A method for autonomous re-planning of UAV trajectory after remote control interruption

Abstract

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. The invention comprises the following steps: after the non-autonomous flight, the UAV records and stores the path passed by the UAV in the form of a waypoint; after the remote control is interrupted, it first returns to the original route according to the previously stored path; if the remote control interruption time exceeds the emergency return time , then continue to follow the previous article, and at the same time adjust the aircraft altitude to a safe altitude; the aircraft will fly to the approach point after adjusting to a safe altitude. On the one hand, the invention solves the problem of the UAV safely returning to the original route. On the other hand, when the remote control interruption time exceeds the emergency return time, the UAV adjusts the height to a safe height according to the known route, which solves the problem of safely adjusting the height. Greatly improved the survivability of drones.

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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