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Autonomous unmanned plane in-out control method

A control method and unmanned aerial vehicle technology, applied in the direction of attitude control, three-dimensional position/channel control, etc., can solve the problems of multi-airport resources, occupancy, and tight use of main runway resources, so as to reduce dwell time, improve combat effectiveness, and facilitate The effect of troops

Inactive Publication Date: 2018-01-05
SHENYANG AIRCRAFT DESIGN INST AVIATION IND CORP OF CHINA
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  • Application Information

AI Technical Summary

Problems solved by technology

During certain periods of time, there are many aircraft stationed at the airport, and the main runway resources are in short supply. If a towing vehicle is specially arranged for the UAV to pull the aircraft in / out and align it with the runway, more airport resources will be occupied. The main runway of the airport Utilization efficiency will be greatly affected
[0003] At present, my country's research on the autonomous entry of UAVs (automatic taxiing from the apron to the take-off line along a predetermined complex trajectory) / exit (automatic taxiing from the runway to the apron after landing) has just started. The design technology for autonomous entry / exit of unmanned aerial vehicles with landing frame layout is still blank

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Embodiment Construction

[0032] In order to make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be described in more detail below in conjunction with the drawings in the embodiments of the present invention.

[0033] The present invention provides a control method for autonomous driving in and out of an unmanned aerial vehicle suitable for a four-point landing gear layout, and the control method includes:

[0034] First establish the UAV ground taxi trajectory;

[0035] Afterwards, the control law is calculated according to the ground taxiing trajectory to obtain the lateral deviation command acting on the operation effector;

[0036] Finally, the operation effector controls the UAV to track the sliding trajectory and drive autonomously according to the lateral deviation command.

[0037] In the above control method, analyze or design the main functional parts:

[0038] (a) Handling effecto...

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Abstract

The invention relates to an autonomous unmanned plane in-out control method, belongs to the unmanned plane control technology field and is applied to four-point type landing gear layout unmanned planes. The control method comprises steps that the unmanned plane ground sliding track is established; a side bias instruction acting on an operating effector is acquired by the control law through resolution according to the ground sliding track; the unmanned plane is controlled by the operating effector according to the side bias instruction for tracking the sliding track and carrying out autonomousflight. The method is advantaged in that through utilizing precise autonomous in / out track tracking control of the four-point type landing gear layout unmanned planes, the staying time of the unmanned plane on a runway can be shortened, the runway utilization rate and an autonomous grade of the unmanned plane are improved, use of the unmanned plane by the army is facilitated, and combat efficacyis improved.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicle control, and in particular relates to a method for controlling the autonomous entry and exit of an unmanned aerial vehicle. Background technique [0002] The traditional take-off / recovery method for drones is: the drone is manually pulled to the take-off line and aligned with the centerline of the main runway; after landing, the drone automatically stops on the main runway and is manually pulled back to the apron. However, with the continuous improvement of people's requirements for the autonomy of UAVs, the ability to drive in / out autonomously is an inevitable direction for the development of UAV technology. During certain periods of time, there are many aircraft stationed at the airport, and the main runway resources are in short supply. If a towing vehicle is specially arranged for the UAV to pull the aircraft in / out and align it with the runway, more airport resources will be o...

Claims

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Application Information

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IPC IPC(8): G05D1/08G05D1/10
Inventor 朱家兴韩英华王允辉曹正礼
Owner SHENYANG AIRCRAFT DESIGN INST AVIATION IND CORP OF CHINA
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