Control method and system for precise docking of four-rotor UAV aerial charging sub-machine

Abstract

The invention discloses a precise docking control method and system for a four-rotor unmanned aerial vehicle (UAV) air charging sub-machine. In the first stage, the parent machine / slave machine takes the dynamic position of the child machine / master machine as input, uses the dynamic position controller to approach the child machine / master machine, and flies to the bottom / above of the child machine / master machine; in the second stage, the child machine is in the Hover above the base aircraft to search for landmarks on the base aircraft and then perform precise landing. Specifically, first lock the landmarks for precise tracking, and then switch to the landing mode when the number of locked landmarks is greater than the set threshold; The position information, the laser rangefinder obtains the height information, and transmits it to the horizontal position controller and the height controller respectively to control the sub-machine to land accurately. The method of the present invention does not need to rely on high-precision sensors, does not need to be equipped with high-performance on-board computers, effectively reduces the load of the drone, improves the endurance of the drone, and has the advantages of light weight, high reliability, and high precision.

Description

technical field [0001] The invention belongs to the field of unmanned aerial vehicle flight control, and in particular relates to a method and system for precise docking control of a four-rotor unmanned aerial vehicle charging a master aircraft in the air. Background technique [0002] At present, most quadrotor UAVs are charged in the form of fixed charging piles. After the mission of the UAV, it returns to the charging pile to recharge or replace the battery. This method cannot improve the battery life of a single sortie, and when the UAV does not have the landing conditions in forests and sea areas, the charging method of the charging pile cannot carry out the UAV charging operation. In order to improve the endurance of a single UAV and break the barriers that prevent UAVs from landing and charging in forests and sea areas, it is necessary to conduct research on the precise aerial docking of mother and child UAVs to achieve all-terrain barrier-free UAV air charging. . ...

AI Technical Summary

Problems solved by technology

This method cannot improve the endurance of a single sortie, and when the UAV does not have the landing conditions in forests, sea areas, etc., the charging method of the charging pile cannot be used for UAV charging operations.

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