Autonomous fixed-point recovery method for parachute fixed-wing UAV

A technology of autonomous and recovery methods for fixed-wing UAVs, which is applied in the direction of three-dimensional position/channel control, etc., can solve the problems of inability to truly achieve autonomous recovery and manual upload of recovery routes, so as to reduce operational burden and simplify aircraft recovery The effect of operating procedures

Active Publication Date: 2017-10-03
XIAN AISHENG TECH GRP +1
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  • 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 the drone operator to have rich recovery experience. At the same time, under the condition of communication failure between the ground station and the aircraft, since the recovery route cannot be manually uploaded, there is a greater safety risk in aircraft recovery.

Method used

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  • Autonomous fixed-point recovery method for parachute fixed-wing UAV
  • Autonomous fixed-point recovery method for parachute fixed-wing UAV
  • Autonomous fixed-point recovery method for parachute fixed-wing UAV

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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 method for autonomous fixed-point recovery of a parachuted fixed-wing UAV. First, set the recovery point and recovery course, and judge whether the setting meets the recovery conditions; Control the aircraft to fly along the approach and descent route; then generate a recovery route, and control the aircraft to fly along the recovery route; correct the recovery route according to the wind speed and direction measured on the aircraft, and control the aircraft to follow the corrected recovery route; finally, control the engine when the aircraft approaches the recovery point Stop and open your umbrella. The invention greatly simplifies the aircraft recovery operation process, reduces the operating burden of the drone operator, enhances the autonomy of the drone, and reduces the dependence of the drone on communication conditions.

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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Patent Type & Authority Patents(China)
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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