Automatic retraction method for parachute landing unmanned aerial vehicle

Abstract

The invention provides an automatic retraction method for a parachute landing unmanned aerial vehicle. The landing site, the entry angle and the retraction altitude are sent to the unmanned aerial vehicle, and the unmanned aerial vehicle automatically plans a retraction airline and acts along the retraction airline; when the unmanned aerial vehicle approaches a retraction point, movement after engine shutdown is divided into a gliding section, a pull stopping section and a drifting section, a flight control program automatically queries the weight, speed and altitude of the unmanned aerial vehicle, the wind field and other conditions at the moment, and the shutdown position and the parachute opening position are worked out; a shutdown instruction and a parachute opening instruction are automatically executed. By means of the method, a parachute landing model can adapt to all altitudes from a low altitude to 5000 km or above like that of the Qinghai-Tibet Plateau, requirements for flight control precision and time accuracy are lowered, retraction precision is improved, wind measurement equipment and staff are not needed, staff are freed from the burden of wind measurement, calculation and control, and control over the unmanned aerial vehicle becomes easy and convenient.

Description

technical field [0001] The invention relates to the field of unmanned aerial vehicles, in particular to a method for recovering parachuted unmanned aerial vehicles. Background technique [0002] Parachute drones have the advantages of not needing a runway and low requirements for recovery sites, and their application range is becoming wider and wider. The recovery process is usually to select the recovery location and entry direction according to the surrounding terrain, and then estimate the parking position and parachute opening position according to the flight altitude, speed, wind speed, wind direction, and parachute speed, and then plan the recovery route. Airline flight, and timely stop, parachute command issued. [0003] Among them, the route planning, flight control and other processes require the operator to have rich control experience, and the control of the UAV's altitude, speed, track and other states is required to be very precise. The measurement of wind spee...

AI Technical Summary

Problems solved by technology

[0007] The above methods are based on the ground personnel planning the route, and then issuing instructions to the UAV. The timeliness is poor, and it is difficult to adapt to uncertain factors such as the state of the UAV and the change of the wind field at any time; it is required to accurately control the UAV attitude, speed, The entry angle has high requirements for the skills of the operator; it is difficult to adapt to the parachute requirements at different altitudes and different air densities with a fixed parachute speed

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