Self-flying method for mine emergent rescue aircraft

Abstract

The invention provides a self-flying control method for a mine emergent rescue aircraft. By application of the method, the aircraft can fly automatically; in a hovering period, a eulerian angle and an acceleration value of the aircraft are calculated; distances between all the directions and an obstacle are tested by a distance measuring sensor; the current position state of the aircraft is judged according to the aircraft flying tendency and the distance, and a position signal is used as a control signal; then control on the attitude, the speed and the position of the aircraft is realized by adopting an algorithm of combining tendency judgment and fuzzy control, and reliable and stable self flying of the aircraft is guaranteed. By collecting environmental parameters in real time within a certain distance in an alley in the hovering period, and data information is transmitted to portable terminal equipment in real time by a wireless mode. A portable terminal can be used for evaluating the environment danger level in the alley in real time and carrying out displaying and alarming. A rescuer judges the safety within a certain distance according to an analysis result; under a safe condition, gradual promotion is realized until the rescuer reaches the disaster site.

Description

technical field [0001] The invention relates to a flight control method of an aircraft, in particular to an autonomous flight method of a mine emergency rescue aircraft. Background technique [0002] 1. Analysis of mine emergency rescue situation: [0003] The operating environment of coal mines is complex and accidents are prone to occur. For a long time, after a mine accident, because the original information collection equipment in the mine was completely cut off, the environmental parameters of the accident area required the rescue team to go directly to the scene to collect them, which often brought unnecessary cost of life. Moreover, after the data is collected, it cannot be analyzed in real time. After the data collection and data analysis of the ambulance team is completed, the real-time situation in the accident area may change again. The analysis results cannot reflect the situation in real time, and there are still unsafe factors. Cannot be reliably guaranteed. ...

AI Technical Summary

Problems solved by technology

An underactuated system refers to a type of nonlinear system in which the number of independent control variables of the system is less than the number of degrees of freedom of the system. Simply put, it is a system with less input than the amount to be controlled. The system flexibility and other aspects are superior to the full drive system, but its algorithm is complicated, and the flight attitude is difficult to control

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