Automatic height fixing control method for unmanned spacecraft operation

Abstract

The invention provides an automatic height fixing control method for an unmanned spacecraft operation based on a two-dimensional laser scanner. The adopted technical scheme, by which a problem is solved, is as follows: arranging the two-dimensional laser scanner on an unmanned spacecraft airframe, irradiating and scanning the area in front of the airframe to obtain a height from the airframe to the ground and topographic scan data; leading-in data obtained by the laser scanner into an embedded control panel in real time to perform related computation, calculating whether a collision possibility or a dangerous obstacle exists in a flight direction combining with airframe posture angle data transmitted from an airframe inertial posture measurement unit; making the embedded control panel send a climbing command to a flight controller if a calculated result proves that a collision hidden danger exists in front of the spacecraft. The automatic height fixing control method of the invention has beneficial effects that the unmanned spacecraft has a certain capability of perceiving the ground, is capable of detecting the collision hidden danger from the ground when performing a low-altitude operation, and ensures that the unmanned spacecraft can take measures in time to escape from the obstacle.

Description

technical field [0001] The invention relates to an automatic control system for automatically maintaining a flying altitude relative to ground for an unmanned aerial vehicle. In particular, it relates to a control method for automatic altitude determination of an unmanned aerial vehicle based on a two-dimensional laser scanner. Background technique [0002] At present, unmanned aerial vehicles are widely used in the military, but because of their simple operation and low cost, they are also used more and more widely in the civilian field. However, since the functions of unmanned aerial vehicles that are widely used in civilian applications are still relatively single, they lack effective means of sensing ground conditions, especially relative ground heights. Especially when unmanned aerial vehicles face low-altitude flight operations, various impacts caused by ground obstacles often lead to serious consequences of crashes, ranging from aircraft crashes to aircraft and groun...

AI Technical Summary

Problems solved by technology

[0003] In order to overcome the shortcomings that the existing civil unmanned aerial vehicles cannot effectively perceive the height from the ground and the terrain conditions on the ground, and are prone to ground collision accidents, the present invention provides a relatively economical automatic height-fixing control device, which can sense The height of the unmanned aerial vehicle relative to the ground and the terrain conditions on the ground, automatically control the unmanned aerial vehicle to maintain the operating flight altitude, and avoid ground protrusions and obstacles

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