Parachute fixed-wing unmanned aerial vehicle autonomous fixed-point recovery method

A technology for autonomous and recovery methods of fixed-wing UAVs, which is applied in three-dimensional position/channel control and other directions, and can solve problems such as the inability to truly achieve autonomous recovery and the inability to manually upload recovery routes

Active Publication Date: 2015-10-21
XIAN AISHENG TECH GRP +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the process of entering the recovery route, since there is no ground elevation assistance, it is necessary to manually control the approach and lowering process, and it is impossible to truly achieve autonomous recovery
[0005] The current recovery method requires

Method used

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  • Parachute fixed-wing unmanned aerial vehicle autonomous fixed-point recovery method
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  • Parachute fixed-wing unmanned aerial vehicle autonomous fixed-point recovery method

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Embodiment Construction

[0045] The present invention will be further described below in conjunction with the accompanying drawings and embodiments, and the present invention includes but not limited to the following embodiments.

[0046] The steps of the method involved in the present invention are as follows:

[0047] 1. Manually set the recovery point P(x 0 ,y 0 ) (in the north-east coordinate system) and recovery heading α.

[0048] 2. Determine whether the recycling setting meets the recycling conditions. The specific judgment steps are as follows:

[0049] 1) Generate a recycling area based on a given recycling point and recycling direction. The recycling area is a rectangle with length L and width W. where L=0.5(V smin +V smax ) T 0 , W=2(t s + h s / v d )V 0 , where V smin , V smax is the upper and lower bounds of safe parachute opening speed, the unit is m / s, t s is the time interval between aircraft parking and parachute opening, h s Safe height for the aircraft to open the para...

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Abstract

The invention provides a parachute fixed-wing unmanned aerial vehicle (UAV) autonomous fixed-point recovery method comprising the following steps: setting a recovery point and a recovery course, and judging whether the setting has recovery conditions; when autonomous recovery is needed, generating an approach descending route and making an aircraft fly along the approach descending route; generating a recovery route, and making the aircraft fly along the recovery route; correcting the recovery route according to the measured wind speed and direction on the aircraft, and making the aircraft fly along the corrected recovery route; and finally, making an engine stop and opening a parachute when the aircraft approaches the recovery point. By adopting the method of the invention, the procedure of aircraft recovery operation is simplified greatly, the operating burden of UAV operators is lightened, the autonomy of UAVs is enhanced, and the dependence of UAVs on communication conditions is reduced.

Description

technical field [0001] The invention relates to a drone recovery technology. Background technique [0002] Due to its low cost and wide range of uses, drones have become a hot spot in the industry in recent years. Among them, the parachute fixed-wing UAV is very suitable for exploration, line inspection, forestry and other occasions that require long-term cruising in a large area and poor launch and recovery site conditions due to its long battery life and low site requirements. [0003] Although the requirements for the site are low and there is no need for infrastructure such as runways, the parachute recovery drone still needs to consider the basic conditions of the recovery site when recovering, except for the basic conditions of the ground, such as whether it is flat, whether there is water, and the degree of softness and hardness of the ground. In addition to the local terrain factors that must be artificially investigated, there are also factors such as whether there...

Claims

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Application Information

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IPC IPC(8): G05D1/10
Inventor 贺若飞贾伟肖佳伟刘少华赵娜刘宏娟
Owner XIAN AISHENG TECH GRP
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