Unmanned aerial vehicle guidance method, unmanned aerial vehicle and storage medium

Abstract

The invention relates to the field of unmanned aerial vehicles, and discloses an unmanned aerial vehicle guidance method, an unmanned aerial vehicle and a storage medium. The method comprises: obtaining target trajectory route acquiring; if the curvature of the target track route is not equal to that of the current track route, determining a turning point according to the current track route and the target track route; acquiring a turning preparation distance and a real-time distance of the unmanned aerial vehicle; when the real-time distance is smaller than or equal to the turning preparationdistance, obtaining the flight direction and guidance law model of the unmanned aerial vehicle according to the target trajectory route, and controlling the unmanned aerial vehicle to fly; calculating a turning preparation distance according to the current flight state of the unmanned aerial vehicle. Therefore, when the unmanned aerial vehicle enters the turning preparation distance, the flight direction and the guidance law model are switched in time to control the flight of the unmanned aerial vehicle, so as to ensure that the unmanned aerial vehicle accurately cuts into the target trajectory route at the turning point, and then the unmanned aerial vehicle flies on the target trajectory route, thereby improving the tracking precision of the unmanned aerial vehicle on the target trajectory route.

Description

technical field [0001] The invention relates to the field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle guidance method, an unmanned aerial vehicle and a storage medium. Background technique [0002] Fixed-wing UAVs are widely used in many fields due to their long flight distance and fast flight speed. Among them, when the fixed-wing UAV is flying, it mainly provides lift through its wings, and can only provide sufficient lift when the speed of the UAV reaches a certain level. [0003] Since the fixed-wing UAV cannot hover during flight, when the fixed-wing UAV turns in flight, for trajectories with unequal curvatures, the trajectory tracking effect will be poor, resulting in a large tracking error. Contents of the invention [0004] An object of an embodiment of the present invention is to provide a UAV guidance method, a UAV and a storage medium, which can improve the accuracy of UAV trajectory tracking. [0005] In order to solve the above t...

AI Technical Summary

Problems solved by technology

[0003] Since the fixed-wing UAV cannot hover during flight, when the fixed-wing UAV turns in flight, for trajectories with unequal curvatures, it will appear The trajectory tracking effect is not good, resulting in a large tracking error

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