Control method of accurate landing of unmanned aerial vehicle

Abstract

The invention provides a control method of accurate landing of an unmanned aerial vehicle. The control method is used for controlling the unmanned aerial vehicle to reach a present landing point. The control method is characterized by comprising the following steps that 1 a sound source is placed at the landing point, regular-tetrahedron-shaped microphone arrays are placed on the unmanned aerial vehicle and a signal amplification circuit and a filtering circuit are arranged at the signal output end of each microphone; 2 GPS navigation is used for controlling the unmanned aerial vehicle to reach the range which is ten meters away from the landing point; 3 a processor on the unmanned aerial vehicle is used for calculating delay generated when sound source signals reach the second microphone, the third microphone, the fourth microphone and the first microphone; 4 the yaw angle and the pitch angle of the unmanned aerial vehicle are calculated through the processor according to the spatial geometric relationship of the sound source and the microphone arrays and delay values; 5 the unmanned aerial vehicle is navigated to the position over the landing point according to the yaw angle and the pitch angle; 6 an air pressure height sensor is used for enabling the unmanned aerial vehicle to be landed at the landing point accurately.

Description

technical field [0001] The invention relates to a control method for realizing precise landing of an unmanned aerial vehicle by utilizing sound source time delay and precise positioning of a barometric altitude sensor. Background technique [0002] Decades ago, drones were only used for battlefield surveillance, guidance and correction of artillery impact points, relay guidance of maritime tactical missiles, hostage rescue, etc. In the 1990s, with the advancement of new materials, micro-electro-mechanical (MEMS), micro-inertial navigation (MIMU) and flight control technologies, micro-miniature drones are small in size, light in weight, easy to operate, flexible and flexible. It has excellent performances such as low noise and good concealment, showing broad application prospects in military and civilian fields. In the civilian field, micro quadrotors can be used for various types of monitoring, monitoring, patrol, search and rescue, photography, surveying and mapping, inves...

AI Technical Summary

Problems solved by technology

But there are still many problems, one of the main problems is the precise landing of drones

UAVs use GPS for flight navigation. The accuracy of current civilian GPS positioning (such as China Beidou) can only reach within 10 meters. This accuracy is still too large for UAVs to accurately deliver express delivery.

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