Planning and control method for landing of unmanned aerial vehicle in crosswind environment

Abstract

The invention relates to the technical field of unmanned aerial vehicles, and discloses a planning and control method for landing of an unmanned aerial vehicle in a crosswind environment, which comprises the following steps: S1, acquiring parameters of a lateral course motion state, parameters of a longitudinal motion state and environmental parameters of the aircraft through an airborne sensor; s2, predicting the landing time of the aircraft according to the data collected by the airborne sensor, and judging the starting time of trajectory planning; s3, the lateral deviation distance, the lateral deviation speed, the roll angle and the course angle of the unmanned aerial vehicle at the beginning of trajectory planning serve as initial planning parameters, terminal state constraint parameters of the aircraft are determined according to aircraft use limitation, and the transverse and lateral flight trajectory of the unmanned aerial vehicle is planned by adopting an MPC planning algorithm in combination with the current wind speed and wind direction of the aircraft; and S4, taking the planning result as an instruction of a transverse course trajectory tracking and attitude controller, and designing a corresponding controller algorithm to track a reference instruction generated by planning. According to the invention, a proper control law is designed to track a generated flight state trajectory instruction.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, specifically, a planning and control method for unmanned aerial vehicle landing in a crosswind environment, which is used to plan the aircraft before landing according to the state constraints at the moment of landing by using the optimal planning method. The flight state trajectory command is designed, and an appropriate control law is designed to track the generated flight state trajectory command. Background technique [0002] With the development of aviation technology, drones are used more and more in various occasions, and the requirements for the use environment are becoming more and more stringent. During the landing process of the wheeled take-off and landing UAV, because it works in an environment with low airspeed, low speed pressure and high angle of attack, it will be more sensitive to the influence of external wind disturbance. During the landing phase, the crosswi...

AI Technical Summary

Problems solved by technology

In this way, it can ensure that the lateral deviation will not be too large when touching down, and the heading deviation will not be too large, but the sideslip angle at the moment of landing and touching down cannot be reduced.

Moreover, in actual implementation, when to switch from the "side navigation method" to the "side slip method" is also determined artificially based on experience, and whether the switching time is reasonable, there is no standard and basis for judging before the final landing

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