Intelligent fishing unmanned aerial vehicle method based on three fish finding mode flight control algorithms

Abstract

The invention discloses an intelligent fishing unmanned aerial vehicle method based on three fish finding mode flight control algorithms. The method comprises the following steps: S1, establishing a mathematical model of a fishing unmanned aerial vehicle; S2, designing a motor thrust control strategy and a control distribution method of the fishing unmanned aerial vehicle; S3, designing a cascadeclosed-loop PID flight control method of the fishing unmanned aerial vehicle; and S4, planning fish finding routes of three different fishing unmanned aerial vehicles and carrying out intelligent hookthrowing and bait throwing, wherein the fish finding modes comprise a multi-point fish finding mode, a rapid fish finding mode and a regional fish finding mode. Compared with the prior art, the method has the advantages that the defects existing in an existing consumption application type unmanned aerial vehicle are overcome, the cascade closed-loop PID control algorithm is used for offshore fishfinding of the unmanned aerial vehicle, and it is guaranteed that the fishing unmanned aerial vehicle flies along a set fish finding line, real-time monitoring is conducted, control over the position, height and posture of the fishing unmanned aerial vehicle is achieved, and meanwhile, real-time accurate fish finding of the fishing unmanned aerial vehicle in different fish finding modes is achieved through a position and height control method.

Description

technical field [0001] The invention relates to the field of unmanned aerial vehicles, and specifically refers to an intelligent fishing unmanned aerial vehicle method based on flight control algorithms of three fish detection modes. Background technique [0002] At present, the application of UAVs in various fields of people's production and life has become a major trend; combining UAVs with traditional fishing, especially sea fishing activities, can make fishing more intelligent and professional, and at the same time make it more convenient for fishermen Intelligent monitoring of fishing activities, civilian consumer quadcopter drones have been widely used in aerial photography and surveying and mapping. Because of their low price, easy to carry, and easy to control, they have become the first choice of many consumer players. The disadvantage is that the load capacity is limited. It is not easy to carry heavy baits and hooks during sea fishing. [0003] Relatively large i...

AI Technical Summary

Problems solved by technology

[0005] The technical problem to be solved by the present invention is that the current civilian consumer quadrotor UAV has limited load capacity, and it is not easy to carry heavy bait and hooks during sea fishing. Larger industrial-grade UAVs are bulky and inconvenient to carry. And it is expensive, not suitable for long-term use by a large number of fishermen, and currently lacks a control algorithm suitable for fishing drones

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