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A fixed-wing unmanned aerial vehicle control system and lateral flight trajectory control method

A technology of flight trajectory and lateral direction, which is applied in the field of fixed-wing UAV control system and lateral flight trajectory control, which can solve the problems of poor speed and low precision of fixed-wing UAV trajectory tracking, and achieve fast response speed , Good trajectory tracking effect, and the effect of improving wind resistance performance

Inactive Publication Date: 2019-12-03
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

[0004] For above-mentioned fixed-wing unmanned aerial vehicles trajectory tracking precision is low and rapidity is poor etc. defect, the technical problem to be solved by the present invention is to provide a kind of high-precision trajectory tracking fixed-wing unmanned aerial vehicle control system and lateral flight trajectory control method, improve The rapidity and accuracy of trajectory tracking enable high-quality automatic flight of fixed-wing UAVs

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[0029] Below in conjunction with accompanying drawing, technical scheme of the present invention is described in further detail:

[0030] The invention designs an automatic control system for a fixed-wing unmanned aerial vehicle with high-precision trajectory tracking, including an aircraft platform, a flight controller and a ground station. The aircraft platform includes a fixed-wing airframe with conventional layout, electronic governor, motor, propeller, steering gear, battery and other components; the flight controller includes flight control computer, remote control receiver, sensor module, wireless data transmission module, etc. The sensor module includes attitude sensor, altitude sensor (barometer), airspeed sensor and position sensor. In order to solve the problem of high-precision trajectory tracking, the present invention selects a differential GPS with a precision of decimeter level as a position sensor, and adopts a novel L1 algorithm based on yaw distance error el...

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Abstract

The invention, which belongs to the navigation positioning and control field, discloses a control system for a fixed-wing unmanned aerial vehicle and a horizontal and lateral flight track control method. The invention provides a high-trajectory-tracking-precision control system for a fixed-wing unmanned aerial vehicle, thereby improving trajectory tracking rapidness and tracking precision and realizing high-quality automatic flight of the fixed-wing unmanned aerial vehicle. According to the automatic control system, a novel L1 algorithm based on yaw distance error correction is employed to control the horizontal and lateral flight track of the unmanned aerial vehicle, so that the wind-resistant performance of trajectory tracking is improved. Therefore, the good trajectory tracking effect for an unmanned aerial vehicle can be guaranteed on the condition of gust existence.

Description

technical field [0001] The invention relates to a fixed-wing unmanned aerial vehicle control system for high-precision trajectory tracking and a lateral flight trajectory control method, belonging to the field of navigation positioning and control. Background technique [0002] Fixed-wing UAVs are widely used in enemy reconnaissance, precision strikes, forest fire prevention, surveying and mapping and other fields due to their advantages such as fast flight speed, long battery life, and large load. However, the flight range of fixed-wing UAVs is limited by the visual distance of the operator and the radio transmission range of the remote control. Therefore, it is necessary to design an automatic control system for fixed-wing UAVs with high-precision trajectory tracking. [0003] At present, fixed-wing UAVs use single-point GPS to provide position information, and realize trajectory tracking through traditional PID control, which has low tracking accuracy, poor rapidity, and ...

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Application Information

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IPC IPC(8): G05D1/12
CPCG05D1/12
Inventor 孙朋王新华陈冠宇杨喻茸
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS