Unmanned aerial vehicle flying leg switching method based on leg distance and relative location vector dot product

Abstract

The invention discloses an unmanned aerial vehicle flying leg switching method based on a leg distance and a relative location vector dot product. The unmanned aerial vehicle achieves the whole airline operation through switching of legs. A leg distance at the moment can be obtained according to a distance to go and a lateral deflection distance calculated in real time by a flight control computer. When a global position system (GPS) signal is normal during the whole journey, the leg switching method based on the leg distance is adopted. When the GPS signal is not effective, no leg switching is carried out. After the GPS signals are recovered, according to current position of the unmanned aerial vehicle and start point / finish point of the leg, the relative position vector dot product is calculated, the vector dot product and the calculated leg distance form a composite judging condition, and therefore the correct switching of the aerial leg of the unmanned aerial vehicle of all situations is achieved.

Description

technical field [0001] The invention relates to a method for switching flight segments of an unmanned aerial vehicle. The method is based on the dot product of flight segment distance and relative position vector, and belongs to the field of unmanned aerial vehicle flight control. Background technique [0002] The process of drone autonomous flight is as follows: [0003] Route information is stored in the flight control computer, and the UAV flies along the route. There are n waypoints in a route, and two adjacent waypoints are connected by a straight line, which is called a flight segment. The first waypoint of the flight segment is called the from point, the second waypoint of the flight segment is called the arrival point, and the position of the drone becomes the current point. The route consists of n-1 segments, figure 1 Definitions of routes and segments are given. The flight segment switching process is as follows: figure 1 As shown, the UAV consists of flight s...

AI Technical Summary

Problems solved by technology

In certain positions in the second case above or in the third case (such as Figure 4 shown in the triangle position), the method based on the distance to fly will not be able to achieve the correct segment switching (the segment switching should be performed but the segment switching is not performed because it is outside the segment switching circle), and the UAV will follow the segment P i-1 P i extension cord flight

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