Ultra-low Altitude Adaptive Altitude Flight Control Method

Abstract

The invention discloses an ultra-low-altitude self-adaptive altitude-fixed flight control method. Before the unmanned aerial vehicle leaves the factory, a height data table corresponding to the y value of the spot image coordinates and the actual flying height of the unmanned aerial vehicle is established in advance; the first step It is the take-off step; the second step is the step of continuously judging the height; specifically, the operation of judging the flying height of the UAV is carried out every 0.05 seconds; the third step is the step of controlling the height; according to the real-time flying height of the UAV, the The man-machine controls the flight height of the UAV to H1 to H2 meters. The user only needs to control the UAV to take off normally, and the UAV can automatically control the flight height within the predetermined range. It is very convenient to use and provides a basis for convenient and stable spraying of crops at a fixed height. Using the height data table to directly query the real-time height value of the UAV, compared with the real-time height value of the UAV through calculation, greatly reduces the amount of calculation, improves the calculation speed, and reduces power consumption.

Description

technical field [0001] The invention relates to the field of agricultural plant protection, in particular to the technology of spraying pesticides by a plant protection drone. Background technique [0002] With the shortage of rural labor force in our country, the rapid increase of labor costs and the rapid development of specialized unified prevention and control work, the society requires large and medium-sized plant protection machinery with high operating efficiency, wide application range, water saving, chemical saving and environmental protection, and less labor. And the demand for agricultural aviation plant protection machinery is becoming more and more urgent. Plant protection UAVs have the advantages of good mobility, high operating efficiency, small amount of spraying liquid per unit area, no need for special take-off and landing airports, remote control operations, reduced chances of personal injury, and improved effective utilization of pesticides. It adapts to...

AI Technical Summary

Problems solved by technology

Due to the instability of GPS received data, it is greatly affected by external interference, such as the height of surrounding buildings and terrain factors. The error is small, and the stability is still unsatisfactory, and its cost is high, the volume is large, and it is not suitable for small agricultural drones to fly at a certain height

The measurement accuracy of the radio altimeter can meet the flight requirements, but it is relatively complicated to use, and antennas need to be added to both the UAV and the ground station, and its cost is relatively high, so it is not suitable for small agricultural UAVs

The pressure sensor overcomes many shortcomings of GPS, and is optimized in terms of accuracy, cost, and volume. At the same time, it has the advantage of being easy to use, but it is easily affected by weather changes, especially when flying at low altitudes for micro-sized agricultural drones. The complex ground effect caused by the canopy structure of farmland crops has a great impact on the barometric altimeter, and the flight stability is difficult to guarantee

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