;
step two: as shown in fig. 1 and 2, above the running track extension line, at a given radius R,and performing spiral descending flight. In the process, the fixed sliding angle is still maintained according to the rated safety speed. Wherein, when the tracking radius R flies, the rolling angle of the unmanned plane meets the maximum rolling angle constraint phi less than or equal to phi max 。
The roll angle magnitude satisfies the following formula:
wherein V is s Is the tangential component of the nominal safe speed.
The method comprises the following steps: and (3) performing spiral altitude-lowering flight according to the spiral radius R=500m above the runway extension line, wherein the process is as follows:
in the process of flying at the spiral descending altitude, flying according to the spiral radius R=500 m according to the rated safe speed 130km/h and the fixed sliding angle-3 DEG, wherein the rolling angle of the unmanned aerial vehicle meets the maximum rolling angle constraint phi less than or equal to 30 degrees;
step three: in the process of descending the unmanned aerial vehicle according to the second coil step, when the flying height of the unmanned aerial vehicle is reduced to the glide ratio determination height H -j At the bottom, a full turn of real spiral is recorded down by a high amount ΔH.
ΔH＝H up -H down
Wherein H is up 、H down After the flying height of the unmanned aerial vehicle meets the glide ratio determination height, the unmanned aerial vehicle spirals down the height of the course cut-in point S on the extension line of the runway for the first time and the course cut-in point S on the extension line of the runway for the second time. The height variation is obtained directly from the height sensor, the wind field condition before landing of the landing gear is considered in the data acquisition.
If the flight height of the unmanned aerial vehicle does not meet the glide ratio decision height, the unmanned aerial vehicle spirals and descends according to the tracking radius R in the second step; and (3) performing the third step until the condition is met.
The method comprises the following steps: when the altitude is reduced to the glide ratio determination altitude H -j When=1000m, the height change amount Δh=210 m for a complete turn is recorded:
calculating the final circle of radius change determination height H of the spiral descending height of the unmanned aerial vehicle -max ：
H -max ＝H -xh +2*ΔH＝80+2×210＝500m
Wherein: heading cut-in point tip-down altitude H -xh Equal to:
wherein:for the unmanned plane glide ratio before landing, l=1200m is the horizontal distance from the runway landing point to the heading cut-in point;
step four: and calculating the glide ratio K of the unmanned aerial vehicle before the actual landing according to the proportional relation between the coil descending amount of one circle of unmanned aerial vehicle and the circumference of one circle of unmanned aerial vehicle. Determining the distance L from the runway landing point to the heading cut-in point and the tail end sliding height H on the heading cut-in point according to the glide ratio -xh Satisfy H -xh ＝K*L；
The method comprises the following steps: when the altitude H=420 m of the heading cut-in point of the unmanned aerial vehicle is lower than the altitude H of the radius change determination -max When=500 m, the radius R' of the last circle is autonomously calculated on line in real time:
the unmanned plane performs the final circle of spiral height reduction according to the changed radius R' =810 m;
step five: obtaining the real spiral descending height delta H and the tail end sliding height H according to the third step and the fourth step -xh Calculating the final circle of radius change determination height H of the rotation-down height of the unmanned aerial vehicle -max Satisfy H -max ＝H -xh +2*ΔH；
When the altitude H of the heading access point swept by the unmanned aerial vehicle is lower than the altitude H of the radius change determination of the fifth step -max When in on-line real-time autonomous calculation of the last circleRadius R', satisfy
And the unmanned aerial vehicle carries out the final circle of spiral height reduction according to the changed radius R'.
If the flying height of the unmanned aerial vehicle does not meet the radius change decision height, the unmanned aerial vehicle spirals and descends according to the radius R tracked in the second step; and step six is carried out until the conditions are met.
And (3) accurately calculating the last track of the spiral descending of the unmanned aerial vehicle in real time on line according to the step (six), accurately descending the unmanned aerial vehicle to the tail end descending height, and automatically entering a course entry point to track the tail end descending route. And finally, according to the rated sliding speed and the safe landing gesture, realizing accurate landing.
The method comprises the following steps: the unmanned plane carries out the last circle of spiral descending according to the radius R' =810 m after the change, and the descending is carried out to H -xh Autonomous navigation into heading entry point of 80m, tracking tail end glide route;
and finally, according to the rated sliding speed and the safe landing gesture, realizing accurate landing.
The invention provides a precise autonomous navigation method for returning to the field for the unmanned aerial vehicle engine parking unpowered return field emergency scene, so that the concept of annular landing area is avoided, and multipoint forced landing is not caused. The runway extension line returns from the stopping point to the runway extension line of the present field, and the runway is not tracked in the gliding process, so that the long runway is avoided from bringing a large angle and is easily affected by high altitude wind shear and the like. Meanwhile, when the course is cut into the tail end and the course is tracked, large maneuvering operations such as '8' character plate and the like are not needed, the condition of unsuitable speed and height of the cut-in point is eliminated, and the flight safety is enhanced. When the unmanned aerial vehicle calculates the current flight glide ratio, factors such as the current flight wind speed and the environmental weather before landing are considered, the unmanned aerial vehicle is not influenced by air disturbance, the glide mode is ensured to be considerable and controllable, and accurate landing is realized. In the process of sliding and spiraling, the radius change program is calculated on line in real time, so that the influence of different pilots by artificial uncontrollable factors such as different physical qualities or operation skills is avoided, and autonomous navigation control is realized. When the method enters the terminal guidance route tracking, the height and speed control precision is higher, and the precision of a final landing point and the safety of touchdown are ensured in advance.
The invention provides a more accurate autonomous navigation landing method for an air abnormal parking unpowered glide landing scene of a running, taking-off and landing fixed-wing unmanned aerial vehicle engine. Has wider industry application prospect.
Claims (5)
1. The unmanned aerial vehicle unpowered accurate landing autonomous navigation method with the fixed wings is characterized by comprising the following steps of:
step 1: in the flying process of the fixed wing unmanned plane in the air, after an engine is stopped in the running and taking off process, a fixed sliding angle is kept from an engine stopping point according to a rated safety speed, and the fixed wing unmanned plane glides to the upper part of a runway extension line of the field;
step 2: and (3) performing spiral altitude-lowering flight according to a spiral radius R above the runway extension line, wherein the process is as follows:
in the process of flying at the spiral descending altitude, flying according to the spiral radius R according to the rated safety speed and the fixed sliding angle in the step 1, wherein the rolling angle of the unmanned aerial vehicle meets the maximum rolling angle constraint phi less than or equal to phi max ；
Step 3: when the altitude is reduced to the glide ratio determination altitude H -j At this time, the height change amount Δh of the complete one turn is recorded:
calculating the final circle of radius change determination height H of the spiral descending height of the unmanned aerial vehicle -max ：
H -max ＝H -xh +2*ΔH
Wherein: heading cut-in point tip-down altitude H -xh Equal to:
wherein: k is the glide ratio of the unmanned aerial vehicle before landing, and L is the horizontal distance from the runway landing point to the heading entry point;
step 4: when the altitude H of the point of the unmanned aerial vehicle passing through the course is lower than the radius change determinationHeight H -max When the radius R' of the last circle is autonomously calculated on line in real time:
the unmanned aerial vehicle carries out the final circle of spiral height reduction according to the changed radius R';
step 5: the unmanned plane carries out the final circle of spiral height reduction according to the radius R' after the change, and the height is reduced to H -xh Autonomous navigation enters a course entry point, and a tail end gliding route is tracked;
and finally, according to the rated sliding speed and the safe landing gesture, realizing accurate landing.
2. The fixed-wing unmanned aerial vehicle unmanned precise landing autonomous navigation method according to claim 1, wherein the method comprises the following steps: the height change amount Δh=h of the complete one turn up -H down Wherein: h up 、H down In order to determine the altitude, the first unmanned aerial vehicle is rotated down to the altitude passing the course cut-in point S on the runway extension line and the second unmanned aerial vehicle is rotated down to the altitude passing the course cut-in point on the runway extension line.
3. The fixed-wing unmanned aerial vehicle unmanned precise landing autonomous navigation method according to claim 2, wherein the method comprises the following steps: the height H up 、H down The amount of change is obtained directly from the height sensor.
4. The fixed-wing unmanned aerial vehicle unmanned precise landing autonomous navigation method according to claim 1, wherein the method comprises the following steps: the glide ratio is proportional to the coil descending height of the unmanned plane according to the circumference of the unmanned planeAnd calculating the glide ratio K of the unmanned aerial vehicle before landing.
5. The fixed wing none of claim 1The unmanned aerial vehicle powerless accurate landing autonomous navigation method is characterized in that: the roll angleWherein V is s Is the tangential component of the nominal safe speed.
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