A control method and system for autonomous landing of a vertical take-off and landing UAV mobile platform

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. The method first establishes a relative kinematics model of the vertical take-off and landing unmanned aerial vehicle and the mobile platform, and estimates the relative kinematics model of the mobile platform relative to itself. The precise three-dimensional position and attitude, and then adopt the predetermined performance specification error transformation method and the inversion control method based on this method to realize the autonomous landing of the vertical take-off and landing UAV on the mobile platform. The inversion control method based on error transformation effectively solves the problem of "combination explosion" in other inversion control methods, ensuring that the output error converges to a predefined residual set along the absolute decay time function, and the maximum overshoot is lower than a predetermined level. The system includes a vertical take-off and landing UAV, a monocular vision device, an autonomous landing control module, an AprilTag visual reference system, and a mobile platform. Through a minimum of sensors and a low-complexity control method, the vertical take-off and landing UAV has a low load and is autonomous. Landing mobility is strong.

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...

AI Technical Summary

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, how to design a high-precision autonomous landing control system under low load and low computing power has become an urgent problem to be solved.

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