Autonomous approach route planning method for gliding unmanned aerial vehicles

Abstract

The invention discloses an autonomous approach route planning method for gliding unmanned aerial vehicles. The method allows a gliding unmanned aerial vehicle to enter a landing area in an optimal gliding manner, height is reduced and course is regulated by means of variable-radius finger-of-eight hovering, and when descending to a set landing window height, the unmanned aerial vehicle can meet the requirements of set landing courses. Firstly, a route composed of a tangent segment, an arc segment and a figure-of-eight hover segment is planed preliminarily according to current location and route limits of the unmanned aerial vehicle, and the unmanned aerial vehicle is controlled to fly along the route; when the unmanned aerial vehicle reaches the set landing direction, the radius and circle number of the hover segment are dynamically adjusted according to the difference between the current height of the unmanned aerial vehicle and the set landing window height; when reaching a set landing height range, the unmanned aerial vehicle meets the requirements of landing route. The method is used to plan the routes to allow for autonomous approach with no effects of objective condition, such as weather, climate and wind interference, and is widely applicable.

Description

technical field [0001] The invention relates to a method for planning an autonomous approach route of a gliding unmanned aerial vehicle, belonging to the technical field of unmanned aerial vehicle navigation guidance and control. Background technique [0002] A glider is an unpowered, heavier-than-air fixed-wing aircraft. The glider relies on the weight of its own gravity to obtain forward power during the glide flight. This unpowered glide flight with loss of altitude is called gliding. The ratio of the distance advanced in gliding to the height of sinking is called the glide ratio, and the glide ratio is an important indicator to measure the quality of gliding performance. According to the balance relation of gliding flight, the glide ratio is equal to the lift-to-drag ratio. At present, the lift-to-drag ratio of an advanced glider has exceeded 50 at the highest, that is, under the condition of no wind, the glider can glide for a distance of 50 meters in the horizontal d...

AI Technical Summary

Problems solved by technology

Since the flight status (flight altitude, approach direction, and position relative to the airport) of the UAV is different each time it glides into the field, and it will also be affected by uncertain factors such as wind interference during the approach process, no one The height, heading and status of the aircraft arriving near the set landing window are very different, resulting in the inability to effectively enter the set landing window, which brings hidden dangers to safe landing

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