Track autonomous re-planning method after unmanned aerial vehicle remote control interruption

Abstract

The invention belongs to the unmanned aerial vehicle automatic control technology and relates to a track autonomous re-planning method after unmanned aerial vehicle remote control interruption. The method comprises the following steps of after non-autonomous flight, recording an unmanned aerial vehicle as a waypoint form and storing the path of the unmanned aerial vehicle; after remote control interruption, returning to an original course according to the stored path; if remote control interruption time exceeds emergency return flight time, executing the operation according to the previous step, simultaneously adjusting an airplane height to a safe height; and after an airplane is adjusted to the safe height, flying to an entry point. In the invention, on one hand, a problem that the unmanned aerial vehicle safely returns to the original course is solved; on the other hand, after the remote control interruption time exceeds the emergency return flight time, the unmanned aerial vehicleadjusts the height to the safe height according to a known course so that a problem of safely adjusting the height is solved and the survival capability of the unmanned aerial vehicle is greatly increased.

Description

technical field [0001] The invention belongs to the automatic control technology of an unmanned aerial vehicle, and relates to an autonomous re-planning method for a track after the remote control of an unmanned aerial vehicle is interrupted. Background technique [0002] At present, although drones can take off and land autonomously, most of them have to be manually operated when performing reconnaissance and strike missions. Due to the influence of electromagnetic environment and other factors, the remote control link will be interrupted. After the interruption, the existing technology adopts the direct return to the original route. If the remote control interruption time exceeds the emergency return time during the return process, fly directly to the approach point at a safe altitude and adjust the altitude on the way back. In this way, unknown The threats brought by the terrain cannot guarantee the safety of returning to the aircraft, see figure 1 shown. Contents of t...

AI Technical Summary

Problems solved by technology

[0002] At present, although drones can take off and land autonomously, most of them have to be manually operated when performing reconnaissance and strike missions. Due to the influence of electromagnetic environment and other factors, the remote control link will be interrupted. After the interruption, the existing technology adopts the direct return to the original route. If the remote control interruption time exceeds the emergency return time during the return process, fly directly to the approach point at a safe altitude and adjust the altitude on the way back. In this way, unknown The threats brought by the terrain cannot guarantee the safety of returning to the aircraft, see figure 1 shown

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