Control method for automatic parachute landing recovery of unmanned aerial vehicle

Abstract

The invention discloses a control method for automatic parachute landing recovery of an unmanned aerial vehicle. A horizontal wind speed and a wind direction in air are estimated by fully utilizing information such as an air speed, a ground speed, a pitching angle, a course angle and the like; based on the estimation, a parachute opening point is calculated according to the centre of a recovery field; and lateral partial moment is controlled through an aileron and the flight height is controlled through an elevator, so that an airplane is guided and controlled to reach the parachute opening point so as to finish the control over the parachute landing recovery. By using the control method for the automatic parachute landing recovery, the recovery accuracy of the airplane after the parachute is opened in the presence of wind can be improved; and the method more adapts to the recovery requirement of complex environments so as to improve the safety for the recovery of the airplane.

Description

technical field [0001] The invention belongs to the field of unmanned aerial vehicle flight control, and specifically refers to an automatic parachute recovery control method of an unmanned aerial vehicle with a parachute recovery mode. Background technique [0002] With the increasing development of UAV application technology, the UAV recycling technology has also been further developed. In order to improve the safety of the aircraft, the single recycling method has gradually changed to the composite recycling method. The recovery methods of UAVs generally include wheel slide recovery, parachute recovery, and net collision recovery. , but compared with the wheeled sliding recovery method, it has lower requirements on the runway, flight control, and airborne equipment, so it is widely used in small and medium-sized UAVs. [0003] Usually, the general UAV parachute recovery process is as follows: figure 1 shown. After the drone completes the task, it descends to the predet...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to solve the technical problem of large parachute error and low safety when there is wind, and proposes a method for automatic parachute recovery control of UAV, which can make UAV parachute It still has good recovery accuracy and adaptability when parachuting in the case of unmanned aerial vehicles, improving the accuracy of UAV parachute recovery and improving the safety of UAV recovery

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