Control method for unmanned aerial vehicle landing on ship
A control method and unmanned aerial vehicle technology, applied in the direction of attitude control, control/regulation system, non-electric variable control, etc., can solve problems such as solving complex control methods, and achieve the effect of simple control methods
Active Publication Date: 2022-03-11
HARBIN INST OF TECH
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Problems solved by technology
[0004] Aiming at solving complicated problems in the existing control method for landing UAVs on small ships, the present invention provides an effective and simple control method for landing UAVs with terminal constraints on small ships
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[0025] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.
[0026] It should be noted that, in the case of no conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.
[0027] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but not as a limitation of the present invention.
[0028] The motion of the UAV in the vertical plane can be expressed in the form of the following vector differen...
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Aiming at solving the complex problem of the existing control method for unmanned aerial vehicles landing on small ships, the present invention provides an effective and simple control method for landing unmanned aerial vehicles on small ships with terminal constraints, which belongs to unmanned aircraft landing control field. The present invention includes: S1. Determine the optimal landing guidance trajectory for guiding the inertialess UAV to the ship-borne landing device under the terminal constraint condition; the terminal constraint condition is the boundary of the docking time between the UAV and the ship-borne landing device Conditions; S2. On the basis of the optimal landing guidance trajectory, combined with the inertial conditions of the UAV, determine the control trajectory of the UAV to ensure that the terminal constraints are met when the UAV docks with the ship-borne landing device; S3 , Realize the landing control of the UAV on the ship according to the control trajectory. The invention is applied to the landing of unmanned aerial vehicle (UAV) on small ships.
Description
technical field [0001] The invention relates to a method for controlling the landing of a drone, in particular to a method for controlling the landing of a drone with terminal constraints on a small ship, and belongs to the field of drone landing control. Background technique [0002] As warships such as aircraft carriers, battleships, destroyers, frigates, and amphibious ships are increasingly equipped with carrier-based drones, drones play an important role in "non-contact warfare" dominated by information-based weapons and intelligent weapons. With the three-dimensional and multi-level development of modern naval warfare, ships with small displacement are used to carry unmanned aerial vehicles to reach certain special combat areas to perform dangerous tasks such as battlefield reconnaissance, anti-submarine and anti-ship, amphibious assault, and air early warning, so as to grasp future warfare It is also an important issue of international general concern to enhance the n...
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IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0825G05D1/101
Inventor 谭立国宋审民于志刚霍建文
Owner HARBIN INST OF TECH