Unmanned aerial vehicle accurate landing method based on single base station

Abstract

The invention provides an unmanned aerial vehicle accurate landing method based on a single base station. The method is characterized by comprising the following steps: under the condition that a to-be-landed unmanned aerial vehicle reaches a preset area, enabling the unmanned aerial vehicle to execute oscillation motion without deviating from the x axis by taking a single base station as an original point and the direction pointing to the unmanned aerial vehicle as an x axis according to distance information acquired in real time of the unmanned aerial vehicle relative to a base station and flight mileage information acquired in real time of the unmanned aerial vehicle so as to form a fan-shaped convergence track until landing of the unmanned aerial vehicle at a target position. Accordingto the invention, low-cost and precise convergence landing of the unmanned aerial vehicle can be realized; problems that the unmanned aerial vehicle is difficult to arrange due to the limitation of the space environment in the construction of the existing UWB positioning environment with three or more base stations can be solved; and a problem that the position information of the unmanned aerialvehicle is difficult to obtain and the stability of the system is insufficient when the unmanned aerial vehicle performs navigation landing in the UWB single base station positioning environment can be solved.

Description

technical field

[0001] The invention belongs to the field of unmanned aerial vehicles, and in particular relates to a precise landing method of an unmanned aerial vehicle based on a single base station. Background technique

[0002] In the past ten years, the number of drones has increased dramatically, and they have been widely used in civil and military fields, such as aerial photography, logistics and distribution, inspection and surveillance, and disaster relief. Although there are more and more application fields of UAVs, there are also various problems. Among them, the problems in the landing stage of UAVs are the most complicated and most prone to flight accidents. The main reason is that UAVs The autonomous flight capability is low and the performance is insufficient.

[0003] Precise autonomous landing technology can support UAVs to complete stable and reliable flight missions. In the past, the landing process of the UAV mainly relied on the combination of its own...

Images