Control method and system for autonomous landing of vertical take-off and landing unmanned aerial vehicle mobile platform

A vertical take-off and landing, mobile platform technology, applied in control/adjustment system, non-electric variable control, three-dimensional position/course control, etc., can solve the problems of limited airborne sensors and computing capabilities, low payload characteristics, etc.

Active Publication Date: 2020-12-18
HUNAN UNIV
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Problems solved by technology

However, due to the low payload characteristics of the vertical take-off and landing UAV, its onboard sensors and computing power are limited, h

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  • Control method and system for autonomous landing of vertical take-off and landing unmanned aerial vehicle mobile platform
  • Control method and system for autonomous landing of vertical take-off and landing unmanned aerial vehicle mobile platform
  • Control method and system for autonomous landing of vertical take-off and landing unmanned aerial vehicle mobile platform

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Embodiment Construction

[0094] In order to enable those skilled in the art to better understand the technical solutions of the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0095] refer to figure 1 , figure 2 , figure 1 A flow chart of a control method for autonomous landing of a vertical take-off and landing drone on a mobile platform provided by the present invention, including the following steps:

[0096] S1: Establish the dynamics model of the vertical take-off and landing UAV, the kinematics model of the mobile platform, and the relative kinematics model of the vertical take-off and landing UAV and the mobile platform;

[0097] S2: Design a predetermined performance error transformation method;

[0098] S3: Using the inversion control method based on the predetermined performance error transformation method to design the position control law of the vertical take-off and landing UAV;

[0099] S4: Design th...

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Abstract

The invention discloses a control method and system for autonomous landing of a vertical take-off and landing unmanned aerial vehicle on a mobile platform, and the method comprises the steps: buildinga relative kinematics model of the vertical take-off and landing unmanned aerial vehicle and the mobile platform, and estimating the precise three-dimensional position and posture of the mobile platform relative to the mobile platform; realizing autonomous landing of the vertical take-off and landing unmanned aerial vehicle on the mobile platform by adopting a predetermined performance specification error transformation method and an inversion control method based on the method. According to the inversion control method based on error transformation, the problem of combined explosion in otherinversion control methods is effectively solved, it is guaranteed that output errors converge to a predefined residual set along an absolute attenuation time function, and the maximum overshoot is lower than a preset level. The system comprises a vertical take-off and landing unmanned aerial vehicle, a monocular vision device, an autonomous landing control module, an AprilTag vision reference system and a mobile platform, and the vertical take-off and landing unmanned aerial vehicle is low in load and high in autonomous landing maneuverability through the least sensors and a low-complexity control method.

Description

technical field [0001] The invention relates to the field of autonomous landing of vertical take-off and landing drones, in particular to a control method and system for autonomous landing of vertical take-off and landing drones on a mobile platform. Background technique [0002] Vertical take-off and landing UAVs have been widely used in civil and military scenarios, including industrial inspection, aerial photography, communication relay, surveillance, search and rescue, etc. The autonomous landing of the UAV is a process in which the onboard automatic flight system completely controls the aircraft and performs landing flight. In this process, the manipulation is complex and there are many ground interference factors, which require the UAV to have high-precision autonomous positioning and navigation, and robust landing trajectory tracking capabilities. [0003] At present, more studies are made on the pose estimation method for static platforms, but considering more gener...

Claims

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/102
Inventor 缪志强林杰王耀南张辉钟杭刘理
Owner HUNAN UNIV
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