Terrain height following control method and system of unmanned aerial vehicle

Abstract

The invention provides a terrain height following control method and system of an unmanned aerial vehicle. The terrain height following control method is characterized by comprising the following steps: firstly, loading terrain data; carrying out terrain following pre-processing; automatically planning a flight path; enabling all target following points obtained by the terrain following pre-processing to correspond to corresponding positions of a map; based on an unmanned aerial vehicle ground monitoring station, automatically generating a height following flight path plan of the path; after finishing generation, binding the height following flight path plan to an unmanned aerial vehicle flight task queue; carrying out flight tasks at different heights by the unmanned aerial vehicle basedon a GPS (Global Positioning System) and an aerostatic press. According to the terrain height following control method and system of the unmanned aerial vehicle, when the unmanned aerial vehicle automatically flies in a far distance in a super-low-altitude manner, the aerial vehicle is automatically matched with low-height flight through terrain height pre-processing when terrain undulation is complicated, so that a phenomenon that the unmanned aerial vehicle collides with mountains or buildings and the like when flying at a too low height can be avoided, and the flight safety is ensured.

Description

technical field [0001] The invention relates to the application field of unmanned aerial vehicles, in particular to the field of terrain height following control of unmanned aerial vehicles. Background technique [0002] Today's UAVs mainly rely on GPS and air pressure sensors in the control method of altitude maintenance. The drone uses the flight height measured by the sensor, processed by the main control chip, and transmitted through the multi-level PID feedback controller, and finally realizes the altitude maintenance of the drone. However, the altitude determination strategy relying solely on sensors cannot measure the relative distance between the UAV and the ground, so that it is impossible to follow and maintain the terrain. As shown in the table below, the traditional UAV altitude determination strategy has problems such as limited use conditions, high cost requirements, and technical difficulty. [0003] [0004] The traditional altitude-fixed flight control ...

AI Technical Summary

Problems solved by technology

[0004] The traditional altitude-fixed flight control system, when flying autonomously at a long-distance ultra-low altitude, due to the undulations of the terrain, the aircraft cannot autonomously match the low-altitude flight, causing it to crash into mountains or buildings due to flying too low, and flight safety cannot be guaranteed

[0005] Secondly, for some special scenarios, such as geographical surveying and mapping, oil pipeline inspection, etc., the validity of the measurement results of the testing equipment is strictly required for the height, and the height to the ground must be guaranteed within a certain range, while the traditional UAV fixed-altitude flight control cannot Follow the height of the terrain, so it can't meet the demand

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