Accurate flight path tracking control method, device and equipment for unmanned aerial vehicle

By constructing a track-state phase space model and composite potential field gradient modulation technology, high-precision tracking control of the drone in complex environments is achieved, solving the problems of control performance degradation and singularity in traditional methods, and improving the flight stability and adaptability of the drone.

CN120508124AActive Publication Date: 2025-08-19JIANG SU XIN YOU PENG KE JI YOU XIAN GONG SI
5 Cites 8 Cited by

Patent Information

Application Number
CN202511005616.2
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2025-07-22
Publication Date
2025-08-19
Estimated Expiration
2045-07-22

AI Technical Summary

Technical Problem

The existing UAV track tracking control methods lack in-depth analysis when dealing with complex nonlinear dynamic characteristics, resulting in a degradation of control performance and inability to achieve accurate tracking, especially when complex environments and singular points are present, overshooting and oscillation are prone to occur.

Method used

Through the fusion of GPS track data and flight state information, a track-state phase space model is constructed, dynamic trajectory analysis and attractor recognition are carried out, composite potential fields are established and gradient modulation is performed, and accurate tracking control instructions are generated.

Benefits of technology

It realizes high-precision, fast response and strong robust track tracking control of the drone in complex environments, solves the problem of experience and control of singularity in traditional methods in parameter adjustment, and improves the system's adaptability and tracking accuracy.

✦ Generated by Eureka AI based on patent content.
Patent Text Reader

Abstract

The invention provides an accurate flight path tracking control method, device and equipment for an unmanned aerial vehicle, and the method comprises the steps: generating fusion state data through the fusion of GPS flight path data and flight state information, and constructing a flight path-state phase space model through employing a phase space reconstruction technology; phase trajectory feature parameters are extracted based on dynamic trajectory analysis, and dynamic attractor features are determined through attractor recognition processing; analyzing and identifying the center position of an attractor and the position of a topological singular point by using phase space topology, and constructing composite potential field intensity distribution formed by overlapping a conventional gravitational potential field and a repulsion-attraction bipolar potential field; gradient calculation is carried out on the composite potential field, and adaptive modulation is carried out based on the relative relation between the current position and the attractor center; in a local coordinate system taking a singular point as an original point, decomposing a modulation gradient vector into radial and circumferential components, and forming a spiral potential field through selective rotation enhancement; and finally, generating a tracking control instruction and performing signal modulation output, thereby realizing accurate tracking control of the unmanned aerial vehicle on the preset route.
Need to check novelty before this filing date? Find Prior Art