An intelligent fixed airport for drones

Abstract

The present invention belongs to the technical field of fixed airports for unmanned aerial vehicles, and in particular relates to an intelligent fixed airport for unmanned aerial vehicles. It includes a unmanned aerial vehicle guidance module and a landing guidance module; the unmanned aerial vehicle guidance module includes a coordinate conversion component and a state prediction component; the coordinate conversion component is used to establish a corresponding coordinate system; the state prediction component is used to establish a landing state prediction model for unmanned aerial vehicles; the landing guidance module includes an approach guidance component, a control guidance component, and a landing guidance component; the approach guidance component is used to ensure that the unmanned aerial vehicle adjusts its heading during the approach preparation stage; the control guidance component is used to guide and control the heading and flight altitude of the unmanned aerial vehicle to meet landing requirements; the landing guidance component is used to guide the unmanned aerial vehicle to land at a fixed airport. The intelligent fixed airport for unmanned aerial vehicles of the present application has a wide range of applicability, and can effectively improve the speed of various types of rotary-wing unmanned aerial vehicles and fixed-wing unmanned aerial vehicles in approaching fixed airports and tracking landing positions during landing, thereby enhancing the accuracy and safety of unmanned aerial vehicle landings.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned aerial vehicle (UAV) fixed airports, and in particular relates to an intelligent UAV fixed airport. Background Art

[0002] With the development of drone technology, drones have formed various types including rotary-wing drones and fixed-wing drones. There are differences in the control, use and functions of different drones, but generally they require a relatively fixed take-off and landing environment. With the improvement of the market's requirements for drone work efficiency and performance, the flight speed and take-off and landing quality of drones are constantly increasing. However, the current existing drone take-off and landing control is mainly based on the drone's built-in system. Fixed airports are generally only used as drone take-off and landing platforms. However, with the continuous improvement of the aforementioned needs, the corresponding action control process has become more and more complicated, the data that needs to be processed has become more and more huge, and the demand for software and hardware has also continued to increase. This has brought additional burdens to the carrying capacity of drones, which is not conducive to further improving the carrying capacity of drones. At the same time, it ignores the application prospects of fixed airports as supporting equipment for effectively enhancing drone performance, expanding drone functions and improving the efficiency of drone release and recovery. Summary of the Invention

[0003] The purpose of the present invention is to provide a drone intelligent fixed airport that is suitable for the take-off and landing guidance control of various types of drones, can improve the release and recovery efficiency of drones, enhance the safety performance of drone take-off and landing, and is conducive to simplifying the drone control system and enhancing the performance of fixed airports.

[0004] To achieve the above objectives, the present invention adopts the following technical solutions.

[0005] An intelligent fixed airport for drones, comprising a drone guidance module and a landing guidance module;

[0006] The UAV guidance module includes a coordinate conversion component and a state prediction component;

[0007] The coordinate conversion component is used to establish the corresponding coordinate system according to the geocentric direction, regional coordinates and the pose sensor data on the joint UAV;

[0008] The state prediction component is used to establish a UAV landing state prediction model based on the meteorological environment of the fixed airport and the posture data of the UAV to be landed. The landing state prediction model includes the UAV motion model and aerodynamic model.

[0009] The UAV motion model is used to establish the motion characteristics of the UAV during landing. It is expressed through the state changes generated by the UAV under the action of forces and torques and its position data in inertial space. Its differential model is established using the UAV's six-degree-of-freedom motion parameters. The aerodynamic model is used to establish the characteristics of the influence of the air in the area on the UAV during landing.

[0010] The landing guidance module includes an approach guidance component, a control guidance component, and a landing guidance component;

[0011] The approach guidance component is used to ensure that the drone can adjust its final heading to maintain a fixed direction and avoid abnormal movements such as flipping during the approach preparation phase, that is, when approaching a fixed airport but before landing.

[0012] In this process, first, based on the current positioning data, a straight descent or other scheme is adopted before approaching the fixed airport to make it close to the landing guidance airspace. The landing guidance airspace refers to the cylindrical airspace located on both sides of the landing area or the runway of the fixed airport. The edge of the cylindrical airspace is tangent to the landing area or the runway of the fixed airport. Its inner circle radius r = 1.25~1.75r0, and the outer circle radius R = 2~2.5r0, where r0 is the minimum turning radius to keep the drone in normal flight without flipping; if the drone's flight speed is too high and the drone's heading cannot be effectively controlled, which is manifested as the drone repeatedly entering or exiting the landing guidance airspace, a flight speed control command is first sent to the drone to reduce the drone's flight speed, and the drone's heading is gradually changed to make it fly around the landing guidance airspace and finally enter the landing guidance airspace;

[0013] The control and guidance component is used to guide and control the UAV entering the landing guidance airspace, and control the heading and flight altitude of the UAV in the approach preparation stage to meet landing requirements. Specifically:

[0014] The specific meaning of UAV heading control is: when the UAV approaches or enters the landing guidance airspace, the heading control command is sent to the UAV, firstly to keep the UAV flying within the landing guidance airspace, then to keep the heading tangent to the edge of the landing guidance airspace, and finally to make the UAV head towards the fixed airport or the extension direction of the landing area runway;

[0015] The flight altitude control of a UAV means that when a UAV is tangent to the edge of the landing guidance airspace along its course and is directly above a fixed airport, a flight speed control command is sent to the UAV so that the UAV descends to a certain height position D directly below the position at that moment after several complete circling processes, that is, the descent distance of the UAV after one circle is guaranteed to be Where H is the altitude of the drone at that moment, h is the altitude of point D, and n is a positive integer; the altitude of point D exceeds the altitude of the fixed airport.

[0016] The landing guidance component is used to guide the UAV, which is located in the landing guidance airspace and whose heading and flight altitude meet the landing requirements, to fly and eventually land at a fixed airport. Specifically:

[0017] The image acquisition module located in the UAV is used to obtain images of fixed airports. If a fixed airport image is detected, the UAV's altitude is continuously lowered and detection is continued. At the same time, the UAV's attitude and position are controlled based on the oscillation centering method to ensure that the fixed airport image can be continuously acquired. The UAV's attitude and forward direction are adjusted to gradually fix the airport. When the UAV is close enough to the fixed airport, the UAV is controlled to fly to the fixed airport landing area.

[0018] For further improvements or optimization of the aforementioned UAV intelligent fixed airport, the coordinate conversion component is used to establish a corresponding coordinate system based on the geocentric direction, regional coordinates, and the pose sensor data on the combined UAV, specifically including:

[0019] a. Obtain and establish a regional coordinate system. The regional coordinate system is determined based on ground position calculation. The regional coordinate system O0X0Y0Z0 is established with the fixed airport as the coordinate system origin O0, a horizontal direction as the X0 axis, the direction opposite to the earth's gravity as the Y0 axis, and the Z0 axis perpendicular to the X0O0Y0 plane;

[0020] b. Obtain and establish the drone coordinate system. The drone coordinate system is obtained by converting the positioning coordinate data fed back by the ground radar or the drone. The drone coordinate system O1X1Y1Z1 is established with the real-time position of the drone as the coordinate system origin O1, the forward direction of the drone as the X1 axis, the direction perpendicular to the X1 axis and pointing upwards of the drone as the Y1 axis, and the Z1 axis perpendicular to the X1O1Y1 plane;

[0021] c. Obtain and establish a flight coordinate system. The flight coordinate system O2X2Y2Z2 is established with the real-time position of the drone as the coordinate system origin O2, the tangent of the drone's flight trajectory curve as the X2 axis, the direction perpendicular to the X2 axis and pointing upwards of the drone as the Y2 axis, and the Z2 axis perpendicular to the X2O2Y2 plane.

[0022] For further improvement or optimization of the aforementioned UAV intelligent fixed airport, the UAV motion model can establish its differential model Mod1 based on the UAV six-degree-of-freedom motion parameters:

[0023]

[0024] Where V x 、V y 、V z They refer to the three-axis velocity components of the drone in the drone coordinate system O1X1Y1Z1, ω x 、ωy 、ω z They are the three-axis angular velocity components of the UAV in the UAV coordinate system O1X1Y1Z1, θ, γ, and ψ are the pitch angle, roll angle, and yaw angle of the UAV in the UAV coordinate system O1X1Y1Z1 respectively; m is the mass of the UAV; F x 、F y 、F z They refer to the three-axis components of the force acting on the drone in the drone coordinate system O1X1Y1Z1; M x 、M y 、M z They refer to the three-axis components of the moment acting on the drone in the drone coordinate system O1X1Y1Z1;

[0025] The aerodynamic model is used to establish the characteristics of the air's influence on the drone during the landing process. The air's state influence parameters include the flight resistance X collected from the flight data sensor on the drone. air , lift Y air and the lateral force Z air and rolling moment M x-air , yaw moment M y-air , pitching moment M z-air ; Get its parameter model Mod2:

[0026]

[0027] The parameters in the above factors are the UAV dynamic pressure p, the UAV pressure area s, the UAV rotor arm length l, and the UAV body drag coefficient k x , the lift coefficient k of the UAV body y 、The lateral force coefficient k of the UAV body z , the rolling moment coefficient k of the UAV body x-air , the yaw moment coefficient k of the UAV body y-air , the pitch moment coefficient k of the UAV body z-air ;

[0028] Further improvement or optimization implementation plan of the aforementioned UAV intelligent fixed airport, in the process of establishing the aforementioned UAV motion model, when the wind speed V in the environment wind When it is large, it will directly affect the final speed and path of the drone when it moves to the airport. Therefore, it is necessary to calculate the components of wind speed in the three-axis direction. The three-axis velocity components of the UAV are corrected. The corrected three-axis velocity components of the UAV are:

[0029]

[0030] where αwx is the angle between the wind speed direction and the X0 axis in the regional coordinate system O0X0Y0Z0; wz It is the angle between the projection of the wind speed direction of the regional coordinate system O0X0Y0Z0 on the Y0O0Z0 plane and the Z0 axis;

[0031] Further improvement or optimization implementation plan of the aforementioned UAV intelligent fixed airport, the real-time position and flight direction of the UAV are obtained by the airport radar or the GPS positioning element in the UAV, and the UAV flight trajectory curve is obtained by fitting the real-time position coordinates of the UAV;

[0032] Its beneficial effects are:

[0033] The drone intelligent fixed airport of this application has a wide range of applicability and can effectively improve the speed of various types of rotary-wing drones and fixed-wing drones in approaching fixed airports and tracking landing positions during landing, thereby enhancing the accuracy and safety of drone landing. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is a schematic diagram of the landing guidance airspace. DETAILED DESCRIPTION

[0035] The present invention is described in detail below with reference to specific embodiments.

[0036] The present invention relates to an intelligent fixed airport for drones. While traditional fixed airports generally serve only as support platforms for drone takeoffs and landings, the invention takes advantage of the inherent stability of fixed airports, facilitates software and hardware construction, and allows for better utilization and collection of regional coordinate information. By designing a drone guidance module and a landing guidance module, the intelligent fixed airport for drones can effectively guide and optimize the process of drones approaching the fixed airport, positioning, approaching, and finally landing according to the characteristics of different types of drones, thereby improving the efficiency of drone release and recovery, and enhancing the accuracy and stability of drone takeoff and landing control. This provides a technical foundation for continuous or synchronous takeoff and landing control of multiple drones, and for achieving more comprehensive drone takeoff and landing control management.

[0037] As a drone take-off and landing platform, the drone fixed airport has a relatively mature hardware structure and usage of its mechanical parts. This application is mainly used to design the energy supply module and operation mode of the drone fixed airport. The core of the drone intelligent fixed airport in this application is to include a drone guidance module and a landing guidance module.

[0038] Among them, the UAV guidance module includes a coordinate conversion component and a state prediction component;

[0039] Coordinate conversion component: The coordinate conversion component is used to establish the corresponding coordinate system based on the geocentric direction, regional coordinates, and the pose sensor data on the joint UAV. Specifically, it includes:

[0040] Used to obtain and establish a regional coordinate system. The regional coordinate system is determined by ground position calculation. The regional coordinate system O0X0Y0Z0 is established with the fixed airport as the coordinate system origin O0, a horizontal direction as the X0 axis, the direction opposite to the earth's gravity as the Y0 axis, and the vertical direction to the X0O0Y0 plane as the Z0 axis.

[0041] Used to obtain and establish the drone coordinate system. The drone coordinate system is obtained by converting the positioning coordinate data fed back by the ground radar or the drone. The drone coordinate system O1X1Y1Z1 is established with the real-time position of the drone as the coordinate system origin O1, the forward direction of the drone as the X1 axis, the direction perpendicular to the X1 axis and pointing upwards of the drone as the Y1 axis, and the Z1 axis perpendicular to the X1O1Y1 plane.

[0042] Used to obtain and establish the flight coordinate system. The flight coordinate system O2X2Y2Z2 is established with the real-time position of the drone as the coordinate system origin O2, the tangent of the drone's flight trajectory curve as the X2 axis, the direction perpendicular to the X2 axis and pointing upwards of the drone as the Y2 axis, and the Z2 axis perpendicular to the X2O2Y2 plane.

[0043] The real-time position and flight direction of the drone are obtained through the airport radar or the GPS positioning element in the drone, and the flight trajectory curve of the drone is obtained by fitting the real-time position coordinates of the drone;

[0044] The state prediction component is used to establish a UAV landing state prediction model based on the meteorological environment of the fixed airport and the posture data of the UAV to be landed;

[0045] The landing state prediction model consists of the UAV motion model and aerodynamic model;

[0046] The UAV motion model is used to establish the motion characteristics of the UAV during landing. It can be expressed by the state change of the UAV under the action of force and torque and its posture data in the inertial space. Therefore, the UAV motion model can establish its differential model Mod1 based on the UAV's six-degree-of-freedom motion parameters:

[0047]

[0048] Where V x 、V y 、V z They refer to the three-axis velocity components of the drone in the drone coordinate system O1X1Y1Z1, ω x 、ω y 、ω zThey are the three-axis angular velocity components of the UAV in the UAV coordinate system O1X1Y1Z1, θ, γ, and ψ are the pitch angle, roll angle, and yaw angle of the UAV in the UAV coordinate system O1X1Y1Z1 respectively; m is the mass of the UAV; F x 、F y 、F z They refer to the three-axis components of the force acting on the drone in the drone coordinate system O1X1Y1Z1; M x 、M y 、M z They refer to the three-axis components of the moment acting on the drone in the drone coordinate system O1X1Y1Z1;

[0049] The aerodynamic model is used to establish the characteristics of the air's influence on the drone during the landing process. The air's state influence parameters include the flight resistance X collected from the flight data sensor on the drone. air , lift Y air and the lateral force Z air and rolling moment M x-air , yaw moment M y-air , pitching moment M z-air ; Get its parameter model Mod2:

[0050]

[0051] The parameters in the above factors are the UAV dynamic pressure p, the UAV pressure area s, the UAV rotor arm length l, and the UAV body drag coefficient k x , the lift coefficient k of the UAV body y 、The lateral force coefficient k of the UAV body z , the rolling moment coefficient k of the UAV body x-air , the yaw moment coefficient k of the UAV body y-air , the pitch moment coefficient k of the UAV body z-air ;

[0052] In particular, in the process of establishing the aforementioned UAV motion model, when the wind speed V wind When it is large, it will directly affect the final speed and path of the drone when it moves to the airport. Therefore, it is necessary to calculate the components of wind speed in the three-axis direction. The three-axis velocity components of the UAV are corrected. The corrected three-axis velocity components of the UAV are:

[0053]

[0054] where α wx is the angle between the wind speed direction and the X0 axis in the regional coordinate system O0X0Y0Z0; wzIt is the angle between the projection of the wind speed direction of the regional coordinate system O0X0Y0Z0 on the Y0O0Z0 plane and the Z0 axis;

[0055] Among them, the landing guidance module: approach guidance component, control guidance component, landing guidance component

[0056] Approach guidance component: used to ensure that the drone can adjust its final heading to maintain a fixed direction and avoid abnormal movements such as flipping during the approach preparation phase, that is, when approaching a fixed airport but before landing;

[0057] In this process, firstly, according to the current positioning data, a straight descent method is adopted before approaching a fixed airport to make it close to the landing guidance airspace, such as Figure 1 As shown, the landing guidance airspace refers to the cylindrical airspace located on both sides of the fixed airport landing area or landing area runway. The edge of the cylindrical airspace is tangent to the fixed airport landing area or landing area runway. Its inner circle radius r = 1.25~1.75r0, and the outer circle radius R = 2~2.5r0, where r0 is the minimum turning radius to keep the UAV in normal flight without flipping. If the UAV's flight speed is too high and the UAV's heading cannot be effectively controlled, which is manifested by the UAV repeatedly entering or exiting the landing guidance airspace, a flight speed control command is first sent to the UAV to reduce the UAV's flight speed, and the UAV's heading is gradually changed to make it fly around the landing guidance airspace and finally enter the landing guidance airspace.

[0058] Control and guidance components: used to guide and control drones entering landing guidance airspace, and control the heading and flight altitude of drones in the approach preparation stage to meet landing requirements. Specifically:

[0059] The specific meaning of UAV heading control is: when the UAV approaches or enters the landing guidance airspace, the heading control command is sent to the UAV, firstly to keep the UAV flying within the landing guidance airspace, then to keep the heading tangent to the edge of the landing guidance airspace, and finally to make the UAV head towards the fixed airport or the extension direction of the landing area runway;

[0060] The flight altitude control of a UAV means that when a UAV is tangent to the edge of the landing guidance airspace along its course and is directly above a fixed airport, a flight speed control command is sent to the UAV so that the UAV descends to a certain height position D directly below the position at that moment after several complete circling processes, that is, the descent distance of the UAV after one circle is guaranteed to be Where H is the altitude of the drone at that moment, h is the altitude of point D, and n is a positive integer; the altitude of point D exceeds the altitude of the fixed airport.

[0061] The landing guidance component is used to guide the UAV, whose heading and altitude meet the landing requirements, to fly within the landing guidance airspace and finally land at a fixed airport; specifically:

[0062] The image acquisition module located in the UAV is used to obtain images of fixed airports. If a fixed airport image is detected, the UAV's altitude is continuously lowered and detection is continued. At the same time, the UAV's attitude and position are controlled based on the oscillation centering method to ensure that the fixed airport image can be continuously acquired. The UAV's attitude and forward direction are adjusted to gradually fix the airport. When the UAV is close enough to the fixed airport, the UAV is controlled to fly to the fixed airport landing area.

[0063] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the scope of protection of the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the essence and scope of the technical solutions of the present invention.

Claims

1. An intelligent fixed airport for drones, characterized in that: Including drone guidance module and landing guidance module; The UAV guidance module includes a coordinate conversion component and a state prediction component; The coordinate conversion component is used to establish the corresponding coordinate system according to the geocentric direction, regional coordinates and the pose sensor data on the joint UAV; The state prediction component is used to establish a UAV landing state prediction model based on the meteorological environment of the fixed airport and the posture data of the UAV to be landed; the landing state prediction model includes a UAV motion model and an aerodynamic model; The UAV motion model is used to establish the motion characteristics of the UAV during landing. It is expressed through the state changes generated by the UAV under the action of forces and torques and its position data in inertial space. Its differential model is established using the UAV's six-degree-of-freedom motion parameters. The aerodynamic model is used to establish the characteristics of the influence of the air in the area on the UAV during landing. The landing guidance module includes an approach guidance component, a control guidance component, and a landing guidance component; The approach guidance component is used to ensure that the drone can adjust its final heading to maintain a fixed direction and avoid abnormal flipping during the approach preparation phase, that is, when it approaches a fixed airport but before landing. In this process, first, according to the current positioning data, a straight line descent plan is adopted before approaching the fixed airport to make it close to the landing guidance airspace. The landing guidance airspace refers to the cylindrical airspace located on both sides of the landing area or landing area runway of the fixed airport. The edge of the cylindrical airspace is tangent to the landing area or landing area runway of the fixed airport, and its inner circle radius is 1. , outer radius ,in It is the minimum turning radius required to keep the drone in normal flight without flipping. If the drone's flight speed is too high and the drone's heading cannot be effectively controlled, which is manifested by the drone repeatedly entering or exiting the landing guidance airspace, a flight speed control command will be sent to the drone to reduce its flight speed, and the drone's heading will be gradually changed to make it fly around the landing guidance airspace and finally enter the landing guidance airspace. The control and guidance component is used to guide and control the UAV entering the landing guidance airspace, and control the heading and flight altitude of the UAV in the approach preparation stage to meet landing requirements. Specifically: The specific meaning of UAV heading control is: when the UAV approaches or enters the landing guidance airspace, the heading control command is sent to the UAV, firstly to keep the UAV flying within the landing guidance airspace, then to keep the heading tangent to the edge of the landing guidance airspace, and finally to make the UAV head towards the fixed airport or the extension direction of the landing area runway; The flight altitude control of a UAV means that when a UAV is tangent to the edge of the landing guidance airspace along its course and is directly above a fixed airport, a flight speed control command is sent to the UAV so that the UAV descends to a certain height position D directly below the position at that moment after several complete circling processes, that is, the descent distance of the UAV after one circle is guaranteed to be , where H is the altitude of the drone at that moment, h is the altitude of point D, and n is a positive integer; The altitude of point D exceeds the altitude of the fixed airport; The landing guidance component is used to guide the UAV, which is located in the landing guidance airspace and whose heading and flight altitude meet the landing requirements, to fly and eventually land at a fixed airport; specifically: The image acquisition module on the drone is used to obtain images of fixed airports. If a fixed airport image is detected, the drone's altitude is continuously lowered and detection is continued. At the same time, the drone's attitude and position are controlled based on the oscillation centering method to ensure that the fixed airport image can be continuously obtained. The drone's attitude and forward direction are adjusted to make the drone gradually approach the fixed airport.

2. The UAV intelligent fixed airport according to claim 1, characterized in that: The coordinate conversion component is used to establish the corresponding coordinate system based on the geocentric direction, regional coordinates, and the pose sensor data on the joint UAV, including: a. Obtain and establish a regional coordinate system. The regional coordinate system is determined based on the ground position. The fixed airport is the origin of the coordinate system , with a horizontal direction as Axis, with the direction opposite to the gravity Axis, perpendicular to The plane is Axis establishment; b. Obtain and establish the drone coordinate system, which is obtained by converting the positioning coordinate data fed back by the ground radar or the drone. The real-time position of the drone is used as the origin of the coordinate system , taking the direction of the drone as Axis, perpendicular to Axis and pointing to the direction above the drone is Axis, perpendicular to The plane is Axis establishment; c. Obtain and establish the flight coordinate system, flight coordinate system The real-time position of the drone is used as the origin of the coordinate system , taking the tangent line of the UAV flight trajectory curve as Axis, perpendicular to Axis and pointing to the direction above the drone is Axis, perpendicular to The plane is Axis established.

3. The UAV intelligent fixed airport according to claim 2, characterized in that: The UAV motion model establishes its differential model based on the UAV's six-degree-of-freedom motion parameters : in They refer to the UAV in the UAV coordinate system. The three-axis velocity components under They refer to the UAV in the UAV coordinate system. The three-axis angular velocity components under They refer to the UAV in the UAV coordinate system. The pitch angle, roll angle and yaw angle under the above conditions; m is the mass of the UAV; They refer to the forces acting on the drone in the drone coordinate system. The three-axis components below; They refer to the torques on the drone in the drone coordinate system. The three-axis components below; The aerodynamic model is used to establish the characteristics of the air's impact on the drone during landing. The air's state impact parameters include the flight resistance collected from the flight data sensor on the drone. , lift and lateral forces and rolling moment , yaw moment , pitching moment ; Get its parameter model : Parametric Model The parameters are the UAV pressure dynamic pressure p, the UAV pressure area , UAV rotor arm length , the drag coefficient of the drone body , the lift coefficient of the UAV body , the lateral force coefficient of the UAV body , the rolling moment coefficient of the UAV body , the yaw moment coefficient of the UAV body , the pitch moment coefficient of the UAV body .

4. The UAV intelligent fixed airport according to claim 3, characterized in that: In the process of establishing the aforementioned UAV motion model, when the wind speed in the environment When it is large enough to directly affect the final speed and path of the drone when moving to the airport, it is necessary to use the components of the wind speed in the three axes. The three-axis velocity components of the UAV are corrected. The corrected three-axis velocity components of the UAV are: in It is the regional coordinate system Wind speed direction and The angle between the axes; It is the regional coordinate system Wind speed direction Projection on the plane and The angle between the axes.

5. The UAV intelligent fixed airport according to claim 1, characterized in that: The real-time position and flight direction of the drone are obtained through airport radar or the GPS positioning element in the drone, and the flight trajectory curve of the drone is obtained by fitting the real-time position coordinates of the drone.

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