Autonomous tracking control method of rotor aircraft

A technology for rotorcraft and aircraft, which is applied to non-electric variable control, control/regulation systems, three-dimensional position/channel control and other directions, can solve the problems of unstable GPS signals and cannot meet practical application requirements, and achieves small attitude errors and no Source and information-rich, informative effects

Inactive Publication Date: 2018-11-13
CHINA JILIANG UNIV
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Problems solved by technology

However, GPS signals are unstable in densely populated and remote

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  • Autonomous tracking control method of rotor aircraft
  • Autonomous tracking control method of rotor aircraft
  • Autonomous tracking control method of rotor aircraft

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Embodiment Construction

[0039] The present invention is further described in conjunction with accompanying drawings.

[0040] The specific implementation of the present invention adopts a system mainly composed of an aircraft control module, an airborne processor module, an image acquisition module, an altitude measurement module, a signal receiver and a PC ground station unit. The aircraft is equipped with a camera, an aircraft control module, an onboard processor module, an image acquisition module, an altitude measurement module, and a signal receiver. The camera is connected directly under the center of the aircraft body through a three-axis gimbal; the PC ground station unit and the aircraft are connected through The image transmission module is connected; the altitude measurement module is connected with the on-board processor module, the on-board processor module is connected with the camera after the image acquisition module, the on-board processor module is connected to the aircraft control m...

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Abstract

The invention discloses an autonomous tracking control method of a rotor aircraft. The aircraft is loaded with a height measuring module and a camera, and maintains at a hovering state after reachinga preset height. The autonomous tracking control method of a rotor aircraft is characterized in that the autonomous tracking control method of a rotor aircraft mainly controls flying through a methodbased on machine vision; a special trajectory pattern with black lines is arranged directly under the aircraft; when the aircraft is flying, the trajectory pattern images on the ground are collected directly through a downward camera, and the image information is transmitted to an onboard processor module to generate deviation information of angle and distance through processing according to the following modes: converting the deviation information of angle and distance into a PWM signal which controls the flight of the aircraft, and transmitting the deviation information of angle and distanceto an aircraft control module on the aircraft through a signal receiver to realize autonomous tracking flight of the aircraft. The visual navigation under the autonomous tracking flight of autonomoustracking control method of a rotor aircraft has the advantages of high precision, small volume, large amount of information, passiveness and rich information, enables the aircraft to work in an areawith strong external interference, and can be applied to the aspects of pipeline inspection and power inspection.

Description

technical field [0001] The invention relates to a method for autonomous tracking control of a rotorcraft. Background technique [0002] With the introduction of the concept of artificial intelligence, in recent years, due to the advantages of low cost, remote control, vertical take-off and landing, and the ability to fly over areas that cannot be reached by personnel, quadrotor aircraft have been used in fields such as aerial photography, express delivery, plant protection, and power inspection. extremely broad. At present, the mainstream method of controlling the rotorcraft is to use the remote control to realize the flight action of the aircraft or realize the cruise task based on the GPS signal. However, GPS signals are unstable in densely populated and remote areas, which cannot meet the requirements of practical applications. Visual navigation has the advantages of high precision, small size, large amount of information, passivity and rich information. Visual navigat...

Claims

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/101
Inventor 郑恩辉王翔宇
Owner CHINA JILIANG UNIV
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