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Quadrotor aircraft autonomous landing control method based on navigation point planning and tracking

A technology of quadrotor aircraft and control method, applied in three-dimensional position/course control, non-electric variable control, control/regulation system, etc.

Inactive Publication Date: 2018-10-26
HARBIN INST OF TECH
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

Although in the existing research results, the quadrotor aircraft can land on a stationary target or track a moving target, the autonomous landing of a quadrotor aircraft on a moving target is still an unsolved problem

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  • Quadrotor aircraft autonomous landing control method based on navigation point planning and tracking
  • Quadrotor aircraft autonomous landing control method based on navigation point planning and tracking
  • Quadrotor aircraft autonomous landing control method based on navigation point planning and tracking

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Embodiment Construction

[0109] The quadrotor autonomous landing control method based on waypoint planning and tracking of the present invention will be described in detail below in conjunction with examples and accompanying drawings.

[0110] The quadrotor aircraft autonomous landing control method based on waypoint planning and tracking of the present invention comprises the following steps:

[0111] Step 1: Establish a formulaic description of the autonomous landing problem, including:

[0112] (1) Define the coordinate system and variables describing the landing process, and establish the relative motion equation:

[0113] Define the geographic coordinate system {W} to describe the landing process. {W} is the inertial coordinate system, and the three coordinate axes x of {W} W ,

[0114] the y W ,z W Corresponding to the geographic north, geographic east and gravity directions, the origin of {W} is the expected landing point on the moving target. In the following text, the components with su...

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Abstract

The invention provides a quadrotor aircraft autonomous landing control method based on navigation point planning and tracking, belongs to the technical field of aircraft control, and aims at realizingautonomous landing of the quadrotor aircraft on the moving target. The method comprises the main steps that 1) the formulation description of the autonomous landing problem is established: the coordinate system and the variables describing the landing process are defined and a relative motion equation is established; and the landing path constraint of the quadrotor aircraft is analyzed; 2) the path planning algorithm of the quadrotor aircraft is designed: the position of the expected navigation point of the quadrotor aircraft in the landing process is planned; and the position of the expectednavigation point is optimized so as to realize smoothing of the expected landing path; and 3) the landing control algorithm of the quadrotor aircraft is designed: the moment of switching the landingcontrol law of the quadrotor aircraft is determined; and the staging landing control law of the quadrotor aircraft is designed. The method has high adaptability and integrates the tracking and landingprocess and also effectively solves the problem of sensor speed measurement interference.

Description

technical field [0001] The invention relates to a control method for autonomous landing of a quadrotor aircraft. In particular, it relates to a method for autonomous waypoint planning and tracking of a quadrotor aircraft. Background technique [0002] Multi-rotor aircraft is a kind of aircraft that can take off and land vertically, has the characteristics of small size, simple structure, light weight, low flying height, strong maneuverability, good safety, easy maintenance, etc., and can hover freely. Quadrotor aircraft is a kind of multi-rotor aircraft. Compared with conventional aircraft, it has strong advantages in vertical / short take-off and landing, load capacity and flight control principle. In addition, in recent years, the rapid development of microelectronics, micromechanical technology and computer technology has greatly improved the volume, weight, flexibility and mobility of small quadrotor UAVs. Due to its novel structure, unique position and attitude control ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
CPCG05D1/101
Inventor 王宁远贺风华姚郁马杰许中研
Owner HARBIN INST OF TECH
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