Autonomous taking off and landing control method for indoor airship

Abstract

The invention discloses an autonomous taking off and landing control method for an indoor airship, which is designed for solving the technical problems that the indoor airship is inflexible in control and often deviates from the air line so as to frequently collide, scratch and the like. The method comprises the following steps of: under an autonomous taking off and landing mode, firstly, settingthe taking off and landing height and the taking off and landing speed; acquiring air data of the current indoor airship from an ultrasonic sensor and a UWB (Ultra Wide Band) sensor which are loaded by the airship; acquiring coordinate data through a wireless data transmission module; transmitting the coordinate data to a land station according to a preset protocol format for analyzing; calculating the coordinate data according to the set taking off and landing mode and an autonomous taking off and landing control algorithm to form control commands and parameters; transmitting the control commands and the parameters to an on-board computer on the indoor unmanned airship through the wireless data transmission module; and generating a PWM (Pulse Width Modulation) signal for controlling an accelerator, the direction and the taking off and landing of the airship and controlling the indoor airship to reach the designated height, wherein a subdivision control method is respectively used fortaking off and landing. The invention has the benefits that: according to the control method, the safety, the reliability and the stability of the autonomous taking off and landing process of the indoor airship can be ensured, the taking off and landing height and the taking off and landing speed can be freely adjusted and the replacing process is realized conveniently and quickly.

Description

Technical field: [0001] The invention relates to an autonomous take-off and landing control method of an airship, in particular to an autonomous take-off and landing control method applied to indoor airships. It belongs to the field of automatic control. Background technique: [0002] As a widely used suspended aircraft, indoor airship has the ability to suspend in the air, and it is easy to operate and drive. It can fly at low altitude and low speed, with good safety performance, low requirements for landing and landing sites, and relatively low operating costs. Low and easy to maintain. The advantage of an indoor airship lies in its commercial value. It can provide a good peripheral vision and can carry out activities such as advertising display, aerial photography, TV broadcast and security monitoring. Many large-scale science and technology museums and exhibition halls now use various forms for exhibitions and performances. As an indoor small maneuverable aircraft, ind...

AI Technical Summary

Problems solved by technology

[0009] In order to solve the problem of indoor airships with weak power, small flying space, many obstacles and high safety requirements, the control of indoor airships is inflexible, often deviates from the route and frequently hits, scrapes walls, exhibits, and even To solve the technical problems such as personnel, a kind of autonomous take-off and landing control method for indoor airship is provided, and the method is realized by the following steps:

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