Unmanned aerial vehicle wind disturbance resistance control method and device, terminal and storage medium

Abstract

The invention discloses an unmanned aerial vehicle wind disturbance resistance control method and device, a terminal and a storage medium, and the method comprises the steps: collecting and processing the flight state data and sensor data of an unmanned aerial vehicle in a wind disturbance scene, and carrying out the training through a data driving mode, and obtaining a neural network model representing wind disturbance; deploying the neural network model representing the wind disturbance to the unmanned aerial vehicle, controlling the unmanned aerial vehicle to operate online, and estimating the disturbance quantity of the current scene wind to the unmanned aerial vehicle in real time; and performing motion compensation on the rotor wing of the unmanned aerial vehicle in a feedforward compensation mode, and recovering the unmanned aerial vehicle from the offset position to the target position according to the disturbance quantity. On the premise that a complex wind disturbance mechanism model is not analyzed, according to pre-collected flight record data, a data driving mode is adopted for training to obtain a wind disturbance black box model, the wind disturbance black box model is deployed to the quad-rotor unmanned aerial vehicle for real-time operation, finally wind disturbance is compensated through a feedforward control mode, the wind resistance control effect is achieved, and the wind disturbance control method is suitable for the quad-rotor unmanned aerial vehicle. The problem of low disturbance suppression efficiency is solved.

Description

technical field [0001] The present invention relates to the technical field of unmanned aerial vehicles, in particular to a method, device, terminal and storage medium for anti-wind disturbance control of unmanned aerial vehicles. Background technique [0002] In recent years, due to the widespread application of UAVs in scenarios such as exploration, search and rescue, space imaging, and transportation, research on UAV motion control has also received great attention from academia and industry. It is worth noting that in practical applications, wind disturbance in the natural environment is almost everywhere, resulting in the uncertainty and complexity of the UAV system. If it is not handled properly, it will seriously affect the movement of the UAV Impact. [0003] However, in general, the motion control method of the UAV system is not designed for the wind disturbance scene, but directly and simply introduces the integration link in the PID controller, so as to suppress ...

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Problems solved by technology

[0005] The technical problem to be solved by the present invention is that, aiming at the defects of the prior art, the present invention provides a UAV anti-wind disturbance control method, device, terminal and storage medium to solve the problem of the existing UAV system in the wind disturbance scenario. The emerging technical problem of low disturbance suppression efficiency

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