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A control method for fully autonomous arresting landing of shipborne UAV

A control method, technology of unmanned aerial vehicles, applied in the field of aviation flight control

Active Publication Date: 2022-05-10
CHENGDU AIRCRAFT INDUSTRY GROUP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in the existing technology, there are also problems in the accurate judgment of the meshing of the arresting hook and the arresting cable of the shipboard UAV, and the smooth switching of the controller after the shipboard UAV enters the arresting slide section.

Method used

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  • A control method for fully autonomous arresting landing of shipborne UAV
  • A control method for fully autonomous arresting landing of shipborne UAV
  • A control method for fully autonomous arresting landing of shipborne UAV

Examples

Experimental program
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Effect test

Embodiment 1

[0058] As a basic embodiment of the present invention, the present invention includes a control method for fully autonomous arresting and landing of a ship-borne UAV, including: the airborne inertial navigation measures the longitudinal acceleration in real time, the flight control calculates the waiting distance in real time, and uses the longitudinal acceleration and the waiting distance. The flying distance can accurately determine whether the drone is successfully attached to the cable. When the arresting hook of the drone is successfully engaged with the arresting cable, in order to meet the state requirements of the arresting cable for the arresting and sliding section of the shipborne drone, it is necessary to switch the controller structure to ensure that the shipboard For the safety of UAVs in the arresting taxiing section, the elevator channel controller structure is switched from the lifting speed control mode to the fixed elevator rudder surface control mode, and the...

Embodiment 2

[0060] As a preferred embodiment of the present invention, the present invention includes a control method for fully autonomous arresting and landing of a ship-borne UAV, including the following steps:

[0061] a. Determine whether the UAV is hanged successfully, if so, go to step b. Among them, the method of accurately judging whether the UAV is successfully hanged includes: the airborne inertial navigation measures the longitudinal acceleration in real time, and the flight control calculates the distance to be flown in real time. By judging the longitudinal acceleration for 4 consecutive shots (each shot is 20ms), the longitudinal acceleration is less than -5m / s 2 , and the distance between the arresting hook and the touchdown point is less than 0.0 and greater than -90m for 4 consecutive beats, it is determined that the hanging rope is successful. If the distance between the arresting hook and the touchdown point is less than -92m, it is judged that the hanging rope has fa...

Embodiment 3

[0064] As the best implementation mode of the present invention, the present invention includes a control method for fully autonomous arresting and landing of shipborne UAVs, including the following steps:

[0065] a. Determine whether the UAV is hanged successfully, if so, go to step b.

[0066] Refer to the attached figure 1 , The airborne inertial navigation measures the longitudinal acceleration in real time, and the flight control calculates the distance to fly in real time, and detects whether the cable is successfully attached. By judging the longitudinal acceleration for 4 consecutive shots (20ms per shot) the longitudinal acceleration is less than -5m / s 2 , and the distance between the arresting hook and the touchdown point is less than 0.0 and greater than -90m for 4 consecutive beats, it is determined that the hanging rope is successful. If the distance between the arresting hook and the touchdown point is less than -92m, it is judged that the hanging rope has fail...

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Abstract

The present invention relates to the technical field of aviation flight control, in particular to a control method for fully autonomous arresting and landing of a ship-borne UAV, including judging whether the UAV is successfully attached to the cable, and if successful, switching the controller structure, that is, the elevator channel The controller structure is switched from the elevator speed control mode to the fixed elevator rudder surface control mode, the engine channel controller structure is switched from the forward trajectory tracking control mode to the fixed throttle control mode, and the aileron channel controller structure is changed from the straight track The tracking control mode is switched to the fixed aileron rudder control mode, and the rudder channel remains in the correction control mode. Through this system, it is possible to accurately judge the meshing state of the arresting hook and the arresting cable of the ship-borne UAV, and also realize the smooth switching function of the controller after the ship-borne UAV enters the arresting slide section.

Description

technical field [0001] The invention relates to the technical field of aviation flight control, in particular to a control method for fully autonomous arresting and landing of a carrier-borne unmanned aerial vehicle. Background technique [0002] At present, countries are actively carrying out research on carrier-based UAV landing technology. Only the US military's X-47B has achieved engineering applications, but the success rate is still not high. Other countries are in the stage of theoretical research and theoretical verification. On the domestic front, major universities and research institutes have begun to trial-produce scale models of ship-borne UAVs and carry out research on ship-related technologies. The research on fully autonomous arresting and landing control technology for ship-borne UAVs provides technical reserves and support for UAVs to achieve arresting landings. Not limited by environmental factors, no casualties and other advantages. However, in the prio...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/06
CPCG05D1/0684
Inventor 邹阳李何瑜熊洪睿韩婵
Owner CHENGDU AIRCRAFT INDUSTRY GROUP