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A flight control method for fixed-wing unmanned aerial vehicles against crosswinds

A technology of flight control and unmanned aerial vehicles, applied in the field of unmanned aerial vehicles, can solve the problems of different control methods and control effects, and achieve the effects of improving track tracking accuracy, avoiding oscillation, and reducing track deviation

Active Publication Date: 2019-06-04
NAT UNIV OF DEFENSE TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

At present, the widely used track tracking algorithms mainly include isometric mode guidance method, carrot tracking algorithm, nonlinear algorithm, vector field algorithm, etc. These methods are relatively easy to implement, each has its own advantages and disadvantages, and the control methods and control effects are also different.

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  • A flight control method for fixed-wing unmanned aerial vehicles against crosswinds
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  • A flight control method for fixed-wing unmanned aerial vehicles against crosswinds

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Embodiment Construction

[0019] The present invention will be further described below in conjunction with the accompanying drawings.

[0020] refer to figure 1 , is a flowchart of the present invention, such as figure 1 As shown, a flight control method for a fixed-wing unmanned aerial vehicle against crosswinds, the steps are as follows:

[0021] S1, read the current GPS coordinates of the UAV and the preset waypoint GPS coordinates of the autopilot system, and calculate the relative coordinates in the ground coordinate system according to the coordinates of the two.

[0022]

[0023] Among them, lon and lat are the longitude and latitude in the GPS coordinates respectively, lon' and lat' are the longitude and latitude of the reference reference point of the relative coordinates, usually take the take-off point as the reference point, and R is the radius of the earth.

[0024] S2. Calculate the target heading angle according to the relative coordinates of the UAV and the preset waypoint in the...

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Abstract

The invention provides an anti-crosswind flight control method for a fixed wing unmanned plane. The anti-crosswind flight control method comprises during the flight process of an unmanned plane, the unmanned plane utilizes GPS navigation information to composite the current ground speed direction of the unmanned plane so as to control the ground speed direction of the unmanned plane to align to a target route point; according to the real-time lateral track deviation of the unmanned plane, utilizing gain negative feedback to correct the lateral track deviation; and according to the real-time lateral track deviation of the unmanned plane, utilizing a variable gain coefficient to generate a correction command so as to greatly improve the capability for anti-crosswind disturbance of the unmanned plane and effectively improve the track tracking speed and precision for the unmanned plane. The anti-crosswind flight control method for a fixed wing unmanned plane solves the problem that during the air cruise process for a current fixed wing unmanned plane, the track tracking precision is low because of crosswind disturbance so that oscillation at the horizontal and lateral direction of the unmanned plane easily occurs and stability and safety for flight are influenced.

Description

Technical field: [0001] The invention belongs to the technical field of unmanned aerial vehicles, in particular to a flight control method for a fixed-wing unmanned aerial vehicle against crosswinds. Background technique: [0002] With the rapid development of UAV technology, long-distance reconnaissance and surveillance, fixed-point strikes, aerial surveying and mapping and other tasks require UAVs to have the ability to track accurately. research and attention. At present, the widely used track tracking algorithms mainly include isometric mode guidance method, carrot tracking algorithm, nonlinear algorithm, vector field algorithm, etc. These methods are relatively easy to implement, each has its own advantages and disadvantages, and the control methods and control effects are also different. . [0003] Wind disturbances in the atmospheric environment are ubiquitous, and most of the time they change irregularly. The most typical ones are gusts and wind shears. Therefore, ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/10G05D1/08
CPCG05D1/0808G05D1/101
Inventor 王鹏侯中喜高俊陈清阳鲁亚飞冒云慧李茹郭天豪
Owner NAT UNIV OF DEFENSE TECH