Unmanned aerial vehicle flight path tracking control method, system and device and storage medium

Abstract

The invention provides an unmanned aerial vehicle flight path tracking control method, system and device and a storage medium. The method comprises the steps that the turning radius of an unmanned aerial vehicle is obtained according to the ground speed of the unmanned aerial vehicle and the target lateral acceleration; acquiring a route included angle between the known flight route and the target flight route through the route information, obtaining an advanced turning distance according to the turning radius and the route included angle, and constructing an inscribed circular arc path according to the turning radius and the circle center; the unmanned aerial vehicle is switched to the target flight route according to the relation between the to-be-flied distance and the advanced turning distance, and route updating is completed; a flight path tracking control mathematical model is established based on the relative position relation between the unmanned aerial vehicle and the arc path, a lateral acceleration instruction is obtained according to an improved variable gain guidance method and converted into a roll angle instruction, and the unmanned aerial vehicle is controlled to roll according to the roll angle instruction. According to the invention, accurate flight path tracking control can be realized, and the flight path tracking control capability and the anti-interference capability of the unmanned aerial vehicle during turning are enhanced.

Description

Technical Field

[0001] The present application belongs to the technical field of unmanned aerial vehicles, and in particular, relates to a method, system, device and storage medium for tracking and controlling an unmanned aerial vehicle track. Background Art

[0002] At this stage, typical unmanned aerial vehicles at home and abroad are equipped with satellite navigation and positioning systems and flight control computers, and have basic autonomous route planning and track tracking flight capabilities. In the route planning and track tracking methods of most unmanned aerial vehicles, a certain scale of waypoints are often established through pre-task planning, real-time situational awareness and other methods, and adjacent waypoints are connected to each other to construct a flight route, and the route information is stored in the flight control computer.

[0003] In the route tracking stage, the straight line track tracking method is currently mainly used. The navigation system provides the heading angle, speed and position information of the unmanned aerial vehicle. The flight control computer calculates the lateral deviation distance and heading deviation angle between the unmanned aerial vehicle and the current route based on the navigation information and route information, and generates a lateral acceleration control instruction. Since most unmanned aerial vehicles use BTT control, the lateral acceleration control instruction can be converted into a roll angle instruction and sent to the attitude control loop to control the deflection of the actuator to make the unmanned aerial vehicle roll and maneuver, thereby achieving track correction.

[0004] During the turning phase, the main method currently used is to calculate the turning radius based on the flight speed of the UAV and the lateral acceleration control command, construct an inscribed arc based on the route angle, calculate the advance turning distance through geometric relationships, and then convert the lateral acceleration control command into a fixed roll angle command to achieve turning control. When the deviation angle between the heading of the UAV and the heading of the next route is less than a predetermined value, the turn is completed and ready to enter the next route tracking.

[0005] Since the attitude control loop has a dynamic response lag, a certain control delay will inevitably be introduced when the UAV generates a roll angle to achieve turning control. Moreover, during the turning process, the lateral heading disturbance of the UAV body (rolling disturbance torque, side wind) and the change in flight speed will also affect the turning trajectory. As a result, the open-loop control turning method based on a fixed roll angle command cannot accurately track the inscribed arc path, which directly affects the position control accuracy during the turning process, resulting in an increase in the position deviation between the UAV and the route at the end of the turn. In severe cases, the UAV may not be able to continue to fly according to the route, resulting in mission failure. Summary of the invention

[0006] In view of this, the present application aims to propose a UAV track tracking control method, system, device and storage medium to solve the problem that the UAV cannot complete precise turns, thereby causing the failure of the route flight mission.

[0007] To achieve the above object, the technical solution of the present application is realized as follows:

[0008] In a first aspect, the present application provides a method for controlling the flight path tracking of an unmanned aerial vehicle, including:

[0009] Obtaining the turning radius of the unmanned aerial vehicle according to the ground speed of the unmanned aerial vehicle and the target lateral acceleration during turning;

[0010] Obtaining the course angle between the known flight path and the target flight path through the preset route information, obtaining the early turning distance according to the turning radius and the course angle, and constructing an inscribed arc path according to the turning radius and the center of the circle;

[0011] The unmanned aerial vehicle switches to the target flight path according to the relationship between the remaining flight distance and the early turning distance, and completes the route update, where the remaining flight distance is the distance between the current position of the unmanned aerial vehicle and the end position of the known flight path;

[0012] Establishing a flight path tracking control mathematical model based on the relative position relationship between the unmanned aerial vehicle and the arc path, obtaining a lateral acceleration command according to the improved variable gain guidance method, and converting it into a roll angle command, and controlling the roll of the unmanned aerial vehicle body according to the roll angle command to generate a lateral acceleration.

[0013] In a second aspect, based on the same inventive concept, the present application further provides a flight path tracking control system for an unmanned aerial vehicle, including:

[0014] A calculation module configured to obtain the turning radius of the unmanned aerial vehicle according to the ground speed of the unmanned aerial vehicle and the target lateral acceleration during turning;

[0015] A path construction module configured to obtain the course angle between the known flight path and the target flight path through the preset route information, obtain the early turning distance according to the turning radius and the course angle, and construct an inscribed arc path according to the turning radius and the center of the circle;

[0016] A route update module configured to switch the unmanned aerial vehicle to the target flight path according to the relationship between the remaining flight distance and the early turning distance, and complete the route update, where the remaining flight distance is the distance between the current position of the unmanned aerial vehicle and the end position of the known flight path;

[0017] An instruction conversion module configured to establish a flight path tracking control mathematical model based on the relative position relationship between the unmanned aerial vehicle and the arc path, obtain a lateral acceleration command according to the improved variable gain guidance method, and convert it into a roll angle command, and control the roll of the unmanned aerial vehicle body according to the roll angle command to generate a lateral acceleration.

[0018] In a third aspect, based on the same inventive concept, the present application also provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, the method described in the first aspect is implemented.

[0019] In a fourth aspect, based on the same inventive concept, the present application also provides a non-transitory computer-readable storage medium. The non-transitory computer-readable storage medium stores computer instructions for causing the computer to execute the method described in the first aspect.

[0020] Compared with the prior art, the unmanned aerial vehicle trajectory tracking control method, system, device, and storage medium described in the present application have the following beneficial effects:

[0021] For the unmanned aerial vehicle trajectory tracking control method, system, device, and storage medium described in the present application, the method adopts the closed-loop control idea, combines the variable gain guidance method to form a time-varying roll angle command, and corrects the heading and position errors between the unmanned aerial vehicle and the circular arc path in real time. It can not only achieve accurate tracking of the circular arc trajectory but also resist the position deviation caused by lateral and longitudinal disturbances (roll disturbance torque, lateral wind), and can adapt to the speed change of the unmanned aerial vehicle caused by various disturbances. It can effectively improve the position control accuracy and anti-interference ability of the unmanned aerial vehicle during the turning process, ensure the smooth switching of the flight path and subsequent flight path tracking. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings constituting a part of the present application are used to provide a further understanding of the present application. The schematic embodiments and descriptions thereof of the present application are used to explain the present application and do not constitute an improper limitation to the present application. In the drawings:

[0023] Figure 1 It is a flowchart of a method for controlling the trajectory tracking of an unmanned aerial vehicle according to an embodiment of the present application;

[0024] Figure 2 It is a schematic diagram of an unmanned aerial vehicle entering a turning trajectory according to an embodiment of the present application;

[0025] Figure 3 It is a schematic diagram of an unmanned aerial vehicle flying according to a right-turn trajectory according to an embodiment of the present application;

[0026] Figure 4 It is a schematic diagram of an unmanned aerial vehicle flying according to a left-turn trajectory according to an embodiment of the present application;

[0027] Figure 5 It is a schematic structural diagram of a device for controlling the trajectory tracking of an unmanned aerial vehicle according to an embodiment of the present application;

[0028] Figure 6 Schematic diagram of the hardware structure of the electronic device according to an embodiment of the present application. Detailed implementation manners

[0029] In order to make the objectives, technical solutions and advantages of the present application more clear and understandable, the present application will be further described in detail below with reference to specific embodiments and the accompanying drawings.

[0030] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present application should be of the ordinary meanings understood by those of ordinary skill in the field to which the present application belongs. The "first", "second" and similar terms used in the embodiments of the present application do not denote any order, quantity or importance, but are only used to distinguish different components. The terms such as "including" or "comprising" mean that the elements or objects appearing before this term cover the elements or objects listed after this term and their equivalents, without excluding other elements or objects. The terms such as "connected" or "coupled" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The terms such as "upper", "lower", "left" and "right" are only used to represent relative positional relationships, and when the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0031] The embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0032] Please refer to Figure 1 As shown, this embodiment provides a method for controlling the trajectory tracking of an unmanned aerial vehicle, which specifically includes the following steps:

[0033] Step S101: Obtain the turning radius of the unmanned aerial vehicle according to the ground speed of the unmanned aerial vehicle and the target lateral acceleration during turning.

[0034] Specifically, in step S101 of this embodiment, the ground speed of the unmanned aerial vehicle is provided by the navigation system with an accuracy of 0.2 m / s, and the target lateral acceleration does not exceed 80% of the maximum lateral maneuvering ability of the unmanned aerial vehicle. Then, from the known ground speed V m (the ground speed provided in this embodiment is 240 m / s) and the target lateral acceleration a zc0 (the target lateral acceleration provided in this embodiment is 5.65 m / s 2 ), the turning radius r is calculated. The specific formula is:

[0035]

[0036] Step S102: Obtain the course angle between the known flight course and the target flight course through the preset course information, obtain the early turning distance according to the turning radius and the course angle, and construct an inscribed arc path according to the turning radius and the center of the circle.

[0037] Specifically, in step S102 of this embodiment, as Figure 2 shown, the unmanned aerial vehicle flies on the known flight course (i.e., the AB course), and the BC course is the next target flight course. The course angle dψ between the AB course and the BC course can be obtained through the course information. An inscribed arc path is constructed between the courses with point O as the center of the circle according to the turning radius r Calculate the early turning distance L turn and the coordinates of point O and record them.

[0038] Among them, the formula for the early turning distance is:

[0039]

[0040] In the formula, L turn represents the early turning distance, dψ represents the course angle formed by the known flight course AB and the target flight course BC. dψ is positive when turning right on the route and negative when turning left. In this embodiment, dψ = 135°;

[0041] Point B is the end point of the AB course. An inscribed arc path DE is constructed with point O as the center of the circle. Calculate the coordinates of point O. The specific formula is:

[0042]

[0043] Among them, the longitude and latitude coordinates of the center O of the arc path are (λ O , L O ), the longitude and latitude coordinates of point B are (λ B , L B ). In one embodiment, take the coordinates of point B (λ B , L B ) as (116.0°, 38°), the radius of the earth R is taken as 6378 km, and the course angle ψ OB of the OB course can be obtained as 90°, r is the radius of the arc path, ψ AB is the course angle of the AB course. In this embodiment, ψ AB = 112.5°, north by east is positive, R is the radius of the earth, [x BOE , y BON is the horizontal position coordinate of point O in the northeast celestial coordinate system with point B as the origin, [-L turn , -r] is the horizontal position coordinate of point O in the course coordinate system with point B as the origin. The two complete coordinate conversion through the course angle ψ AB .

[0044] In this step, before the UAV starts to turn, the calculation of the advance turning distance, the construction of the circular arc path, and the judgment of the turning timing are completed to avoid introducing a large initial error into the circular arc trajectory tracking process, so that the UAV can more quickly achieve the circular arc trajectory tracking control, thereby improving the position control accuracy of the UAV during turning.

[0045] Step S103: The UAV switches to the target flight route according to the relationship between the remaining flight distance and the advance turning distance, and completes the route update, where the remaining flight distance is the distance between the current position of the UAV and the end position of the known flight route.

[0046] Specifically, in step S103 of this embodiment, the UAV flies on the AB route. According to its own navigation information and the AB route information, the remaining flight distance dL from the current position to point B is calculated and recorded at regular intervals, and it is judged at regular intervals whether the remaining flight distance dL and the advance turning distance L turn satisfy the relationship that when dL < L turn , the UAV starts to turn, switches to the BC route, and completes the route update.

[0047] Furthermore, the longitude and latitude coordinates (λ M , L M ) of the UAV are provided by the navigation system. The calculation of the remaining flight distance dL is specifically as follows:

[0048]

[0049] dL = -sin(ψ AB ) · x BME - cos(ψ AB ) · y BMN

[0050] The influence of the earth's curvature is ignored during the calculation process, where [x BME , y BMN is the horizontal position coordinate of the UAV in the northeast - up coordinate system with point B as the origin. Combining the course angle ψ AB , [x BME , y BMN is projected onto the AB route through coordinate transformation, and the remaining flight distance dL is calculated at regular intervals. When dL < L turn , the UAV starts to turn, switches to the BC route, and completes the route update.

[0051] Step S104: Based on the relative position relationship between the UAV and the circular arc path, a mathematical model for trajectory tracking control is established. The lateral acceleration command is obtained according to the improved variable - gain guidance method and is converted into a roll - angle command, and the UAV body roll is controlled according to the roll - angle command to generate a lateral acceleration.

[0052] Specifically, in step S104 of this embodiment, an accurate circular arc trajectory tracking control mathematical model is established based on the relative position relationship between the unmanned aerial vehicle and the circular arc path.

[0053] Furthermore, the specific steps for establishing the accurate circular arc trajectory tracking control mathematical model are as follows:

[0054] Step S401: Calculate the distance Z between the current position of the unmanned aerial vehicle (i.e., point M) and the center of the circle O. First, find the horizontal position coordinates [x OME , y OMN of the unmanned aerial vehicle in the northeast celestial coordinate system with point O as the origin, where E represents the east direction and N represents the north direction. The specific formula is:

[0055]

[0056] Secondly, find the course angle ψ OM of the line connecting point M of the unmanned aerial vehicle and point O, specifically:

[0057]

[0058] Through ψ OM complete the conversion of the horizontal coordinates [x OME , y OMN to obtain the distance Z. The specific formula is:

[0059] Z = sin(ψ OM ) · x OME + cos(ψ OM ) · y OMN

[0060] Step S402: Calculate the lateral deviation distance dZ between the current position of the unmanned aerial vehicle and the circular arc path. Define dZ as negative when the position of the unmanned aerial vehicle is on the left side of the circular arc path DE and positive when it is on the right side. The specific formula for the lateral deviation distance dZ is:

[0061]

[0062] Step S403: Calculate the deviation angle dPsi between the current track angle of the unmanned aerial vehicle and the circular arc path. As shown in Figure 3 , Figure 4 , given that the current track angle of the unmanned aerial vehicle is ψ V (positive for north by east), define ψ V relative to the circular arc path as negative when the course is to the left of the circular arc path and positive when it is to the right. In one embodiment, ψ V takes 160°. The specific formula for the deviation angle dPsi is:

[0063]

[0064] Step S404: Define the intersection point F of the line connecting the M point of the unmanned aerial vehicle and the center O of the circle on the arc path (i.e., the closest point between the unmanned aerial vehicle and the arc), and calculate the distance L1 of the GF segment. Point G is the end point of the arc path. First, find the angle between OF and OG The specific formula is as follows:

[0065]

[0066] Step S405: According to the obtained Calculate the distance L1. The specific formula is as follows:

[0067]

[0068] Calculate the lateral acceleration command a according to the improved variable gain guidance method zL1 , and further convert it into the roll angle command γ L1 , and send it to the attitude control loop to realize the roll of the unmanned aerial vehicle body and generate the lateral acceleration to realize the trajectory tracking control of the precise arc path. Specifically as follows:

[0069] Considering that there is a certain dynamic lag in the attitude loop when the unmanned aerial vehicle generates lateral acceleration through the BTT control method, and there is a certain delay in the generation of lateral acceleration of the unmanned aerial vehicle body compared with the command. According to the classical guidance method, it is often impossible to meet the high-precision position control during the turning process. Therefore, establish a mathematical model of the improved variable gain guidance method. The specific formula is as follows:

[0070]

[0071] Among them,

[0072] In the formula, K is the variable gain coefficient, K > 2, and it can be specifically selected according to the dynamic characteristics of the attitude loop. K should not be too large, otherwise it will reduce the stability of the trajectory tracking control loop. In this embodiment, the gain K value is taken as 3.

[0073] During the turning process of the unmanned aerial vehicle, calculate the relative position relationship error between it and the arc path in real time, including the lateral deviation distance and the deviation angle, as the feedback input quantity of the variable gain guidance method, and perform real-time control on the error to complete the precise tracking of the arc trajectory. At the same time, considering the lag of the attitude control loop, combine the guidance loop and the control loop, and compensate for the lag of the control loop through the improved variable gain guidance method, which can effectively improve the position control accuracy during the turning process.

[0074] Convert the lateral acceleration command a zL1 into the roll angle command γ L1, considering that the unmanned aerial vehicle maintains a level flight mode during the turning process, the longitudinal acceleration command is 1g, that is, 9.8m / s 2 , the roll angle command γ can be calculated comprehensively L1 , specifically:

[0075]

[0076] Send the roll angle command γ L1 to the attitude control loop to realize the roll of the unmanned aerial vehicle body, and the lateral acceleration generated by the unmanned aerial vehicle body can realize the track tracking control of the precise circular arc path.

[0077] In this embodiment, the dynamic roll angle command can be generated according to the variable gain guidance method, so that the unmanned aerial vehicle can resist the position deviation caused by the lateral and longitudinal random disturbances (roll disturbance torque, lateral wind, etc.) during the turning process. Moreover, the flight speed of the unmanned aerial vehicle is considered in the command calculation process, and it has a certain robustness to the speed change caused by the disturbance. In addition, this method is applicable to the track planning results of the unmanned aerial vehicle pre-bound and updated in real time, and the immediate change of the track does not affect the effectiveness of the method, which has high applicability and robustness.

[0078] The method for tracking and controlling the track of an unmanned aerial vehicle described in this embodiment adopts the closed-loop control idea, combines the variable gain guidance method to form a time-varying roll angle command, and corrects the heading and position errors between the unmanned aerial vehicle and the circular arc path in real time. It can not only achieve the precise tracking of the circular arc track, but also resist the position deviation caused by the lateral and longitudinal disturbances (roll disturbance torque, lateral wind), and can adapt to the speed change of the unmanned aerial vehicle caused by various disturbances, which can effectively improve the position control accuracy and anti-interference ability of the unmanned aerial vehicle during the turning process, and ensure the smooth switching of the route and the subsequent route tracking.

[0079] It should be noted that some embodiments of the present application are described above. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the above embodiments and still achieve the desired results. Additionally, the processes depicted in the figures do not necessarily require the specific order or sequential order shown to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0080] Based on the same inventive concept, corresponding to the method of any of the above embodiments, an embodiment of the present application also provides a track tracking control system for an unmanned aerial vehicle.

[0081] As Figure 5 shown, the track tracking control system for the unmanned aerial vehicle includes:

[0082] A calculation module 11, configured to obtain the turning radius of the unmanned aerial vehicle according to the ground speed of the unmanned aerial vehicle and the target lateral acceleration during turning;

[0083] A path construction module 12, configured to obtain the course angle between the known flight path and the target flight path through preset route information, obtain the early turning distance according to the turning radius and the course angle, and construct an inscribed arc path according to the turning radius and the center of the circle;

[0084] A route update module 13, configured to switch the unmanned aerial vehicle to the target flight path according to the relationship between the remaining flight distance and the early turning distance, and complete route update, where the remaining flight distance is the distance between the current position of the unmanned aerial vehicle and the end position of the known flight path;

[0085] An instruction conversion module 14, configured to establish a track tracking control mathematical model based on the relative position relationship between the unmanned aerial vehicle and the arc path, obtain a lateral acceleration instruction according to the improved variable gain guidance method, and convert it into a roll angle instruction, and control the roll of the unmanned aerial vehicle body according to the roll angle instruction to generate a lateral acceleration.

[0086] For the convenience of description, when describing the above system, various modules are described separately according to their functions. Of course, when implementing the embodiments of the present application, the functions of each module can be implemented in one or more software and / or hardware.

[0087] The system of the above embodiment is used to implement the corresponding method in any of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be elaborated here.

[0088] Based on the same inventive concept, corresponding to the method of any of the above embodiments, an embodiment of the present application further provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, and when the processor executes the program, it implements the method described in any of the above embodiments.

[0089] Figure 6 FIG. shows a more specific schematic diagram of the hardware structure of the electronic device provided in this embodiment. The device may include: a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. Among them, the processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040 are communicatively connected to each other inside the device through the bus 1050.

[0090] The processor 1010 can be implemented in the form of a general-purpose CPU (Central Processing Unit), a microprocessor, an Application Specific Integrated Circuit (ASIC), or one or more integrated circuits, etc., and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0091] The memory 1020 can be implemented in the form of a ROM (Read Only Memory), a RAM (Random Access Memory), a static storage device, a dynamic storage device, etc. The memory 1020 can store an operating system and other application programs. When implementing the technical solutions provided in the embodiments of this specification through software or firmware, the relevant program codes are stored in the memory 1020 and are called and executed by the processor 1010.

[0092] The input / output interface 1030 is used to connect to an input / output module to achieve information input and output. The input / output module can be configured as a component in the device (not shown in the figure) or can be externally connected to the device to provide corresponding functions. Among them, the input device can include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device can include a display, a speaker, a vibrator, an indicator light, etc.

[0093] The communication interface 1040 is used to connect to a communication module (not shown in the figure) to achieve communication interaction between this device and other devices. Among them, the communication module can achieve communication through a wired method (such as USB, network cable, etc.) or can achieve communication through a wireless method (such as a mobile network, WIFI, Bluetooth, etc.).

[0094] The bus 1050 includes a path for transmitting information between various components of the device (such as the processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040).

[0095] It should be noted that although the above device only shows the processor 1010, the memory 1020, the input / output interface 1030, the communication interface 1040, and the bus 1050, in the specific implementation process, this device may also include other components necessary for normal operation. In addition, those skilled in the art can understand that the above device may also only include the components necessary to implement the solutions of the embodiments of this specification and do not necessarily include all the components shown in the figure.

[0096] The electronic device in the above embodiment is used to implement the corresponding method in any of the foregoing embodiments and has the beneficial effects of the corresponding method embodiments, which will not be elaborated here.

[0097] Based on the same inventive concept, corresponding to the method of any of the above embodiments, the present application further provides a non-transitory computer-readable storage medium storing computer instructions for causing the computer to execute the method described in any of the above embodiments.

[0098] The computer-readable medium of this embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette tapes, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible by a computing device.

[0099] The computer instructions stored in the storage medium of the above embodiment are used to cause the computer to execute the method described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be elaborated here.

[0100] Those of ordinary skill in the art should understand that the discussion of any of the above embodiments is only exemplary and is not intended to imply that the scope of the present application (including the claims) is limited to these examples; under the concept of the present application, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations in different aspects of the embodiments of the present application as described above, which are not provided in detail for the sake of brevity.

[0101] In addition, for simplicity of explanation and discussion, and so as not to make the embodiments of the present application difficult to understand, well-known power / ground connections to integrated circuit (IC) chips and other components may or may not be shown in the provided drawings. Further, the devices may be shown in block diagram form in order to avoid making the embodiments of the present application difficult to understand, and this also takes into account the fact that details regarding the implementation of these block diagram devices are highly dependent on the platform on which the embodiments of the present application are to be implemented (i.e., these details should be fully within the understanding of those skilled in the art). In cases where specific details (such as circuits) are set forth to describe exemplary embodiments of the present application, it will be apparent to those skilled in the art that the embodiments of the present application may be practiced without these specific details or with variations of these specific details. Accordingly, these descriptions should be considered illustrative rather than restrictive.

[0102] Although the present application has been described in connection with specific embodiments thereof, many alternatives, modifications, and variations of these embodiments will be apparent to those of ordinary skill in the art in light of the foregoing description. For example, other memory architectures (such as dynamic RAM (DRAM)) may be used with the embodiments discussed.

[0103] Embodiments of the present application are intended to cover all such alternatives, modifications, and variations that fall within the broad scope of the appended claims. Accordingly, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of the embodiments of the present application shall be included within the protection scope of the present application.

Claims

1. A method for tracking and controlling the flight path of an unmanned aerial vehicle, characterized in that, Including: Obtaining the turning radius of the unmanned aerial vehicle according to the ground speed of the unmanned aerial vehicle and the target lateral acceleration during turning; Obtaining the course angle between the known flight course and the target flight course through preset course information, obtaining the early turning distance according to the turning radius and the course angle, and constructing an inscribed arc path according to the turning radius and the center of the circle; The unmanned aerial vehicle switches to the target flight course according to the relationship between the remaining flight distance and the early turning distance, and completes course update, where the remaining flight distance is the distance between the current position of the unmanned aerial vehicle and the end position of the known flight course; Establishing a trajectory tracking control mathematical model based on the relative position relationship between the unmanned aerial vehicle and the arc path, obtaining a lateral acceleration command according to the improved variable gain guidance method, and converting it into a roll angle command, and controlling the roll of the unmanned aerial vehicle body according to the roll angle command to generate a lateral acceleration.

2. The method according to claim 1, wherein The ground speed of the unmanned aerial vehicle is provided by the navigation system, and the turning radius formula is: Where r is the turning radius, V m represents ground speed, a zc0 Indicates the target lateral acceleration.

3. The method according to claim 1, wherein The early turning distance is expressed as: where L turn represents the early turning distance, and dψ represents the course angle formed by the known flight course and the target flight course.

4. The method according to claim 3, wherein: Constructing an inscribed arc path between the known flight courses according to the turning radius with point O as the center of the circle, and the coordinates of point O are expressed as: Wherein, the longitude and latitude coordinates of point O are (λ O , L O ), point B is the end point of the known flight route, and the longitude and latitude coordinates of point B are (λ B , L B ), r represents the radius of the arc path, ψ AB represents the course angle of the known flight route, with north by east being positive, R represents the radius of the earth, [x BOE , y BON is the horizontal position coordinate of point O in the northeast celestial coordinate system with point B as the origin, [-L turn , -r] is the horizontal position coordinate of point O in the course coordinate system with point B as the origin, and the two complete coordinate transformation through the course angle ψ AB .

5. The method according to claim 4, wherein: The longitude and latitude coordinates (λ M , L M ) of the unmanned aerial vehicle are provided by the navigation system, and the to-be-flown distance is expressed as: dL = -sin(ψ AB )·x BME -cos(ψ AB )·y BMN ; wherein, [x BME , y BMN is the horizontal position coordinate of the unmanned aerial vehicle in the northeast - up coordinate system with point B as the origin. When dL < L turn is satisfied, the unmanned aerial vehicle starts to turn, switches to the target flight route, and completes the route update.

6. The method according to claim 1, characterized in that The method for constructing the trajectory tracking control mathematical model is: Obtaining the lateral deviation distance between the current position of the unmanned aerial vehicle and the arc path according to the horizontal position coordinates of the unmanned aerial vehicle in the northeast-down coordinate system with the center of the circle O as the origin and the course angle of the line connecting the current position point of the unmanned aerial vehicle and the center of the circle O; Calculating the course deviation angle between the current flight path angle of the unmanned aerial vehicle and the arc path; Defining the intersection point of the line connecting the current position point of the unmanned aerial vehicle and the center of the circle O and the arc path, and calculating the distance between the intersection point and the end point of the arc path.

7. The method according to claim 6, wherein Establishing an improved variable gain guidance method mathematical model, specifically: wherein, dZ′ = V m ·sin(dPsi); Wherein, V m represents the ground speed, K represents the variable gain coefficient, and K > 2, dZ represents the lateral deviation distance, L1 represents the distance between the intersection point and the end point of the arc path, dPsi represents the course deviation angle, and r represents the turning radius; Converting the lateral acceleration command into a roll angle command, specifically: Where a zL1 represents the lateral acceleration, γ L1 represents the roll angle, and g represents 9.8 m / s 2 .

8. An unmanned aerial vehicle trajectory tracking control system, characterized in that, Including: A calculation module configured to obtain the turning radius of the unmanned aerial vehicle according to the ground speed of the unmanned aerial vehicle and the target lateral acceleration during turning; A path construction module configured to obtain the course angle between the known flight course and the target flight course through preset course information, obtain the early turning distance according to the turning radius and the course angle, and construct an inscribed arc path according to the turning radius and the center of the circle; A course update module configured to switch the unmanned aerial vehicle to the target flight course according to the relationship between the remaining flight distance and the early turning distance, and complete course update, where the remaining flight distance is the distance between the current position of the unmanned aerial vehicle and the end position of the known flight course; A command conversion module configured to establish a trajectory tracking control mathematical model based on the relative position relationship between the unmanned aerial vehicle and the arc path, obtain a lateral acceleration command according to the improved variable gain guidance method, and convert it into a roll angle command, and control the roll of the unmanned aerial vehicle body according to the roll angle command to generate a lateral acceleration.

9. An electronic device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor, when executing the program, implements the method according to any one of claims 1-7.

10. A non-transitory computer-readable storage medium, characterized in that Wherein, the non-transitory computer-readable storage medium stores computer instructions for causing a computer to execute the method according to any one of claims 1-7.

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