CN117784817B - Integrated planning control system and method for amphibious unmanned platform - Google Patents
Integrated planning control system and method for amphibious unmanned platform Download PDFInfo
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Abstract
The invention relates to an integrated planning control system and method for an amphibious unmanned platform, belongs to the field of Liu Kongmo-person amphibious platform control, and solves the problems that in the prior art, a control system realizes the discontinuity of mode conversion, a plurality of modes are needed to be processed respectively, so that motion planning is discontinuous, and the time consumption of the middle conversion process is long. The control system comprises a flight control system, a ground running control system and a planning control system, realizes planning and control methods under a unified frame, realizes Liu Kongmo human platform continuous track planning and motion control under a complex environment, and improves control continuity during land-air mode conversion. The continuous land-air multi-mode track planning realizes continuous planning of the land-air movement track, avoids discontinuity caused by sectional planning, and realizes accurate tracking of the continuous track and smooth conversion of modes.
Description
Technical Field
The invention belongs to the field of Liu Kongmo-person amphibious platform control, and particularly relates to an integrated planning control system and method for a land-air amphibious unmanned platform.
Background
In recent years, unmanned aerial vehicles, unmanned vehicles and other fields develop rapidly, wherein unmanned aerial vehicles are applied to scenes such as aerial photography, agricultural monitoring, electric power inspection, material transportation, ruin exploration and the like. Unmanned vehicles are commonly used in scenes such as autopilot, geological survey, agricultural irrigation, etc.
Unmanned aerial vehicle is flexible, and the trafficability is good, but the load-carrying capacity is weak, and the continuation of journey is relatively poor, and unmanned aerial vehicle has the characteristic complementary with it, therefore, unmanned aerial vehicle or unmanned aerial vehicle who works in single field is relatively poor to highly unstructured environment's adaptability. In the prior art, the land-air amphibious platform combines the characteristics of the two modes of ground running and air flying, and can be used for a unmanned system type of land-air amphibious platform capable of freely switching the two different modes of land-air movement. Compared with the traditional unmanned plane or unmanned vehicle, the land-air amphibious platform has good environmental adaptability and task robustness, expands the working range compared with a single medium platform, has longer working time, and has wide development and application prospects. At present, a great deal of land-air collaborative planning control is studied, such as patents: CN115639830B and CN112558608B.
However, the existing land-air unmanned platform has many defects in the aspects of multi-mode autonomous planning and autonomous control system, and is mainly characterized in that the control system realizes the discontinuity of mode conversion and the motion planning discontinuity caused by the discontinuity, and the control system needs to be divided into two modes to be respectively processed, and the middle conversion process takes longer time.
Disclosure of Invention
In view of the above problems, the invention provides an integrated planning control system and control method for an amphibious unmanned platform, which solve the problems that in the prior art, the control system realizes the discontinuity of mode conversion, a plurality of modes are needed to be processed respectively, so that the motion planning is discontinuous, and the time consumption of the middle conversion process is long.
The invention provides an integrated planning control system for a land-air amphibious unmanned platform, which comprises a flight control system, a ground running control system and a planning control system; the planning control system comprises an onboard computer and a depth camera; the flight control system comprises a GPS positioning chip, a flight controller and a flight motor; the ground running control system comprises a ground running controller, a steering engine and a ground running motor;
The depth camera is used for acquiring environmental depth data in the view field of the land-air amphibious unmanned platform in real time to generate a three-dimensional grid map and acquiring a regional map; the airborne computer 1 is used for running an air-ground integrated planning algorithm, planning a safety running track of the air-ground amphibious unmanned aerial vehicle platform for avoiding obstacles in real time based on a three-dimensional grid map generated in real time, judging a movement mode of the air-ground amphibious unmanned aerial vehicle platform according to the planned safety running track, and generating a track control instruction according to the corresponding running mode and the current state of the air-ground unmanned aerial vehicle platform to track the safety running track;
The flight controller is used for acquiring flight state data in real time and tracking a safe running track by a flight track control instruction transmitted by the planning control system, comparing the acquired flight state data with the safe running track in real time to obtain a motion control instruction, and driving the land-air amphibious unmanned platform to fly;
The ground running control system is used for acquiring the ground track control instruction of the land-air unmanned platform transmitted by the planning control system in real time, tracking the safe running track, comparing the real-time acquired flight state data with the safe running track to obtain the motion control instruction, and driving the land-air amphibious unmanned platform to run on the ground.
Optionally, the flight trajectory control means includes real-time position control instructions and attitude control instructions.
Optionally, the ground track control means includes a linear velocity control command and an angular velocity control command.
Optionally, the real-time acquisition of the flight status data includes a current real position of the unmanned aerial vehicle.
On the other hand, the invention discloses an integrated planning control method for a land-air amphibious unmanned platform, which comprises the following specific steps:
step 1, acquiring environment depth data and an area map in a view field of an amphibious unmanned aerial vehicle platform by a depth camera of the amphibious unmanned aerial vehicle platform; obtaining coordinate information of surrounding obstacles based on the environmental depth data;
step 2, converting the coordinate information of surrounding obstacles into obstacle position information under a world coordinate system, and obtaining a global map;
Step 3, obtaining point and position information of an obstacle in the global map; constructing an octree map based on the points and position information of the obstacles in the global map; refining an area map in the view field range of the land-air amphibious unmanned platform into a grid map based on the octree map;
step 4, planning a safety path avoiding static obstacles in real time according to the refined grid map and global path planning based on an A-algorithm;
step 5, performing track fitting by adopting a polynomial based on a safety path to generate a three-dimensional track equation based on a quintic polynomial; obtaining a polynomial of a safe running track of the amphibious unmanned aerial vehicle platform based on a three-dimensional track equation;
Step 6, obtaining a safe running track of the land-air amphibious unmanned platform based on a polynomial of the safe running track; judging and tracking the safe running track to obtain the acceleration required by the amphibious unmanned land-air platform;
And 7, obtaining a motion control instruction based on the acceleration required by the land-air amphibious unmanned platform.
Alternatively, the expression of the three-dimensional trajectory equation is:
wherein, The track of the land-air amphibious unmanned platform at the moment t is represented (three-dimensional track in the directions of x, y and z); an mth path indicating time t; /(I) The polynomial coefficient of the i-th term of the mth path, i representing the degree of time t,；/>I times item representing time t; /(I)Representing the time at the end of the mth path,/>Indicating the time at which the mth path starts.
Optionally, when the safety running track is judged in the step 6, judging the Z-axis height of the safety running track under a world coordinate system, if the Z-axis height of the safety running track is higher than the ground height of the land-air amphibious unmanned platform, planning a position control instruction and a flight attitude control instruction of the land-air amphibious unmanned platform, and sending the position control instruction and the flight attitude control instruction to a flight control system; if the Z-axis height of the safe running track is smaller than or equal to the ground height of the land-air amphibious unmanned platform, planning a linear speed control instruction and an angular speed control instruction of the land-air amphibious unmanned platform, and sending the linear speed control instruction and the angular speed control instruction to a ground running control system.
Optionally, when the safe running track is tracked in the step 6, the specific steps are as follows:
acquiring the current state and the safe running track of the land-air amphibious unmanned platform;
acquiring a safe running track of the land-air amphibious unmanned platform and an error of a state at a previous moment;
And acquiring the acceleration required by the land-air amphibious unmanned platform based on the error and the safe running track.
Optionally, the safety running track obtained in the step 6 includes a desired position, a desired speed and a desired acceleration in the safety running track of the land-air amphibious unmanned platform.
Optionally, the errors include errors in the desired position and the current true position of the unmanned aerial vehicle platform and errors in the desired speed and the current actual speed.
Compared with the prior art, the invention has at least the following beneficial effects: the planning control system and the control method realize planning and control methods under a unified frame, realize Liu Kongmo human platform continuous track planning and motion control under a complex environment, and improve control continuity during land-air mode conversion. The continuous land-air multi-mode track planning realizes continuous planning of the land-air movement track, avoids discontinuity caused by sectional planning, and the land-air multi-mode control system realizes accurate tracking of the continuous track and smooth conversion of modes by using variable gain control.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention.
FIG. 1 is a front view of an amphibious unmanned aerial vehicle platform of the present invention;
FIG. 2 is a schematic diagram of an integrated planning control system for an amphibious unmanned aerial vehicle platform according to the present invention;
Fig. 3 is a flowchart of the integrated planning control method of the amphibious unmanned aerial vehicle platform.
Reference numerals illustrate:
1. An onboard computer; 2. a flight controller; a GPS positioning chip; 4. a ground travel controller; 5. a depth camera; 6. a flying motor; 7. ground running motor.
Detailed Description
In order that the above-recited objects, features and advantages of the present invention will be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description. It should be noted that, without conflict, the embodiments of the present invention and features in the embodiments may be combined with each other. In addition, the invention may be practiced otherwise than as specifically described and thus the scope of the invention is not limited by the specific embodiments disclosed herein.
1-3, An integrated planning control system for an amphibious unmanned aerial vehicle is provided, and the planning control system is used for controlling the operation of the amphibious unmanned aerial vehicle, and comprises a flight control system, a ground driving control system and a planning control system; the planning control system comprises an onboard computer 1 and a depth camera 5; the flight control system comprises a GPS positioning chip 3, a flight controller 2 and a flight motor 6; the ground running control system comprises a ground running controller 4, a steering engine and a ground running motor 7.
The depth camera 5 is used for acquiring environmental depth data in the view field of the land-air amphibious unmanned platform in real time to generate a three-dimensional grid map and acquiring a region map; the airborne computer 1 is used for running an air-ground integrated planning algorithm, planning a safe running track of the air-ground amphibious unmanned platform for avoiding obstacles in real time based on a three-dimensional grid map generated in real time, judging a motion mode (an air mode or a ground mode) of the air-ground amphibious unmanned platform according to the planned safe running track, and generating a track control instruction according to the corresponding running mode and the current state of the air-ground unmanned platform to track the safe running track;
Further, when the height of the safe running track is higher than the height of the ground where the land-air amphibious unmanned platform is located, judging that the motion mode of the land-air amphibious unmanned platform is in an air mode, acquiring a flight track control finger (comprising a real-time position control instruction and a gesture control instruction) required by track tracking in real time according to the state of the current moment of the land-air amphibious unmanned platform, and sending the flight track control finger to the flight controller 2 to drive the flight motor 6 to fly, and carrying out track tracking on the safe running track; when the height is smaller than or equal to the ground height of the land-air amphibious unmanned platform, the motion mode of the land-air amphibious unmanned platform is judged to be in a ground mode, and a ground track control finger (comprising linear speed and angular speed) required by the track is obtained in real time according to the current state of the land-air amphibious unmanned platform and is sent to a ground running control system to drive the land-air amphibious unmanned platform to move on the ground, so that the track of the motion track is tracked.
The flight controller 2 is configured to collect flight status data (including a current real position of the unmanned aerial vehicle platform acquired by the GPS positioning chip 3) and a flight track control instruction (including a real-time position control instruction and a gesture control instruction) transmitted by the planning control system in real time, track-track the safe running track, compare the current real position of the unmanned aerial vehicle platform acquired by the GPS positioning chip 3 with an expected value of the safe running track, obtain the motion control instruction, drive the unmanned aerial vehicle platform to fly, and simultaneously transmit the flight status data of the unmanned aerial vehicle platform and working status parameters of the flight motor 6, the onboard power system, and the task equipment of the unmanned aerial vehicle platform to the planning control system of the unmanned aerial vehicle platform in real time, and monitor the working status of the unmanned aerial vehicle platform in real time.
Preferably, the flight status data includes data collected by inertial sensors, GPS positioning chips in the flight controller.
The ground running control system is used for acquiring ground track control instructions (including linear speed and angular speed instructions) of the land-air platform transmitted by the planning control system in real time, tracking the safe running track, comparing the current real position of the land-air amphibious unmanned platform acquired by the GPS positioning chip 3 with expected values of the safe running track to acquire a motion control instruction, and converting the motion control instruction into control signals for controlling the ground motor 7 and the steering engine.
Preferably, the bottom of the land-air amphibious unmanned platform is provided with a chassis driving plate, and the chassis driving plate is a 4-wheel independent driving chassis driving plate.
It can be understood that the flight control system and the ground running control system control the power output of the unmanned aerial vehicle platform, for example, how to distribute power to a plurality of rotors of the unmanned aerial vehicle platform, how to keep stable when the unmanned aerial vehicle platform is interfered, and how to control instructions given by the tracking planning system.
It will be appreciated that the unmanned aerial vehicle comprises a flight mode and a ground mode.
Further, the planning control system also comprises a land-air track tracking control system; the flight control system and the ground control system are the underlying control systems.
Preferably, the flight control system employs Lei Xun CUAV V flight controllers, running a PX4 flight control processing system. The PX4 flight control processing system is used to provide standards for flight mode hardware support and software stacks, allowing for scalability of hardware and software. After PX4 firmware is loaded into Lei Xun CUAV V flight controllers, software configuration of the flight controllers may be completed.
The flight control protocol and logic of the PX4 flight control processing system uses Mavlink flight control protocols. The protocol comprises an uplink channel and a downlink channel, wherein the uplink channel is used for transmitting control instructions, real-time control of a flight mode is completed, and the downlink channel is used for returning information of a land-air system, namely, the land-air amphibious unmanned platform is used for feeding back instructions of a planning control system.
The ground control system adopts an STM32f405 controller, and based on a motion model of a ground mode of the land-air amphibious unmanned aerial vehicle platform, a rotation command of a control motor is output, and the land-air amphibious unmanned aerial vehicle platform is further driven to move in the ground mode.
The invention further provides an integrated planning control method for the unmanned aerial vehicle platform, which is used for controlling the unmanned aerial vehicle platform by using the integrated planning control system for the unmanned aerial vehicle platform, and the integrated planning control system for the unmanned aerial vehicle platform comprises an integrated safe operation path planning and track tracking control for the unmanned aerial vehicle platform. The safety operation planning part is responsible for planning a route which is feasible for the land-air amphibious platform under the condition of having an obstacle; the track tracking control part is responsible for tracking the safe running track of the amphibious platform. The specific work flow of the unmanned aerial vehicle integrated planning control system is shown in fig. 3, and the work flow of the unmanned aerial vehicle integrated planning control system is described in detail below, and the specific steps are as follows:
step 1, acquiring environment depth data and an area map in a view field of a land-air amphibious unmanned platform by a depth camera 5 of the land-air amphibious unmanned platform; coordinate information of surrounding obstacles is obtained based on the environmental depth data.
It is understood that the coordinate information of the surrounding obstacle is obtained as the coordinate information in the camera coordinate system.
And 2, converting the coordinate information of surrounding obstacles into the obstacle position information under the world coordinate system, and obtaining a global map.
Further, the expression of the conversion relationship between the obstacle coordinate information and the world coordinate system under the camera coordinate system is as follows:
wherein, Representing the X-axis coordinates of the obstacle in the world coordinate system; /(I)Representing Y-axis coordinates of the obstacle in the world coordinate system; /(I)Z-axis coordinates representing the obstacle in the world coordinate system; /(I)Representing the X-axis coordinate of an obstacle in a camera coordinate system,/>Representing the Y-axis coordinate of an obstacle in a camera coordinate system,/>Representing Z-axis coordinates of the obstacle in the camera coordinate system; t represents a translation matrix; r represents a rotation matrix; /(I)Representing a zero matrix.
And/>Coordinate axes are mutually perpendicular,/>The coordinate axis is perpendicular to the principal axisAnd/>And a plane formed by the coordinate axes.
Step 3, obtaining point and position information of an obstacle in the global map; constructing an octree map based on the points and position information of the obstacles in the global map; and (3) refining the regional map in the view range of the land-air amphibious unmanned platform into a grid map (namely a point cloud map) based on the octree map.
And 4, planning a safety path avoiding static obstacles in real time according to the refined grid map and the global path planning based on the A-algorithm.
Step 5, performing track fitting by adopting a polynomial based on a safety path to generate a three-dimensional track equation based on a quintic polynomial; obtaining a polynomial of a safe running track of the amphibious unmanned aerial vehicle platform based on a three-dimensional track equation;
The expression of the three-dimensional trajectory equation is:
wherein, The track of the land-air amphibious unmanned platform at the moment t is represented (three-dimensional track in the directions of x, y and z); an mth path indicating time t; /(I) The polynomial coefficient of the i-th term of the mth path, i representing the degree of time t,；/>I times item representing time t; /(I)Representing the time at the end of the mth path,/>Indicating the time at which the mth path starts.
Each path meets the constraint of the head end point and the tail end point and the continuity constraint of the path intermediate point. Based on the expression of the three-dimensional trajectory equation, constructing an objective function of each path segment:
wherein/> An objective function representing a jth path; /(I)The end time of the j-th path is tabulated; /(I)Representing a start time of the jth path; i represents the number of times of time t; l represents the number of times of the first item time t; /(I)Representing the 4 th derivative of the polynomial expression of the j-th path; /(I)An ith term coefficient representing a polynomial; /(I)Representing polynomial first term coefficients; /(I)Polynomial coefficient vector representing the jth path,/>-/>Representing the 0 th power coefficient to the 5 th power coefficient of the jth path; /(I)And represents a constant matrix corresponding to the jth path.
Constructing a path objective function matrix based on objective functions of each path segment, wherein the expression is as follows:
wherein, A polynomial coefficient vector representing the m-th segment; /(I)Representing a constant matrix corresponding to the mth path.
Further, assume that the time interval of the path of the j-th segment is T 0, and the derivative of the head and tail end points of the path of the j-th segmentThe method comprises the following steps:
wherein, And respectively representing the original value, the first derivative and the second derivative at the time node corresponding to the jth path.
Head-to-tail end derivative based on jth pathConstructing a mapping matrix/>, of the jth pathThe expression is:
Mapping matrix with jth path in objective function matrix J The expression is:
wherein, Representing the derivative of the head and tail end points of the mth segment path; /(I)A mapping matrix representing an mth segment path; /(I)Representing a constraint matrix; /(I)Representing a path mapping matrix; /(I)The combination matrix is represented and consists of constant matrices corresponding to m sections of paths.
Further, for the constraint matrix D, based on the position, the speed and the acceleration of the head end point and the tail end point of each path, the constraint matrix D is obtained, and the expression is as follows:
wherein, Respectively representing an original value, a first derivative and a second derivative at a time node corresponding to each path;
Dividing constraint matrix D into fixed variables And optimization variables/>Based on fixed variables/>And optimization variables/>Construction of selection matrix/>The expression is:
Based on selection matrix Obtaining an updated objective function matrix J *, wherein the expression is as follows:
Deriving an updated objective function matrix J * to obtain a closed solution of the updated objective function matrix J *; obtaining polynomial coefficients of each path based on a closed solution of the updated objective function matrix J *; and obtaining a polynomial of the safe running track of the land-air amphibious unmanned platform based on polynomial coefficients of all the section paths.
Step 6, obtaining a safe running track of the land-air amphibious unmanned platform based on a polynomial of the safe running track; judging and tracking the safe running track by using a track tracking discriminator under a planning control system, and obtaining the acceleration required by the land-air amphibious unmanned platform;
specifically, a first derivative of a polynomial of a safe running track is calculated to obtain the speed of the land-air amphibious unmanned platform; and obtaining the second derivative of the polynomial to obtain the acceleration of the land-air amphibious unmanned platform.
When judging, judging the Z-axis height of the obtained safe running track under a world coordinate system, and if the Z-axis height of the safe running track is higher than the ground height of the land-air amphibious unmanned platform, planning the position control instruction and the flight attitude control instruction of the land-air amphibious unmanned platform by a planning control system, and sending the position control instruction and the flight attitude control instruction to a flight control system; if the Z-axis height of the safe running track is smaller than or equal to the ground height of the land-air amphibious unmanned platform, the planning control system plans the linear speed control instruction and the angular speed control instruction of the land-air amphibious unmanned platform and sends the linear speed control instruction and the angular speed control instruction to the ground running control system, so that unified track tracking and scheduling completed by the planning control system is realized.
Further, based on the polynomial of the safety running track obtained in the step 5, the expected position in the safety running track of the land-air amphibious unmanned platform is obtainedDesired speed/>And desired acceleration/>：
Wherein,The position of a moment t in a safe running track of the land-air amphibious unmanned platform is represented; /(I)The speed at the moment t in the safe running track of the land-air amphibious unmanned platform is represented; /(I)Acceleration at time t in a safe running track of the land-air amphibious unmanned platform; /(I)-/>Polynomial coefficients respectively representing different powers; /(I)A first-order guide for the position of a moment t in a safe running track of the amphibious unmanned aerial vehicle platform is shown; /(I)A second derivative of the position of the moment t in the safe running track of the amphibious unmanned plane is shown; /(I)And represents three directions of x, y and z.
From the following componentsThe position of a moment t in a safe running track of the land-air amphibious unmanned platform is represented; /(I)Representing the speed and/>, at time t, in the safe running track of the unmanned aerial vehicle platformAcceleration at time t in safe running track of air-ground amphibious unmanned platform obtains expected position/>, of safe running trackDesired speed/>And desired acceleration/>。
And (3) during track tracking, carrying out track tracking on the safe running track of the land-air amphibious unmanned platform obtained in the step (5) by adopting a feedforward PID method.
Specifically, the input of the track tracking control part is the current real position of the land-air amphibious unmanned aerial vehicle platform and the safety running track planned by the path planning part, so that the error of the expected position and the current real position in the safety running track of the land-air amphibious unmanned aerial vehicle platform is obtainedAnd error/>, of desired speed and current actual speed in safe running trajectoryFurther obtain the required acceleration/>, of the amphibious unmanned aerial vehicle platform：
Wherein,Expected acceleration of the unmanned aerial vehicle platform at the current moment measured by a sensor of the unmanned aerial vehicle platform,/>Representing the scaling factor.
And 7, obtaining a motion control instruction based on the acceleration required by the land-air amphibious unmanned platform.
Further, motion control instructions are calculated and output to a flight controller or a ground running controller according to the obtained acceleration, and the platform motion is controlled.
The present invention is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention.
Claims (8)
1. The integrated planning control method for the amphibious unmanned platform is characterized by comprising the following specific steps:
step 1, acquiring environment depth data and an area map in a view field of an amphibious unmanned aerial vehicle platform by a depth camera of the amphibious unmanned aerial vehicle platform; obtaining coordinate information of surrounding obstacles based on the environmental depth data;
step 2, converting the coordinate information of surrounding obstacles into obstacle position information under a world coordinate system, and obtaining a global map;
Step 3, obtaining point and position information of an obstacle in the global map; constructing an octree map based on the points and position information of the obstacles in the global map; refining an area map in the view field range of the land-air amphibious unmanned platform into a grid map based on the octree map;
step 4, planning a safety path avoiding static obstacles in real time according to the refined grid map and global path planning based on an A-algorithm;
step 5, performing track fitting by adopting a polynomial based on a safety path to generate a three-dimensional track equation based on a quintic polynomial; obtaining a polynomial of a safe running track of the amphibious unmanned aerial vehicle platform based on a three-dimensional track equation;
The expression of the three-dimensional trajectory equation is:
wherein, Representing the track of the land-air amphibious unmanned platform at the moment t; /(I)An mth path indicating time t; /(I)Polynomial coefficient of the ith term of the mth path, i representing the degree of time t,/>；/>I times item representing time t; /(I)Representing the time at the end of the mth path,/>Representing the time when the mth path starts;
Step 6, obtaining a safe running track of the land-air amphibious unmanned platform based on a polynomial of the safe running track; judging and tracking the safe running track to obtain the acceleration required by the amphibious unmanned land-air platform;
When judging the safe running track, judging the Z-axis height of the safe running track under a world coordinate system, if the Z-axis height of the safe running track is higher than the ground height of the land-air amphibious unmanned platform, planning a position control instruction and a flight attitude control instruction of the land-air amphibious unmanned platform, and sending the position control instruction and the flight attitude control instruction to a flight control system; if the Z-axis height of the safe running track is smaller than or equal to the ground height of the land-air amphibious unmanned platform, planning a linear speed control instruction and an angular speed control instruction of the land-air amphibious unmanned platform, and sending the linear speed control instruction and the angular speed control instruction to a ground running control system;
And 7, obtaining a motion control instruction based on the acceleration required by the land-air amphibious unmanned platform.
2. The integrated planning control method for the land-air amphibious unmanned platform according to claim 1, wherein when the safe running track is tracked in the step 6, the specific steps are as follows:
acquiring the current state and the safe running track of the land-air amphibious unmanned platform;
acquiring a safe running track of the land-air amphibious unmanned platform and an error of a state at a previous moment;
And acquiring the acceleration required by the land-air amphibious unmanned platform based on the error and the safe running track.
3. The integrated planning control method for an amphibious unmanned aerial vehicle according to claim 2, wherein the safety running track obtained in step 6 includes a desired position, a desired speed and a desired acceleration in the safety running track of the amphibious unmanned aerial vehicle.
4. A land-air amphibious unmanned platform integrated planning control method according to claim 3, wherein the errors include errors of a desired position and a current real position of the land-air amphibious unmanned platform and errors of a desired speed and a current actual speed.
5. An integrated planning control system for an amphibious unmanned platform, which is controlled by the integrated planning control method for the unmanned platform according to any one of claims 1-4, and is characterized by comprising a flight control system, a ground running control system and a planning control system; the planning control system comprises an onboard computer and a depth camera; the flight control system comprises a GPS positioning chip, a flight controller and a flight motor; the ground running control system comprises a ground running controller, a steering engine and a ground running motor;
The depth camera is used for acquiring environmental depth data in the view field of the land-air amphibious unmanned platform in real time to generate a three-dimensional grid map and acquiring a regional map; the on-board computer is used for running an on-board air-air integrated planning algorithm, planning a safe running track of the on-board air-air amphibious unmanned platform for avoiding obstacles in real time based on a three-dimensional grid map generated in real time, judging a motion mode of the on-board air amphibious unmanned platform according to the planned safe running track, and generating a track control instruction to track the safe running track according to the corresponding running mode and the current state of the on-board air unmanned platform;
The flight controller is used for acquiring flight state data in real time and tracking a safe running track by a flight track control instruction transmitted by the planning control system, comparing the acquired flight state data with the safe running track in real time to obtain a motion control instruction, and driving the land-air amphibious unmanned platform to fly;
The ground running control system is used for acquiring the ground track control instruction of the land-air unmanned platform transmitted by the planning control system in real time, tracking the safe running track, comparing the real-time acquired flight state data with the safe running track to obtain the motion control instruction, and driving the land-air amphibious unmanned platform to run on the ground.
6. The unmanned aerial vehicle integrated-planning control system of claim 5, wherein the flight trajectory control fingers comprise real-time position control instructions and attitude control instructions.
7. The integrated planning control system of a land-air amphibious unmanned platform of claim 5, wherein the ground track control fingers comprise linear velocity control commands and angular velocity control commands.
8. The unmanned aerial vehicle integrated planning control system of claim 5, wherein the real-time acquisition of flight status data comprises a current true position of the unmanned aerial vehicle.
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