Method and device for indoor path tracking of unmanned aerial vehicles

Abstract

An embodiment of the invention provides an unmanned aerial vehicle indoor path tracking method and a device thereof, wherein the method comprises the steps of through differentiating multiple paths ofa planned track segment of an unmanned aerial vehicle into multiple differential paths, determining a path difference between a current position and a to-be-compared micro object point in each differential path; if the path difference is higher than a preset path difference, adjusting flight time of the unmanned aerial vehicle to the to-be-compared micro object point, and obtaining an adjusted flight time, and in the adjusted flight time, controlling the unmanned aerial vehicle to flight to the to-be-compared micro object point; and on the condition that the to-be-compared micro object pointis not a last micro object point and the path difference is smaller than the preset path difference, adjusting the rate of the unmanned aerial vehicle in flying to a next to-be-compared micro object point in the micro object points, thereby compensating the path difference. Compared with the prior art, the unmanned aerial vehicle indoor path tracking method and the device thereof have advantages of reducing the accumulated error of the unmanned aerial vehicle in directly flying to a planned track destination point, reducing processing frequency and improving system stability.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to an indoor path tracking method and device for an unmanned aerial vehicle. Background technique [0002] UAVs have the advantages of simple structure and high mobility, and are widely used in disaster relief, geological exploration, agricultural plant protection, etc. The formation flight of general drones also has a wide range of applications, such as drone performances, dynamic monitoring of large pavilions, etc. The formation flight of UAVs is mostly classified as the control problem of multiple UAVs. UAV control problems generally include positioning, path planning, path tracking, and task assignment. [0003] The current mainstream UAV path tracking method can generally adopt proportional-differentiation (Proportional-Differentiation, referred to as PD) control, control the UAV to fly from the starting point to the end point according to the planned traject...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the embodiments of the present invention is to provide a UAV indoor path tracking method and device, which is used to solve the problem in the prior art that due to the long flight path of the UAV, the accuracy of PD control will be affected, resulting in the compensation of the UAV. Technical issues with low accuracy of flight errors

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