Link failure emergency disposal method during route flight of unmanned helicopter

Abstract

The invention belongs to the technical field of flight control of unmanned helicopters, and discloses a link failure emergency disposal method during route flight of an unmanned helicopter. Three selectable modes are provided: an original route return mode, namely, during automatic route flight, when a measurement and control link fails, the helicopter immediately adjusts the heading direction toreversely fly along the covered route to return to a take-off point; a direct course reversal mode, namely, during automatic route flight, when a measurement and control link fails, the helicopter immediately exits the route flight, and adjusts the heading direction to return to a take-off point through a shortest straight line path; a task priority mode, namely, during automatic route flight, thehelicopter continues the current automatic route flight and does not deal with the situation that the measurement and control link fails.

Description

technical field [0001] The invention belongs to the technical field of unmanned helicopter flight control, and in particular relates to an emergency treatment method for link failure during flight of an unmanned helicopter. Background technique [0002] The unmanned helicopter system consists of an unmanned helicopter and a ground station, and the operator of the ground station monitors and commands the whole process of the unmanned helicopter. Route flight is the autonomous flight of unmanned helicopters according to pre-booked routes, which is the most important way to perform tasks. When flying on the route, the measurement and control link may be interrupted. At this time, the ground station loses control of the unmanned helicopter, and the unmanned helicopter needs to fly fully autonomously. The traditional emergency treatment method for measurement and control failures is to align the unmanned helicopter to the take-off point and return home autonomously. However, in ...

AI Technical Summary

Problems solved by technology

The traditional emergency treatment method for measurement and control failures is to align the unmanned helicopter to the take-off point and return home autonomously. However, in the face of different task importance and different flight stages in the route, the priority between flight platform safety and task execution may need to be dynamic. Adjustable, the traditional method cannot be flexibly configured

In addition, due to the flight area, there may be threats in the area where the unmanned helicopter autonomously returns, such as terrain, buildings, etc. Traditional methods cannot effectively guarantee flight safety without the deployment of threat detection equipment.

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