Automatic pilot and genetic algorithm-based method for monitoring hovering range of unmanned aerial vehicle

Abstract

The invention relates to an automatic pilot and genetic algorithm-based method for monitoring the hovering range of an unmanned aerial vehicle. According to the method, when the unmanned aerial vehicle malfunctions or rolls over, an automatic control instruction is generated for an automatic pilot; and the automatic pilot and an genetic algorithm can be combined together so as to perform unmanned aerial vehicle flight hovering control; when it is monitored that sharp pitching or rollover of the unmanned aerial vehicle is not brought about by a flight instruction of a task, the automatic pilot immediately adopts a flight attitude adjustment parameter as a local initialization population value; the genetic algorithm performs iterative optimization on the adjustment quantity of an adaptive value according to the requirements of adaptability conditions in the initialization value; an adjustment solution of a control instruction when the flight attitude of the unmanned aerial vehicle tends to be stable can be obtained through iterative selection; and therefore, stable control on the attitude of the unmanned aerial vehicle can be realized, and the unmanned aerial vehicle can hover or land in a certain space area range.

Description

technical field [0001] The invention relates to a method for monitoring the hovering range of an unmanned aerial vehicle based on an autopilot and a genetic algorithm, in particular to the technical field of flight control of a rotor unmanned aerial vehicle. Background technique [0002] The modern rotor UAV is an aircraft that uses autopilot to achieve autonomous navigation. Flight control is an important part of UAV flight mission guarantee. The development of autopilot technology makes the rotor UAV basically realize autonomous flight. However, due to Due to the highly dynamic and uncertain flight environment and the complexity of the flight mission, it is inevitable for the rotor UAV to roll over when it encounters an emergency during cruise. Therefore, it is necessary to avoid various threat environments as much as possible when planning the route. Factors, and considering the flight performance limitations of UAVs, improve the survivability of UAVs. [0003] At presen...

AI Technical Summary

Problems solved by technology

[0003] At present, when a hardware device of the rotor UAV fails or is affected by sudden wind, birds, or air flow, it will cause a sudden change in the flight monitoring parameters, and the flight control system of the UAV autopilot will automatically The correction of flight control changes, and then control the UAV equipment, but once the flight rolls in the limited range, the rotor UAV needs to adjust its attitude in the limited air area. At this time, the correction amount of the UAV needs to be adjusted. Maximize small-scale control in order to achieve a stable and controlled attitude in a reasonable space, and avoid forced landing or damage due to excessive adjustment time or contact with surrounding objects

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