An intelligent control method, system, device and medium for a drone

Abstract

The present invention discloses an intelligent control method, system, device and medium for an unmanned aerial vehicle, including obtaining the pose information of the unmanned aerial vehicle at the current moment and the last waypoint on the planned flight path; the unmanned aerial vehicle is a shipborne vertical takeoff and landing unmanned aerial vehicle. If the unmanned aerial vehicle is within the first height range from takeoff to the preset ship departure height, the current heading remains unchanged. If the unmanned aerial vehicle is within the range from the preset first height range to the preset highest point, it swings 45 degrees to the left and right on the current heading, and selects the direction corresponding to the maximum airspeed value as the takeoff heading. If the unmanned aerial vehicle is at the last waypoint on the planned flight path, it controls the unmanned aerial vehicle to circle around the last waypoint at least once, and records the corresponding airspeed and ground speed during the circling process, and selects the direction with the largest difference between the corresponding airspeed and ground speed as the landing heading, avoiding the problem of the unmanned aerial vehicle facing the wind sidewise, improving the takeoff and landing reliability of the unmanned aerial vehicle, and expanding the application range of the vertical takeoff and landing unmanned aerial vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent navigation of unmanned aerial vehicles (UAVs), and more particularly to an intelligent control method, system, device and medium for UAVs. Background Art

[0002] Different from conventional UAVs, the UAV of the present invention needs to take off and land on a moving platform. The magnetic field characteristics of the ship's hull are different from those of the geomagnetic field, which requires higher requirements for on-board sensors and navigation systems. The design of the autonomous controller must also consider the influence of the shipboard environment.

[0003] Since the UAV needs to complete the take-off and landing tasks on a moving platform, the UAV currently mainly faces the following problems: (1) The take-off and landing platform is a moving platform, and its position and attitude fluctuate; (2) The magnetic field of the ship's hull itself is different from the geomagnetic environment, and the result and accuracy of heading sensing are different from those on land; (3) Different from the land environment, the shear wind near the sea surface is stronger. Summary of the Invention

[0004] The present invention aims to at least solve the technical problems existing in the prior art. For this purpose, the present invention provides an intelligent control method, system, device and medium for UAVs, which can avoid the problem of the UAV facing the wind sidewise, improve the take-off and landing reliability of the UAV, and expand the application range of vertical take-off and landing UAVs.

[0005] In the first aspect of the present invention, an intelligent control method for a UAV is provided, including the following steps:

[0006] Obtain the pose information of the UAV at the current moment and the last waypoint on the planned flight path; the UAV is a shipboard vertical take-off and landing UAV;

[0007] If the UAV is within the first height range from the ship to a preset take-off height, control the UAV to maintain the current heading unchanged according to the pose information of the UAV at the current moment;

[0008] If the UAV is within the first height range to the pre-set highest point, control the UAV to swing 45 degrees to the left and right on the current heading according to the pose information of the UAV at the current moment, and record the airspeed values corresponding to different swing angles of the UAV, and select the direction corresponding to the maximum airspeed value as the take-off heading;

[0009] If the UAV is at the last waypoint on the planned flight path, control the UAV to circle around the last waypoint at least once, and record the airspeed and ground speed corresponding to the UAV during the circling process around the last waypoint; select the direction with the largest difference between the airspeed and ground speed corresponding to the UAV during the circling process as the landing heading of the UAV.

[0010] According to the embodiments of the present invention, it has at least the following technical effects:

[0011] This method obtains the pose information of the UAV at the current moment and the last waypoint on the planned flight path. The UAV is a shipborne vertical takeoff and landing UAV. If the UAV is within the first height range from takeoff to the preset height away from the ship, the UAV is controlled to maintain its current heading unchanged according to the pose information of the UAV at the current moment. If the UAV is within the range from the preset first height range to the preset highest point, the UAV is controlled to swing 45 degrees to the left and right on the current heading according to the pose information of the UAV at the current moment, and the airspeed values corresponding to different swing angles of the UAV are recorded. The direction corresponding to the maximum airspeed value is selected as the takeoff heading. If the UAV is at the last waypoint on the planned flight path, the UAV is controlled to circle around the last waypoint at least once, and the airspeed and ground speed corresponding to the UAV during the circling around the last waypoint are recorded. The direction with the largest difference between the airspeed and ground speed corresponding to the UAV during the circling process is selected as the landing heading of the UAV, avoiding the problem of the UAV facing the wind sideward, improving the takeoff and landing reliability of the UAV, and expanding the application range of the vertical takeoff and landing UAV.

[0012] According to some embodiments of the present invention, the intelligent control method of the UAV further includes:

[0013] Obtain all the waypoints on the planned flight path of the UAV;

[0014] Find the largest inscribed circle of any three waypoints other than the takeoff point and the landing point according to all the waypoints on the planned flight path, and circle around the center of the largest inscribed circle.

[0015] According to some embodiments of the present invention, the obtaining of the pose information of the UAV includes:

[0016] Measure the acceleration and angular velocity signals of the UAV through multiple single-axis accelerometers and multiple single-axis gyroscopes; obtain the position information and speed information of the UAV through the Beidou navigation module; obtain the heading information of the UAV through dual-antenna RTK orientation; obtain the height information of the UAV through the fusion of a barometer and Beidou; obtain the airspeed information of the UAV through an airspeed meter;

[0017] Calculate the pose information of the UAV by using a data fusion algorithm according to the position information, speed information, heading information, height information, and airspeed information of the UAV.

[0018] According to some embodiments of the present invention, before the UAV takes off, it further includes: manually measuring the wind direction and placing the UAV downwind or upwind.

[0019] In a second aspect of the present invention, there is provided an intelligent control system for an unmanned aerial vehicle, and the intelligent control system of the unmanned aerial vehicle includes:

[0020] A data acquisition module, configured to acquire the pose information of the unmanned aerial vehicle at the current moment and the last waypoint on the planned flight route; the unmanned aerial vehicle is a shipborne vertical takeoff and landing unmanned aerial vehicle;

[0021] A takeoff control module, configured to, if the unmanned aerial vehicle is within a preset first height range from the ship during takeoff, control the unmanned aerial vehicle to maintain its current heading unchanged according to the pose information of the unmanned aerial vehicle at the current moment;

[0022] A navigation control module, configured to, if the unmanned aerial vehicle is within a preset first height range to a preset highest point range, control the unmanned aerial vehicle to swing 45 degrees to the left and right on the current heading according to the pose information of the unmanned aerial vehicle at the current moment, record the airspeed values corresponding to different swing angles of the unmanned aerial vehicle, and select the direction corresponding to the maximum airspeed value as the takeoff heading;

[0023] A landing control module, configured to, if the unmanned aerial vehicle is at the last waypoint on the planned flight route, control the unmanned aerial vehicle to circle around the last waypoint at least once, and record the airspeed and ground speed corresponding to the unmanned aerial vehicle during the circling process around the last waypoint; select the direction with the largest difference between the airspeed and ground speed corresponding to the unmanned aerial vehicle during the circling process as the landing heading of the unmanned aerial vehicle.

[0024] By acquiring the pose information of the unmanned aerial vehicle at the current moment and the last waypoint on the planned flight route, and the unmanned aerial vehicle is a shipborne vertical takeoff and landing unmanned aerial vehicle. If the unmanned aerial vehicle is within a preset first height range from the ship during takeoff, control the unmanned aerial vehicle to maintain its current heading unchanged according to the pose information of the unmanned aerial vehicle at the current moment. If the unmanned aerial vehicle is within a preset first height range to a preset highest point range, control the unmanned aerial vehicle to swing 45 degrees to the left and right on the current heading according to the pose information of the unmanned aerial vehicle at the current moment, record the airspeed values corresponding to different swing angles of the unmanned aerial vehicle, and select the direction corresponding to the maximum airspeed value as the takeoff heading. If the unmanned aerial vehicle is at the last waypoint on the planned flight route, control the unmanned aerial vehicle to circle around the last waypoint at least once, and record the airspeed and ground speed corresponding to the unmanned aerial vehicle during the circling process around the last waypoint; select the direction with the largest difference between the airspeed and ground speed corresponding to the unmanned aerial vehicle during the circling process as the landing heading of the unmanned aerial vehicle, which avoids the problem of the unmanned aerial vehicle facing the wind sideways, improves the takeoff and landing reliability of the unmanned aerial vehicle, and expands the application range of the vertical takeoff and landing unmanned aerial vehicle.

[0025] According to some embodiments of the present invention, the intelligent control system of the unmanned aerial vehicle further includes:

[0026] A waypoint acquisition module, configured to acquire all the waypoints on the planned flight route of the unmanned aerial vehicle;

[0027] An emergency state control module, configured to find the largest inscribed circle of any three waypoints other than the takeoff point and the landing point according to all the waypoints on the planned route, and circle around the center of the largest inscribed circle.

[0028] According to some embodiments of the present invention, the obtaining of the pose information of the UAV includes:

[0029] Measuring the acceleration and angular velocity signals of the UAV through a plurality of single-axis accelerometers and a plurality of single-axis gyroscopes; obtaining the position information and speed information of the UAV through a Beidou navigation module; obtaining the heading information of the UAV through dual-antenna RTK orientation; obtaining the altitude information of the UAV through the fusion of a barometer and Beidou; obtaining the airspeed information of the UAV through an airspeed meter;

[0030] Calculating the pose information of the UAV by using a data fusion algorithm based on the position information, speed information, heading information, altitude information, and airspeed information of the UAV.

[0031] According to some embodiments of the present invention, before the UAV takes off, it further includes: manually measuring the wind direction and placing the UAV downwind or upwind.

[0032] In a third aspect of the present invention, there is provided an intelligent control electronic device for a UAV, including at least one control processor and a memory communicatively connected to the at least one control processor; the memory stores instructions executable by the at least one control processor, and when the instructions are executed by the at least one control processor, the at least one control processor is enabled to execute the above-mentioned intelligent control method for a UAV.

[0033] In a fourth aspect of the present invention, there is provided a computer-readable storage medium storing computer-executable instructions for causing a computer to execute the above-mentioned intelligent control method for a UAV.

[0034] It should be noted that the beneficial effects of the second to fourth aspects of the present invention and the prior art are the same as those of the above-mentioned intelligent control system for a UAV and the prior art, and will not be elaborated here.

[0035] The additional aspects and advantages of the present invention will be partially given in the following description, partially become apparent from the following description, or be understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The above and / or additional aspects and advantages of the present invention will become apparent and be readily understood from the following description of the embodiments in conjunction with the accompanying drawings, where:

[0037] Figure 1 is a flowchart of an intelligent control method for an unmanned aerial vehicle according to an embodiment of the present invention;

[0038] Figure 2 is a schematic diagram of a wind-assisted takeoff and landing control algorithm for an intelligent control method of an unmanned aerial vehicle according to an embodiment of the present invention;

[0039] Figure 3 is a schematic diagram of a control algorithm without a Home point for an intelligent control method of an unmanned aerial vehicle according to an embodiment of the present invention;

[0040] Figure 4 is a schematic diagram of an onboard sensor of a shipborne vertical takeoff and landing unmanned aerial vehicle for an intelligent control method of an unmanned aerial vehicle according to an embodiment of the present invention;

[0041] Figure 5 is a flowchart of an intelligent control system for an unmanned aerial vehicle according to an embodiment of the present invention. Detailed implementation manners

[0042] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements with the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary only for explaining the present invention and should not be construed as limiting the present invention.

[0043] In the description of the present invention, if the first, second, etc. are described only for the purpose of distinguishing technical features, they should not be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence of the indicated technical features.

[0044] In the description of the present invention, it should be understood that the orientation descriptions such as up, down, etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.

[0045] In the description of the present invention, it should be noted that unless otherwise clearly defined, words such as setting, installation, connection, etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above words in the present invention in combination with the specific content of the technical solution.

[0046] Different from conventional unmanned aerial vehicles, the unmanned aerial vehicle needs to take off and land on a moving platform. The magnetic field characteristics of the ship's hull itself are different from the geomagnetic characteristics, which require higher requirements for onboard sensors and navigation systems. The design of the autonomous controller must also consider the influence of the shipborne environment.

[0047] Since the UAV needs to complete take-off and landing tasks on a moving platform, the UAV currently faces the following problems: (1) The take-off and landing platform is a moving platform, and both the position and attitude fluctuate; (2) The magnetic field of the ship's hull itself is different from the geomagnetic environment, and the results and accuracy of heading sensing are different from those on land; (3) Different from the land environment, the shear wind near the sea surface is stronger.

[0048] To solve the above technical defects, referring to Figure 1 and Figure 2 the present invention also provides an intelligent control method for a UAV, including:

[0049] Step S101, obtaining the pose information of the UAV at the current moment and the last waypoint on the planned route; the UAV is a shipborne vertical take-off and landing UAV.

[0050] Step S102, if the UAV is within the first height range from take-off to the preset height away from the ship, controlling the UAV to maintain the current heading unchanged according to the pose information of the UAV at the current moment.

[0051] Step S103, if the UAV is within the range from the preset first height range to the preset highest point, controlling the UAV to swing 45 degrees to the left and right on the current heading according to the pose information of the UAV at the current moment, and recording the airspeed values corresponding to different swing angles of the UAV, and selecting the direction corresponding to the maximum airspeed value as the take-off heading.

[0052] Step S104, if the UAV is at the last waypoint on the planned route, controlling the UAV to circle around the last waypoint at least once, and recording the airspeed and ground speed corresponding to the UAV during the circling process around the last waypoint; selecting the direction with the largest difference between the airspeed and ground speed corresponding to the UAV during the circling process as the landing heading of the UAV.

[0053] This method obtains the pose information of the UAV at the current moment and the last waypoint on the planned flight path. The UAV is a shipborne vertical takeoff and landing UAV. If the UAV is within the range of the first off-ship height preset from takeoff, the UAV is controlled to maintain its current heading according to the pose information of the UAV at the current moment. If the UAV is within the range from the preset first height range to the preset highest point, the UAV is controlled to swing 45 degrees to the left and right on the current heading according to the pose information of the UAV at the current moment, and the airspeed values corresponding to different swing angles of the UAV are recorded. The direction corresponding to the maximum airspeed value is selected as the takeoff heading. If the UAV is at the last waypoint on the planned flight path, the UAV is controlled to circle around the last waypoint for at least one circle, and the airspeed and ground speed corresponding to the UAV during the circling around the last waypoint are recorded; the direction with the largest difference between the airspeed and ground speed corresponding to the UAV during the circling process is selected as the landing heading of the UAV, avoiding the problem of the UAV facing the wind sideward, improving the takeoff and landing reliability of the UAV, and expanding the application range of the vertical takeoff and landing UAV.

[0054] In some embodiments, the preset first height range is set to 10 meters.

[0055] Refer to Figure 3 , in some embodiments, the intelligent control method of the UAV further includes:

[0056] Obtain all waypoints on the planned flight path of the UAV;

[0057] Find the largest inscribed circle of any three waypoints other than the takeoff point and the landing point according to all waypoints on the planned flight path, and circle around the center of the largest inscribed circle, where the center of the largest inscribed circle becomes the Home point.

[0058] Refer to Figure 4 , in some embodiments, obtaining the pose information of the UAV includes:

[0059] Measure the acceleration and angular velocity signals of the UAV through multiple single-axis accelerometers and multiple single-axis gyroscopes; obtain the position information and speed information of the UAV through the Beidou navigation module; obtain the heading information of the UAV through dual-antenna RTK orientation; obtain the height information of the UAV through the fusion of a barometer and Beidou; obtain the airspeed information of the UAV through an airspeed meter;

[0060] Calculate the pose information of the UAV using a data fusion algorithm based on the position information, speed information, heading information, height information, and airspeed information of the UAV.

[0061] In some embodiments, before the UAV takes off, it further includes: manually measuring the wind direction and placing the UAV with the wind or against the wind.

[0062] In addition, refer toFigure 5 , an embodiment of the present invention provides an intelligent control system for an unmanned aerial vehicle, including a data acquisition module 1100, a takeoff control module 1200, a navigation control module 1300, and a landing control module 1400, wherein:

[0063] The data acquisition module 1100 is used to acquire the pose information of the unmanned aerial vehicle at the current moment and the last waypoint on the planned flight path; the unmanned aerial vehicle is a shipborne vertical takeoff and landing unmanned aerial vehicle;

[0064] The takeoff control module 1200 is used to control the unmanned aerial vehicle to maintain the current heading unchanged according to the pose information of the unmanned aerial vehicle at the current moment if the unmanned aerial vehicle is within a preset first height range from the ship during takeoff;

[0065] The navigation control module 1300 is used to control the unmanned aerial vehicle to swing 45 degrees to the left and right on the current heading according to the pose information of the unmanned aerial vehicle at the current moment if the unmanned aerial vehicle is within a preset first height range to a preset highest point, record the airspeed values corresponding to different swing angles of the unmanned aerial vehicle, and select the direction corresponding to the maximum airspeed value as the takeoff heading;

[0066] The landing control module 1400 is used to control the unmanned aerial vehicle to circle around the last waypoint at least once if the unmanned aerial vehicle is at the last waypoint on the planned flight path, and record the airspeed and ground speed corresponding to the unmanned aerial vehicle during the circling around the last waypoint; select the direction with the largest difference between the airspeed and ground speed corresponding to the unmanned aerial vehicle during the circling as the landing heading of the unmanned aerial vehicle.

[0067] This system acquires the pose information of the unmanned aerial vehicle at the current moment and the last waypoint on the planned flight path. The unmanned aerial vehicle is a shipborne vertical takeoff and landing unmanned aerial vehicle. If the unmanned aerial vehicle is within a preset first height range from the ship during takeoff, it controls the unmanned aerial vehicle to maintain the current heading unchanged according to the pose information of the unmanned aerial vehicle at the current moment. If the unmanned aerial vehicle is within a preset first height range to a preset highest point, it controls the unmanned aerial vehicle to swing 45 degrees to the left and right on the current heading according to the pose information of the unmanned aerial vehicle at the current moment, record the airspeed values corresponding to different swing angles of the unmanned aerial vehicle, and select the direction corresponding to the maximum airspeed value as the takeoff heading. If the unmanned aerial vehicle is at the last waypoint on the planned flight path, it controls the unmanned aerial vehicle to circle around the last waypoint at least once, and record the airspeed and ground speed corresponding to the unmanned aerial vehicle during the circling around the last waypoint; select the direction with the largest difference between the airspeed and ground speed corresponding to the unmanned aerial vehicle during the circling as the landing heading of the unmanned aerial vehicle, avoiding the problem of the unmanned aerial vehicle facing the wind sideward, improving the takeoff and landing reliability of the unmanned aerial vehicle, and expanding the application range of the vertical takeoff and landing unmanned aerial vehicle.

[0068] In some embodiments, the intelligent control system of the unmanned aerial vehicle further includes:

[0069] A waypoint acquisition module, used to acquire all waypoints on the planned flight path of the unmanned aerial vehicle;

[0070] An emergency state control module is used to find the largest inscribed circle of any three waypoints other than the take-off point and the landing point according to all the waypoints on the planned route, and circle around the center of the largest inscribed circle.

[0071] In some embodiments, obtaining the pose information of the UAV includes:

[0072] Measuring the acceleration and angular velocity signals of the UAV through multiple single-axis accelerometers and multiple single-axis gyroscopes; obtaining the position information and speed information of the UAV through the Beidou navigation module; obtaining the heading information of the UAV through dual-antenna RTK orientation; obtaining the altitude information of the UAV through the fusion of the barometer and Beidou; obtaining the airspeed information of the UAV through the airspeed meter;

[0073] Calculating the pose information of the UAV by using a data fusion algorithm based on the position information, speed information, heading information, altitude information and airspeed information of the UAV.

[0074] In some embodiments, before the UAV takes off, it further includes: manually measuring the wind direction and placing the UAV downwind or upwind.

[0075] It should be noted that the embodiments of this system and the above-mentioned system embodiments are based on the same inventive concept. Therefore, the relevant content of the above method embodiments also applies to the embodiments of this system, and will not be elaborated here.

[0076] This application also provides an intelligent control electronic device for a UAV, including: a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, it implements: the intelligent control method of the UAV as described above.

[0077] The processor and the memory can be connected through a bus or other means.

[0078] As a non-transitory computer-readable storage medium, the memory can be used to store non-transitory software programs and non-transitory computer-executable programs. In addition, the memory can include high-speed random access memory, and can also include non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some embodiments, the memory can optionally include a memory remotely set relative to the processor, and these remote memories can be connected to the processor through a network. Examples of the above networks include, but are not limited to, the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof.

[0079] The non-transitory software program and instructions required to implement the intelligent control method of the drone in the above embodiments are stored in a memory. When executed by a processor, the intelligent control method of the drone in the above embodiments is executed. For example, the method steps S101 to S104 described above are executed. Figure 1 in the method steps S101 to S104.

[0080] This application also provides a computer-readable storage medium storing computer-executable instructions for executing: the intelligent control method of the drone as described above.

[0081] The computer-readable storage medium stores computer-executable instructions, which are executed by a processor or a controller, for example, executed by a processor in the above embodiment of the electronic device, enabling the above processor to execute the intelligent control method of the drone in the above embodiments. For example, the method steps S101 to S104 described above are executed. Figure 1 in the method steps S101 to S104.

[0082] Those of ordinary skill in the art can understand that all or some of the steps and systems in the methods disclosed above can be implemented as software, firmware, hardware, and their appropriate combinations. Some physical components or all physical components can be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or implemented as hardware, or implemented as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, which can include a computer storage medium (or a non-transitory medium) and a communication medium (or a transitory medium). As is well known to those of ordinary skill in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information, such as computer-readable instructions, data structures, program units, or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory, or other memory technologies, CD-ROM, digital versatile disc (DVD), or other optical disc storage, magnetic cassette, tape, magnetic disk storage, or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. In addition, it is well known to those of ordinary skill in the art that a communication medium typically includes computer-readable instructions, data structures, program units, or other data in a modulated data signal such as a carrier wave or other transmission mechanism, and can include any information delivery medium.

[0083] The above has described the embodiments of the present invention in detail with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those of ordinary skill in the relevant technical field, various changes can be made without departing from the spirit of the present invention.

Claims

1. An intelligent control method for a drone, characterized in that, The intelligent control method of the drone includes: Obtaining the pose information of the drone at the current moment and the last waypoint on the planned route; the drone is a shipborne vertical takeoff and landing drone; If the drone is within the first height range from takeoff to the preset off-ship height, controlling the drone to maintain its current heading unchanged according to the pose information of the drone at the current moment; If the drone is within the preset first height range to the preset highest point, controlling the drone to swing 45 degrees to the left and right on the current heading according to the pose information of the drone at the current moment, and recording the airspeed values corresponding to different swing angles of the drone, and selecting the direction corresponding to the maximum airspeed value as the takeoff heading; If the drone is at the last waypoint on the planned route, controlling the drone to circle around the last waypoint at least once, and recording the airspeed and ground speed corresponding to the drone during the circling around the last waypoint; selecting the direction with the largest difference between the airspeed and ground speed corresponding to the drone during the circling as the landing heading of the drone.

2. The intelligent control method of an unmanned aerial vehicle according to claim 1, characterized in that, The intelligent control method of the drone further includes: Obtaining all the waypoints on the planned route of the drone; Finding the largest inscribed circle of any three waypoints other than the takeoff point and the landing point according to all the waypoints on the planned route, and circling around the center of the largest inscribed circle.

3. The intelligent control method of an unmanned aerial vehicle according to claim 2, wherein, The obtaining of the pose information of the drone includes: Measuring the acceleration and angular velocity signals of the drone through multiple single-axis accelerometers and multiple single-axis gyroscopes; obtaining the position information and speed information of the drone through the Beidou navigation module; obtaining the heading information of the drone through dual-antenna RTK orientation; obtaining the height information of the drone through the fusion of a barometer and Beidou; obtaining the airspeed information of the drone through an airspeed meter; Calculating the pose information of the drone using a data fusion algorithm based on the position information, speed information, heading information, height information, and airspeed information of the drone.

4. An intelligent control method for an unmanned aerial vehicle according to claim 3, characterized in that, Before the drone takes off, it further includes: manually measuring the wind direction and placing the drone downwind or upwind.

5. An intelligent control system for a drone, characterized in that, The intelligent control system of the drone includes: A data acquisition module for obtaining the pose information of the drone at the current moment and the last waypoint on the planned route; the drone is a shipborne vertical takeoff and landing drone; A takeoff control module for controlling the drone to maintain its current heading unchanged according to the pose information of the drone at the current moment if the drone is within the first height range from takeoff to the preset off-ship height; A navigation control module for controlling the drone to swing 45 degrees to the left and right on the current heading according to the pose information of the drone at the current moment if the drone is within the preset first height range to the preset highest point, and recording the airspeed values corresponding to different swing angles of the drone, and selecting the direction corresponding to the maximum airspeed value as the takeoff heading; A landing control module, configured to, if the drone is at the last waypoint on the planned flight path, control the drone to circle around the last waypoint at least once, and record the corresponding airspeed and ground speed of the drone during the circling around the last waypoint; select a direction with the largest difference between the corresponding airspeed and ground speed during the circling of the drone as the landing heading of the drone.

6. The intelligent control system of a drone according to claim 5, characterized in that, The intelligent control system of the drone further includes: A waypoint acquisition module, configured to acquire all waypoints on the planned flight path of the drone; An emergency state control module, configured to find the largest inscribed circle of any three waypoints other than the takeoff point and the landing point according to all waypoints on the planned flight path, and circle around the center of the largest inscribed circle.

7. The intelligent control system of an unmanned aerial vehicle according to claim 6, wherein, The obtaining of the pose information of the drone includes: Measuring the acceleration and angular velocity signals of the drone through a plurality of single-axis accelerometers and a plurality of single-axis gyroscopes; obtaining the position information and speed information of the drone through a Beidou navigation module; obtaining the heading information of the drone through dual-antenna RTK orientation; obtaining the altitude information of the drone through the fusion of a barometer and Beidou; obtaining the airspeed information of the drone through an airspeed indicator; Calculating the pose information of the drone by using a data fusion algorithm based on the position information, speed information, heading information, altitude information and airspeed information of the drone.

8. The intelligent control system of a drone according to claim 7, characterized in that, Before the drone takes off, it further includes: manually measuring the wind direction and placing the drone with the wind or against the wind.

9. An intelligent control device for a drone, characterized in that, Including at least one control processor and a memory for communicating with the at least one control processor; the memory stores instructions executable by the at least one control processor, and the instructions are executed by the at least one control processor to enable the at least one control processor to execute the intelligent control method of the drone according to any one of claims 1 to 4.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions for causing a computer to execute the intelligent control method of the drone according to any one of claims 1 to 4.

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