Self-adaptive fault-tolerant unmanned aerial vehicle tracking and cruising system and method

Abstract

The invention provides a self-adaptive fault-tolerant unmanned aerial vehicle tracking and cruising system and method. The system comprises an unmanned aerial vehicle flight parameter acquisition module, a self-adaptive alignment calculation module, an early warning and obstacle avoidance control module and a wireless power supply module. The self-adaptive alignment calculation module comprises an upper-layer control module and a bottom-layer control module, and the bottom-layer control module comprises a position control module, a tension and posture distribution module, a posture control module and an accelerator control module; the tension and posture distribution module controls the position control module, the posture control module and the accelerator control module to achieve the purpose of reaching the expected cruise route with the minimum inclination angle and power. The three-dimensional attitude speed, the position coordinates and the three-dimensional stress condition of the unmanned aerial vehicle in the flight process can be monitored in real time, the random forest method is adopted to optimize iteration, deviation generated in the calculation process is avoided, active fault-tolerant control is carried out through the early warning obstacle avoidance control module, it is guaranteed that deviation of the unmanned aerial vehicle from the flight route can be corrected in real time, and the unmanned aerial vehicle flight safety is improved. And cruising in the predetermined target cruising route.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to an adaptive fault-tolerant unmanned aerial vehicle tracking and cruising system and method. Background technique [0002] With the development of UAV technology, UAVs are increasingly used to perform missions in the air. At the same time, the mission environment of UAVs is becoming more and more complex, so the traditional manual trajectory planning method for UAVs is time-consuming and laborious and difficult to meet mission requirements. Quadrotor UAV is a robot system that collects external information in real time through onboard sensors and uploads its own status, and completes tasks by autonomous or manual remote control. Compared with traditional wheeled unmanned systems, quadrotor UAVs can take off and land vertically, hover at fixed points, and carry different operating tools in different terrain and landform areas. It has broad application ...

AI Technical Summary

Problems solved by technology

However, during the monitoring process, the UAV may deviate from the target area to be monitored in real time, resulting in the missing of real-time monitoring results or the inability to find dangerous objects, dangerous behaviors, and the entry of dangerous people.

Images