Small rotor unmanned aerial vehicle autonomous obstacle avoidance flight control system and control method

Abstract

The invention discloses a small rotor unmanned aerial vehicle autonomous obstacle avoidance flight control system and a control method. The system comprises an autonomous flight control system, a ground station control system and a manual emergency intervention system. The autonomous flight control system comprises a flight control computer module, an obstacle detection module, a navigation and positioning module, a driving control module, an execution mechanism, an attitude reference module and a wireless communication link module. The ground station control system comprises a wireless data transmission link module and a ground control console. The manual emergency intervention system comprises a remote control receiver and a Futaba remote controller. A corresponding small rotor unmanned aerial vehicle autonomous obstacle avoidance flight control method is also provided. The autonomous obstacle avoidance flight control system is divided into three parts, a complete small rotor helicopter autonomous obstacle avoidance flight control system which integrates the autonomous flight control system, a dynamic flight path planning system and an emergency treatment mechanism as a whole is provided, and flight environment adaptability and job task universality are strong.

Description

technical field [0001] The invention relates to the field of autonomous flight control of a miniature rotor UAV, in particular to an autonomous obstacle avoidance flight control system and control method for a small rotor UAV. Background technique [0002] In recent years, with the acceleration of the opening of China's low-altitude airspace, the development of general aviation has been greatly promoted. Among them, the rotor drone has become the focus of domestic and foreign universities and research institutions because of its unique flight characteristics. In the past ten years, rotor drones have been widely used in border patrol, forest fire monitoring, aerial photography, environmental monitoring, power line inspection, military reconnaissance and other fields. The unmanned rotor helicopter overcomes the shortcomings of manned aircraft, and has simple requirements for take-off and landing conditions, and has flight characteristics such as fixed-point hovering, which gre...

AI Technical Summary

Problems solved by technology

The system is simple and easy to operate, but due to the limitations of the detection distance and accuracy of the ultrasonic sensor, this device is limited to use on toy aircraft, and it is difficult to be used in actual flight operations

[0009] To sum up, although some achievements have been made in the technology of automatic obstacle avoidance control of rotor UAV, it is not very ideal in terms of versatility, practicality and economy. There are still many problems in this field. problems need to be resolved

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