Flight control method for accurate landing of unmanned aerial vehicle

Abstract

The invention provides a flight control method for accurate landing of an unmanned aerial vehicle. The flight control method comprises the following steps that a target identification graph is manufactured; a matching parameter is selected when the unmanned aerial vehicle flies to a landing position; an image of a landing site is found by a camera; the unmanned aerial vehicle moves above the landing site; and horizontal distance, positive direction angle and landing speed are controlled through image identification, and finally the unmanned aerial vehicle lands on the ground and paddles are stopped. According to the flight control method for accurate landing of the unmanned aerial vehicle, the landing process is divided into a plurality of stages according to different heights, error parameters and landing speed of each stage are arranged differently, and the requirements that required flight precision and time are gradually improved with height reduction and precision improvement of the distance and angle are met; and horizontal distance control needs to be controlled by four-grade PID, by adding a control section and variable, stability, anti-interference performance and controlquality of the unmanned aerial vehicle is improved, so that accurate control is guaranteed. It is ensured that the whole process is stable, reliable and timely and the precision is high.

Description

technical field [0001] The invention belongs to the UAV landing technology, and in particular relates to a flight control method for precise UAV landing based on image recognition. Background technique [0002] The autonomous landing technology of drones is an important link in the automatic control of drones, and the precision landing technology is a technology with higher precision and technical content in landing technology. Ordinary autonomous landing technology mainly relies on GPS positioning for vertical landing, and the flight control method is single; precision landing technology involves image recognition and multi-sensor altimetry data fusion. With the improvement of landing accuracy and automation, the importance of flight control systems and methods Sex is also growing. [0003] The patent document with the publication number CN106774423A discloses a method and system for landing a UAV, which obtains the position of the UAV deviating from the target landing poi...

AI Technical Summary

Problems solved by technology

The landing method and system disclosed in this invention, because the same template is matched throughout the whole process, the flight control strategy is relatively fixed; and there is no positive direction angle control, the final relative landing image of the nose is uncertain, and it is difficult to match unmanned vehicles with limited space and large volume. machine use

[0004] In the existing landing control system, the UAV adopts the cascade PID control strategy, but most of the stages are only two, so it is difficult to guarantee the accuracy and stability of position control

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