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Self-recovery method of multi-rotor aircraft

A recovery method and rotorcraft technology, applied in the direction of rotorcraft, motor vehicles, aircraft parts, etc., can solve the problems of limited, unrealized autonomous recovery, failure to meet the high mobility of UAVs, etc.

Active Publication Date: 2021-12-07
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] However, the existing recovery systems such as parachutes and collision nets are mainly used for low-speed drones and recovery platforms without overload maneuverability; the recovery objects of the elves are also limited to the predetermined cooperation targets, and when the environmental target information is unknown Unable to quickly respond to temporary recovery tasks on the battlefield, not universal
The existing UAV recovery system has not achieved true autonomous recovery, and failed to meet the requirements for high mobility, high reliability, high survival rate, high cost-effectiveness ratio and multi-task of UAVs

Method used

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  • Self-recovery method of multi-rotor aircraft
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  • Self-recovery method of multi-rotor aircraft

Examples

Experimental program
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Effect test

experiment example

[0066] Set the recovery platform from the initial position (0, 0, 30) m, and do a figure-of-eight movement in the air, with a combined speed of 8 m / s, and the motion trajectory is as follows: figure 1 As shown by the black line,

[0067] The initial position of the multi-rotor aircraft is (-50, 0, 50) m, and the initial speed is 0. The movement information of the recovery platform is detected and sent to the control system through the photoelectric pod, and the acceleration command is provided by the following formula (1) and the following formula (4): Control the multi-rotor to move towards the target, and then use the traditional PID algorithm to control the multi-rotor for comparison.

[0068]

[0069]

[0070] In the formula, the value of N is 4, Ω Los and Ω d can be solved in real time;

[0071] The trajectory of the multi-rotor aircraft and the recovery platform is as follows: figure 1 As shown in , it can be seen from the figure that the multi-rotor controll...

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Abstract

The invention discloses an autonomous recovery method for a multi-rotor. The method can autonomously navigate through an unmanned aerial vehicle, and the unmanned aerial vehicle controls itself to approach a predetermined recovery position, finally land on the predetermined recovery position, and at the recovery Even when the position is in motion, the recycling operation can be completed efficiently and accurately.

Description

technical field [0001] The invention relates to the related field of multi-rotor aircraft, in particular to a method for autonomous recovery of multi-rotor aircraft. Background technique [0002] Unmanned aerial vehicles are of increasing strategic and tactical importance in both civilian and military applications. UAVs can be used for enemy reconnaissance and detection on the battlefield, precise strikes against enemy aircraft, and can save costs and reduce the risk of casualties. They can also play an important role in geological exploration, fire warning and other fields. The increasingly complex working environment and diverse However, due to the low cost of UAVs, the weight and size of the aircraft limit its onboard fuel capacity, and the operating range and endurance of UAVs are also greatly reduced. . [0003] The self-recovery UAV system can quickly deploy and transfer the operation area, replenish fuel, maintain and check in time to speed up the UAV cycle operatio...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/10G05D1/08B64F1/00B64D47/08B64C27/08
CPCG05D1/0808G05D1/101B64F1/00B64D47/08B64C27/08B64U10/10
Inventor 林德福陶宏李斌宋韬王伟范世鹏郑多王江
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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