A semi-autonomous ground imitation flight system and control method for unmanned aerial vehicles

Abstract

The invention relates to a semi-autonomous imitation terrain flight system of an unmanned aerial vehicle. The semi-autonomous imitation terrain flight system comprises a GPS (global positioning system) positioning module, an inertia measurement module, a barometer module, a radar height meter, a motor driver, a paddle power structure and a flight controller, and is characterized in that the flight controller obtains data of the GPS positioning module, the inertia measurement module and the radar height meter to perform fusion algorithm calculation; position, posture and height data of the unmanned aerial vehicle is obtained, so that the motor driver is controlled, and accordingly the unmanned aerial vehicle can perform imitation terrain flight along a flight course in a semi-autonomous mode.

Description

technical field [0001] The invention relates to an automatic flight control system for an unmanned aerial vehicle, in particular to a semi-autonomous ground imitation flight system and a control method for an unmanned aerial vehicle. Background technique [0002] The altitude control of UAV is a difficult point in the field of UAV, especially the imitation flight near the surface. General drone altitude control calculates the current altitude of the drone through the fusion of barometer and accelerometer. The problems with this approach are: [0003] 1. The barometer calculates the altitude of the current location by obtaining the air pressure value of the current location, but due to the change of the air pressure around the drone caused by the maneuvering of the drone, the obtained altitude may not be accurate [0004] 2. When flying near the ground, the influence of the wind field formed by the UAV and the ground has a great interference on the barometer data [0005] ...

AI Technical Summary

Problems solved by technology

[0003] 1. The barometer calculates the altitude of the current location by obtaining the air pressure value of the current location, but due to the change of the air pressure around the drone caused by the maneuvering of the drone, the obtained altitude may not be accurate

[0004] 2. When flying near the ground, the influence of the wind field formed by the UAV and the ground has a great interference on the barometer data

[0005] 3. Unable to perceive the change of surface altitude, follow the terrain to fly

To a certain extent, it can solve the problem of UAV flying near the surface of the ground, but the update rate of the ultrasonic sensor is slow, susceptible to interference, and the noise is large. The altitude control under the ground (such as cornfields, wheat fields, bushes, etc.) is unstable and cannot be applied to industrial drones with large loads

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