Unmanned aerial vehicle landing control method and device, unmanned aerial vehicle and storage medium

Abstract

The invention provides an unmanned aerial vehicle landing control method and device, an unmanned aerial vehicle and a storage medium, and relates to the field of flight control of unmanned aerial vehicles. The method is applied to the composite wing unmanned aerial vehicle, the composite wing unmanned aerial vehicle comprises a fixed wing and a rotor wing, and the method comprises the steps that whether the current deceleration distance of the composite wing unmanned aerial vehicle is smaller than or equal to a deceleration distance threshold value is judged; if yes, the composite wing unmanned aerial vehicle is set to be in a horizontal-to-vertical mode; when the forward speed of the composite wing unmanned aerial vehicle is smaller than or equal to the hovering speed threshold value, thecomposite wing unmanned aerial vehicle is set to be in a tail end hovering mode; whether the current hovering time is greater than or equal to the tail end hovering time or not is judged; if yes, thecomposite wing unmanned aerial vehicle is set to be in a tail end descending mode; and under the condition that the composite wing unmanned aerial vehicle meets the preset to-be-flied condition, thecomposite wing unmanned aerial vehicle is set to be in the to-be-flying mode from the tail end descending mode. By setting different judgment thresholds, the landing behavior of the unmanned aerial vehicle is divided into multiple modes to be controlled, and it is guaranteed that the unmanned aerial vehicle can safely land to a designated landing point.

Description

technical field [0001] The present invention relates to the field of flight control of unmanned aerial vehicles, in particular, to a landing control method and device for unmanned aerial vehicles, an unmanned aerial vehicle and a storage medium. Background technique [0002] With the development of science and technology and the progress of society, UAVs have become more and more widely used, such as aerial reconnaissance, surveillance, communication, anti-submarine, electronic jamming, etc. [0003] UAV is an unmanned aircraft operated by radio remote control equipment and self-contained program control device. The personnel on the ground, on the ship, or at the remote control station of the parent aircraft track, locate, remotely control, telemeter and digitally transmit it through radar and other equipment. The UAV can land automatically in the same way as the landing process of ordinary aircraft, and it can also be recovered by parachute or block by remote control. [...

AI Technical Summary

Problems solved by technology

[0004] As the demand for application scenarios increases, compound-wing UAVs emerge as the times require. Compound-wing UAVs are a new type of UAVs that combine fixed-wing UAVs and rotary-wing UAVs. The advantages of UAVs and rotary-wing UAVs, but the landing control of compound wings has become more complicated. The traditional landing control methods of fixed-wing UAVs and rotary-wing UAVs are no longer suitable for compound-wing UAVs

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