An unmanned aerial vehicle landing deviation correction control method, system and medium

Abstract

The embodiment of the application provides a kind of unmanned aerial vehicle landing deviation correction control method, system and medium, the method comprises: obtaining aircraft flight state information and landing point parameter information, and inputting preset landing model, to obtain landing strategy;According to landing strategy, landing state information is generated, landing state information is compared with preset landing information, to obtain deviation rate;Whether the deviation rate is greater than or equal to the preset landing deviation threshold is judged;If greater than or equal to, deviation correction information is generated, and landing state is corrected according to deviation correction information;If less than, aircraft is landed according to landing strategy;Whether landing strategy meets current landing requirement is judged by landing state information, and landing state is corrected in real time according to landing deviation, to ensure that landing state meets landing requirement, and landing safety is higher.

Description

Technical Field

[0001] This application relates to the field of aircraft landing correction, and more specifically, to a method, system, and medium for unmanned aerial vehicle landing correction control. Background Technology

[0002] With the continuous development of science and technology, the application of unmanned aerial vehicles has achieved unprecedented growth. Aircraft are a broad category of flying machines, referring to any machine that gains aerodynamic lift and flight through the relative motion between its fuselage and the air (not through the reaction force of the air on the ground). This includes balloons, airships, airplanes, gliders, gyroplanes, helicopters, ornithopters, tiltrotor aircraft, etc.

[0003] Existing aircraft are prone to spinning after landing due to landing angle or attitude. Because the landing attitude and speed are difficult to adjust intelligently during the landing dive, the aircraft may bounce after landing, resulting in poor safety.

[0004] Effective technical solutions are urgently needed to address the above problems. Summary of the Invention

[0005] The purpose of this application is to provide a landing correction control method, system, and medium for unmanned aerial vehicles. This method can determine whether the landing strategy meets the current landing requirements by using landing status information, and correct the landing status in real time according to the landing deviation, thereby ensuring that the landing status meets the landing requirements and achieving high landing safety.

[0006] This application also provides a landing correction control method for unmanned aerial vehicles, including:

[0007] Obtain aircraft flight status information and landing point parameter information, and input them into a preset landing model to obtain a landing strategy;

[0008] The landing status information is generated based on the landing strategy, and the landing status information is compared with the preset landing information to obtain the deviation rate.

[0009] Determine whether the deviation rate is greater than or equal to a preset landing deviation threshold;

[0010] If it is greater than or equal to, then correction information is generated, and correction control is performed on the landing status based on the correction information;

[0011] If the value is less than 1, the aircraft will land according to the landing strategy.

[0012] Optionally, in the unmanned aerial vehicle landing correction control method described in the embodiments of this application, the step of acquiring aircraft flight state information and landing point parameter information, and inputting a preset landing model to obtain a landing strategy includes:

[0013] The system acquires the aircraft's flight direction, speed, acceleration, heading angle, and attitude information, inputs a preset landing model, and obtains the first result information.

[0014] Obtain the landing point location information, landing point topography information, and landing point flight path information, input the preset landing model, and obtain the second result information;

[0015] The first result information and the second result information are merged to obtain the final result information;

[0016] By inputting a pre-defined landing model into the validation set, validation result information is obtained.

[0017] The evaluation value is obtained by calculating the difference between the verification result information and the final result information.

[0018] Determine whether the evaluation value is greater than or equal to a preset evaluation threshold;

[0019] If it is greater than or equal to, a landing strategy is generated based on the final result information;

[0020] If the value is less than the value, a correction factor is generated, and the parameters of the preset landing model are corrected based on the correction factor.

[0021] Optionally, in the unmanned aerial vehicle landing correction control method described in the embodiments of this application, the step of correcting the landing state based on the correction information includes:

[0022] Obtain the aircraft's heading angle and compare it with a first angle threshold.

[0023] If the heading angle is greater than the first angle threshold and less than the second angle threshold, then the first landing deviation angle is generated;

[0024] First landing attitude information is generated based on the first landing deviation angle;

[0025] Obtain the course direction information, calculate the angle difference between the course direction information and the first landing deviation angle, generate the first correction information, and correct the first landing attitude information based on the first correction information.

[0026] If the heading angle is greater than the second angle threshold, a second landing deviation angle is generated, and second landing attitude information is generated based on the second landing deviation angle.

[0027] The angle difference between the flight path direction information and the second landing correction angle is calculated to generate the second correction information. The second landing attitude information is then corrected based on the second correction information.

[0028] Optionally, in the unmanned aerial vehicle landing correction control method described in the embodiments of this application, the aircraft lands according to a landing strategy, and the method further includes:

[0029] The aircraft consists of two front wheels and two rear wheels, with the two front wheels being the left front wheel and the right front wheel;

[0030] The two rear wheels are the left rear wheel and the right rear wheel;

[0031] After the aircraft lands, the aircraft's heading angle is obtained and compared with a first angle threshold.

[0032] If the heading angle is greater than the first angle threshold and less than the second angle threshold, then the first landing deviation angle is generated;

[0033] Calculate the deviation angles of the left front wheel and the right front wheel based on the first landing deviation angle, and calculate the difference between the deviation angles of the left front wheel and the right front wheel;

[0034] Calculate the braking weighting coefficients for the left and right front wheels based on the difference in deviation angles;

[0035] The braking amount information is calculated based on the first landing deviation angle. The braking amount information is then multiplied by the braking wheel weighting coefficient of the left front wheel to obtain the braking amount of the left front wheel.

[0036] Multiply the braking amount information by the braking amount weighting coefficient of the right front wheel to obtain the braking amount of the right front wheel.

[0037] Optionally, in the unmanned aerial vehicle landing correction control method described in the embodiments of this application, the aircraft lands according to a landing strategy, and the method further includes:

[0038] Obtain pressure information at the points of contact between the aircraft's front and rear wheels;

[0039] The pressure information is compared with the preset pressure information to obtain the pressure deviation rate;

[0040] Determine whether the pressure deviation rate is greater than or equal to a preset pressure deviation threshold;

[0041] If the value is greater than or equal to the value, the aircraft landing parameters are adjusted, and the aircraft landing speed or the landing angle between the aircraft and the airway is adjusted according to the aircraft landing parameters.

[0042] Optionally, in the unmanned aerial vehicle landing correction control method described in the embodiments of this application, the step of calculating braking amount information based on the first landing deviation angle and multiplying the braking amount information by the braking wheel weighting coefficient of the left front wheel to obtain the braking amount of the left front wheel includes:

[0043] Based on the braking amount of the left front wheel, the travel angle information of the left front wheel is obtained in real time, and the travel angle information of the left rear wheel is also obtained.

[0044] The travel angle deviation value is obtained by comparing the travel angle information of the left front wheel with that of the left rear wheel.

[0045] The auxiliary braking amount for the left rear wheel is generated based on the angle deviation value;

[0046] The aircraft's landing attitude information is adjusted based on the amount of auxiliary braking on the left rear wheel.

[0047] Secondly, embodiments of this application provide a landing correction control system for an unmanned aerial vehicle (UAV). This system includes a memory and a processor. The memory includes a program for a landing correction control method for an UAV. When the program for the landing correction control method is executed by the processor, it performs the following steps:

[0048] Obtain aircraft flight status information and landing point parameter information, and input them into a preset landing model to obtain a landing strategy;

[0049] The landing status information is generated based on the landing strategy, and the landing status information is compared with the preset landing information to obtain the deviation rate.

[0050] Determine whether the deviation rate is greater than or equal to a preset landing deviation threshold;

[0051] If it is greater than or equal to, then correction information is generated, and correction control is performed on the landing status based on the correction information;

[0052] If the value is less than 1, the aircraft will land according to the landing strategy.

[0053] Optionally, in the unmanned aerial vehicle landing correction control system described in the embodiments of this application, the step of correcting the landing state based on the correction information includes:

[0054] Obtain the aircraft's heading angle and compare it with a first angle threshold.

[0055] If the heading angle is greater than the first angle threshold and less than the second angle threshold, then the first landing deviation angle is generated;

[0056] First landing attitude information is generated based on the first landing deviation angle;

[0057] Obtain the course direction information, calculate the angle difference between the course direction information and the first landing deviation angle, generate the first correction information, and correct the first landing attitude information based on the first correction information.

[0058] If the heading angle is greater than the second angle threshold, a second landing deviation angle is generated, and second landing attitude information is generated based on the second landing deviation angle.

[0059] The angle difference between the flight path direction information and the second landing correction angle is calculated to generate the second correction information. The second landing attitude information is then corrected based on the second correction information.

[0060] Optionally, in the unmanned aerial vehicle landing correction control system described in this application embodiment, the step of acquiring aircraft flight state information and landing point parameter information, and inputting a preset landing model to obtain a landing strategy includes:

[0061] The system acquires the aircraft's flight direction, speed, acceleration, heading angle, and attitude information, inputs a preset landing model, and obtains the first result information.

[0062] Obtain the landing point location information, landing point topography information, and landing point flight path information, input the preset landing model, and obtain the second result information;

[0063] The first result information and the second result information are merged to obtain the final result information;

[0064] By inputting a pre-defined landing model into the validation set, validation result information is obtained.

[0065] The evaluation value is obtained by calculating the difference between the verification result information and the final result information.

[0066] Determine whether the evaluation value is greater than or equal to a preset evaluation threshold;

[0067] If the result is greater than or equal to the result, a landing strategy is generated based on the final result information.

[0068] If the value is less than the value, a correction factor is generated, and the parameters of the preset landing model are corrected based on the correction factor.

[0069] Thirdly, embodiments of this application also provide a computer-readable storage medium, which includes a program for an unmanned aerial vehicle (UAV) landing correction control method. When the UAV landing correction control method program is executed by a processor, it implements the steps of the UAV landing correction control method as described in any of the preceding claims.

[0070] As can be seen from the above, the unmanned aerial vehicle landing correction control method, system, and medium provided in this application embodiment obtains the aircraft's flight status information and landing point parameter information, and inputs a preset landing model to obtain a landing strategy; generates landing status information based on the landing strategy, compares the landing status information with preset landing information to obtain a deviation rate; determines whether the deviation rate is greater than or equal to a preset landing deviation threshold; if it is greater than or equal to, generates correction information, and performs correction control on the landing status based on the correction information; if it is less than, the aircraft lands according to the landing strategy; determines whether the landing strategy meets the current landing requirements through the landing status information, and performs real-time correction on the landing status based on the landing deviation, ensuring that the landing status meets the landing requirements and achieving high landing safety.

[0071] Other features and advantages of this application will be set forth in the following description, and the advantages of this application will be apparent in part from the description, or may be learned by practicing the embodiments of this application. The objectives and other advantages of this application may be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings. Attached Figure Description

[0072] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0073] Figure 1 A flowchart of a landing correction control method for unmanned aerial vehicles provided in an embodiment of this application;

[0074] Figure 2 A flowchart illustrating the landing model parameter correction process of the unmanned aerial vehicle landing correction control method provided in this application embodiment;

[0075] Figure 3 A flowchart illustrating the landing attitude correction process of the unmanned aerial vehicle landing correction control method provided in this application embodiment;

[0076] Figure 4 A flowchart of the aircraft landing parameter adjustment method for the unmanned aerial vehicle landing correction control method provided in the embodiments of this application;

[0077] Figure 5 This is a schematic diagram of the unmanned aerial vehicle landing correction control system provided in an embodiment of this application. Detailed Implementation

[0078] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0079] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0080] Please refer to Figure 1 , Figure 1 This is a flowchart of a landing correction control method for an unmanned aerial vehicle (UAV) according to some embodiments of this application. This landing correction control method is used in a terminal device and includes the following steps:

[0081] S101: Obtain aircraft flight status information and landing point parameter information, and input the preset landing model to obtain the landing strategy;

[0082] S102, generate landing status information according to the landing strategy, compare the landing status information with the preset landing information, and obtain the deviation rate;

[0083] S103, determine whether the deviation rate is greater than or equal to the preset landing deviation threshold;

[0084] S104, if it is greater than or equal to, then generate correction information and perform correction control on the landing state based on the correction information;

[0085] If S105 is less than 5, the aircraft will land according to the landing strategy.

[0086] It should be noted that during the aircraft landing correction process, the aircraft's landing slide trajectory needs to be kept within the centerline area of ​​the airway. As long as the distance between the aircraft's landing trajectory and the centerline meets the preset distance requirements, the aircraft's landing requirements can be met. In addition, the aircraft's landing status can be adjusted in real time through correction information to improve the accuracy of aircraft correction.

[0087] Please refer to Figure 2, Figure 2 This is a flowchart illustrating the landing model parameter correction process of a landing correction control method for an unmanned aerial vehicle (UAV) according to some embodiments of this application. According to embodiments of the present invention, aircraft flight state information and landing point parameter information are acquired, and a preset landing model is input to obtain a landing strategy; including:

[0088] S201: Obtain the aircraft's flight direction, speed, acceleration, heading angle, and attitude information; input the preset landing model; and obtain the first result information.

[0089] S202: Obtain the landing point location information, landing point topography information, and landing point flight path information; input the preset landing model to obtain the second result information.

[0090] S203, the first result information and the second result information are fused to obtain the final result information;

[0091] S204: Input the preset landing model into the validation set to obtain validation result information; calculate the difference between the validation result information and the final result information to obtain the evaluation value;

[0092] S205, determine whether the evaluation value is greater than or equal to the preset evaluation threshold; if it is greater than or equal to, generate a landing strategy based on the final result information; if it is less than, generate a correction coefficient and correct the parameters of the preset landing model based on the correction coefficient.

[0093] It should be noted that by validating the preset landing model through the validation set, the accuracy of the landing model is improved, and the output results of the landing model are made closer to the actual values. The landing strategy output by the landing model can ensure that the aircraft always meets the landing requirements after landing, thereby improving the landing correction accuracy of the aircraft.

[0094] Please refer to Figure 3 , Figure 3 This is a flowchart illustrating the landing attitude correction process of a landing correction control method for an unmanned aerial vehicle (UAV) according to some embodiments of this application. According to embodiments of the present invention, corrective control of the landing state based on correction information includes:

[0095] S301, Obtain the aircraft's heading angle and compare it with a first angle threshold.

[0096] S302, if the heading angle is greater than the first angle threshold and less than the second angle threshold, then generate the first landing deviation angle;

[0097] S303, Generate first landing attitude information based on the first landing deviation angle;

[0098] S304, acquire the course direction information, calculate the angle difference between the course direction information and the first landing deviation angle, generate the first correction information, and correct the first landing attitude information according to the first correction information.

[0099] S305, if the heading angle is greater than the second angle threshold, then generate the second landing deviation angle, and generate the second landing attitude information based on the second landing deviation angle;

[0100] S306, calculate the angle difference between the flight path direction information and the second landing correction angle to generate second correction information, and correct the second landing attitude information based on the second correction information.

[0101] It should be noted that the angular deviation between the landing angle and the flight path direction after the aircraft lands will generate different correction information under different deviation conditions, which can accurately control different deviation situations.

[0102] According to an embodiment of the present invention, the aircraft lands in accordance with a landing strategy, further comprising:

[0103] The aircraft consists of two front wheels and two rear wheels, with the two front wheels being the left front wheel and the right front wheel;

[0104] The two rear wheels are the left rear wheel and the right rear wheel;

[0105] After the aircraft lands, the aircraft's heading angle is obtained and compared with a first angle threshold.

[0106] If the heading angle is greater than the first angle threshold and less than the second angle threshold, then the first landing deviation angle is generated;

[0107] Calculate the deviation angles of the left front wheel and the right front wheel based on the first landing deviation angle, and calculate the difference between the deviation angles of the left front wheel and the right front wheel;

[0108] Calculate the braking weighting coefficients for the left and right front wheels based on the difference in deviation angles;

[0109] The braking amount information is calculated based on the first landing deviation angle. The braking amount information is then multiplied by the braking wheel weighting coefficient of the left front wheel to obtain the braking amount of the left front wheel.

[0110] Multiply the braking amount information by the braking amount weighting coefficient of the right front wheel to obtain the braking amount of the right front wheel.

[0111] It should be noted that the front wheel steering, main wheel differential braking and rudder work together to correct the course, so as to ensure effective correction control in each stage of the runway. The front wheel steering correction control has a fast response and does not generate additional resistance, which can shorten the landing runway distance.

[0112] Please refer to Figure 4 , Figure 4 This is a flowchart of an aircraft landing parameter adjustment method according to some embodiments of an unmanned aerial vehicle landing correction control method in this application. According to embodiments of the present invention, the aircraft lands according to a landing strategy, and the method further includes:

[0113] S401, acquires pressure information at the points of contact between the aircraft's front and rear wheels;

[0114] S402, compare the pressure information with the preset pressure information to obtain the pressure deviation rate;

[0115] S403, determine whether the pressure deviation rate is greater than or equal to the preset pressure deviation threshold;

[0116] S404, if greater than or equal to, then adjust the aircraft landing parameters, and adjust the aircraft landing speed or the landing angle between the aircraft and the airway according to the aircraft landing parameters.

[0117] It should be noted that by using the pressure information at the point of impact, the magnitude of the impact force of the front and rear wheels on the ground during landing can be determined to prevent the aircraft from bouncing after landing and improve landing safety.

[0118] According to an embodiment of the present invention, braking amount information is calculated based on a first landing deviation angle, and the braking amount information is multiplied by the braking wheel weighting coefficient of the left front wheel to obtain the braking amount of the left front wheel, including:

[0119] Based on the braking amount of the left front wheel, the travel angle information of the left front wheel is obtained in real time, and the travel angle information of the left rear wheel is also obtained.

[0120] The travel angle deviation value is obtained by comparing the travel angle information of the left front wheel with that of the left rear wheel.

[0121] The auxiliary braking amount for the left rear wheel is generated based on the angle deviation value;

[0122] The aircraft's landing attitude information is adjusted based on the amount of auxiliary braking on the left rear wheel.

[0123] It should be noted that the left and right rear wheels can assist in braking adjustments based on the aircraft's deviation angle, ensuring that the aircraft does not spin out.

[0124] According to an embodiment of the present invention, it further includes:

[0125] Obtain aircraft landing status information, input the aircraft landing status information into a preset trajectory model, and generate the aircraft landing trajectory;

[0126] Calculate the Euclidean distance between the aircraft's landing trajectory and the preset landing trajectory;

[0127] Compare the Euclidean distance with a preset distance threshold;

[0128] If the Euclidean distance is greater than or equal to the preset distance threshold, feedback information is generated, and aircraft landing trajectory correction information is generated based on the feedback information.

[0129] The aircraft's landing trajectory was corrected and adjusted based on the correction information.

[0130] It should be noted that the system provides real-time feedback on whether the aircraft's landing trajectory is within the safe zone. If the aircraft deviates from the landing trajectory, the trajectory will be corrected to ensure a safe landing.

[0131] Please refer to Figure 5 , Figure 5 This is a schematic diagram of the structure of an unmanned aerial vehicle (UAV) landing correction control system according to some embodiments of this application. Secondly, embodiments of this application provide an UAV landing correction control system 5, which includes a memory 51 and a processor 52. The memory 51 includes a program for an UAV landing correction control method. When the program for the UAV landing correction control method is executed by the processor, it implements the following steps:

[0132] Obtain aircraft flight status information and landing point parameter information, and input them into a preset landing model to obtain a landing strategy;

[0133] The landing status information is generated based on the landing strategy, and the landing status information is compared with the preset landing information to obtain the deviation rate.

[0134] Determine whether the deviation rate is greater than or equal to the preset landing deviation threshold;

[0135] If it is greater than or equal to, then correction information is generated, and correction control is performed on the landing status based on the correction information;

[0136] If the value is less than 1, the aircraft will land according to the landing strategy.

[0137] It should be noted that during the aircraft landing correction process, the aircraft's landing slide trajectory needs to be kept within the centerline area of ​​the airway. As long as the distance between the aircraft's landing trajectory and the centerline meets the preset distance requirements, the aircraft's landing requirements can be met. In addition, the aircraft's landing status can be adjusted in real time through correction information to improve the accuracy of the aircraft's correction.

[0138] According to an embodiment of the present invention, corrective control of the landing state based on corrective information includes:

[0139] Obtain the aircraft's heading angle and compare it with a first angle threshold.

[0140] If the heading angle is greater than the first angle threshold and less than the second angle threshold, then the first landing deviation angle is generated;

[0141] First landing attitude information is generated based on the first landing deviation angle;

[0142] Obtain the course direction information, calculate the angle difference between the course direction information and the first landing deviation angle, generate the first correction information, and correct the first landing attitude information based on the first correction information.

[0143] If the heading angle is greater than the second angle threshold, a second landing deviation angle is generated, and second landing attitude information is generated based on the second landing deviation angle.

[0144] The angle difference between the flight path direction information and the second landing correction angle is calculated to generate the second correction information. The second landing attitude information is then corrected based on the second correction information.

[0145] It should be noted that the angular deviation between the landing angle and the flight path direction after the aircraft lands will generate different correction information under different deviation conditions, which can accurately control different deviation situations.

[0146] According to an embodiment of the present invention, aircraft flight status information and landing point parameter information are acquired, and a preset landing model is input to obtain a landing strategy; including:

[0147] The system acquires the aircraft's flight direction, speed, acceleration, heading angle, and attitude information, inputs a preset landing model, and obtains the first result information.

[0148] Obtain the landing point location information, landing point topography information, and landing point flight path information, input the preset landing model, and obtain the second result information;

[0149] The first result information and the second result information are merged to obtain the final result information;

[0150] By inputting a pre-defined landing model into the validation set, validation result information is obtained.

[0151] The evaluation value is obtained by calculating the difference between the verification result information and the final result information.

[0152] Determine whether the evaluation value is greater than or equal to the preset evaluation threshold;

[0153] If the result is greater than or equal to the result, a landing strategy is generated based on the final result information.

[0154] If the value is less than the value, a correction factor is generated, and the parameters of the preset landing model are corrected based on the correction factor.

[0155] It should be noted that the angular deviation between the landing angle and the flight path direction after the aircraft lands will generate different correction information under different deviation conditions, which can accurately control different deviation situations.

[0156] According to an embodiment of the present invention, the aircraft lands in accordance with a landing strategy, further comprising:

[0157] The aircraft consists of two front wheels and two rear wheels, with the two front wheels being the left front wheel and the right front wheel;

[0158] The two rear wheels are the left rear wheel and the right rear wheel;

[0159] After the aircraft lands, the aircraft's heading angle is obtained and compared with a first angle threshold.

[0160] If the heading angle is greater than the first angle threshold and less than the second angle threshold, then the first landing deviation angle is generated;

[0161] Calculate the deviation angles of the left front wheel and the right front wheel based on the first landing deviation angle, and calculate the difference between the deviation angles of the left front wheel and the right front wheel;

[0162] Calculate the braking weighting coefficients for the left and right front wheels based on the difference in deviation angles;

[0163] The braking amount information is calculated based on the first landing deviation angle. The braking amount information is then multiplied by the braking wheel weighting coefficient of the left front wheel to obtain the braking amount of the left front wheel.

[0164] Multiply the braking amount information by the braking amount weighting coefficient of the right front wheel to obtain the braking amount of the right front wheel.

[0165] It should be noted that the front wheel steering, main wheel differential braking and rudder work together to correct the course, so as to ensure effective correction control in each stage of the runway. The front wheel steering correction control has a fast response and does not generate additional resistance, which can shorten the landing runway distance.

[0166] According to an embodiment of the present invention, the aircraft lands in accordance with a landing strategy, further comprising:

[0167] Obtain pressure information at the points of contact between the aircraft's front and rear wheels;

[0168] The pressure information is compared with the preset pressure information to obtain the pressure deviation rate;

[0169] Determine whether the pressure deviation rate is greater than or equal to the preset pressure deviation threshold;

[0170] If the value is greater than or equal to the value, the aircraft landing parameters are adjusted, and the aircraft landing speed or the landing angle between the aircraft and the airway is adjusted according to the aircraft landing parameters.

[0171] It should be noted that by using the pressure information at the point of impact, the magnitude of the impact force of the front and rear wheels on the ground during landing can be determined to prevent the aircraft from bouncing after landing and improve landing safety.

[0172] According to an embodiment of the present invention, braking amount information is calculated based on a first landing deviation angle, and the braking amount information is multiplied by the braking wheel weighting coefficient of the left front wheel to obtain the braking amount of the left front wheel, including:

[0173] Based on the braking amount of the left front wheel, the travel angle information of the left front wheel is obtained in real time, and the travel angle information of the left rear wheel is also obtained.

[0174] The travel angle deviation value is obtained by comparing the travel angle information of the left front wheel with that of the left rear wheel.

[0175] The auxiliary braking amount for the left rear wheel is generated based on the angle deviation value;

[0176] The aircraft's landing attitude information is adjusted based on the amount of auxiliary braking on the left rear wheel.

[0177] It should be noted that the left and right rear wheels can assist in braking adjustments based on the aircraft's deviation angle, ensuring that the aircraft does not spin out.

[0178] According to an embodiment of the present invention, it further includes:

[0179] Obtain aircraft landing status information, input the aircraft landing status information into a preset trajectory model, and generate the aircraft landing trajectory;

[0180] Calculate the Euclidean distance between the aircraft's landing trajectory and the preset landing trajectory;

[0181] Compare the Euclidean distance with a preset distance threshold;

[0182] If the Euclidean distance is greater than or equal to the preset distance threshold, feedback information is generated, and aircraft landing trajectory correction information is generated based on the feedback information.

[0183] The aircraft's landing trajectory was corrected and adjusted based on the correction information.

[0184] It should be noted that the system provides real-time feedback on whether the aircraft's landing trajectory is within the safe zone. If the aircraft deviates from the landing trajectory, the trajectory will be corrected to ensure a safe landing.

[0185] A third aspect of the present invention provides a computer-readable storage medium including a program for an unmanned aerial vehicle (UAV) landing correction control method. When the UAV landing correction control method program is executed by a processor, it implements the steps of the UAV landing correction control method as described in any of the above claims.

[0186] This invention discloses a landing correction control method, system, and medium for unmanned aerial vehicles (UAVs). The method involves acquiring aircraft flight status information and landing point parameter information, inputting them into a preset landing model to obtain a landing strategy; generating landing status information based on the landing strategy, comparing the landing status information with preset landing information to obtain a deviation rate; determining whether the deviation rate is greater than or equal to a preset landing deviation threshold; if it is greater than or equal to, generating correction information and controlling the landing status accordingly; if it is less than the threshold, the aircraft lands according to the landing strategy. The method uses the landing status information to determine whether the landing strategy meets the current landing requirements and performs real-time correction of the landing status based on the landing deviation, ensuring that the landing status meets the landing requirements and achieving high landing safety.

[0187] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods, such as: multiple units or components can be combined, or integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the various components shown or discussed can be through some interfaces, and the indirect coupling or communication connection between devices or units can be electrical, mechanical, or other forms.

[0188] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units. They may be located in one place or distributed across multiple network units. Some or all of the units may be selected to achieve the purpose of this embodiment according to actual needs.

[0189] In addition, in the various embodiments of the present invention, each functional unit can be integrated into one processing unit, or each unit can be a separate unit, or two or more units can be integrated into one unit; the integrated unit can be implemented in hardware or in the form of hardware plus software functional units.

[0190] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0191] Alternatively, if the integrated units of this invention are implemented as software functional modules and sold or used as independent products, they can also be stored in a readable storage medium. Based on this understanding, the technical solutions of the embodiments of this invention, or the parts that contribute to the prior art, can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, ROM, RAM, magnetic disks, or optical disks.

Claims

1. A landing correction control method for an unmanned aerial vehicle, characterized in that, include: The process involves acquiring aircraft flight status information and landing point parameter information, inputting them into a preset landing model, and obtaining a landing strategy. Specifically, this includes: acquiring aircraft flight direction, speed, acceleration, heading angle, and attitude information, inputting them into the preset landing model, and obtaining first result information; acquiring landing point location information, terrain information, and flight path information, inputting them into the preset landing model, and obtaining second result information; fusing the first and second result information to obtain a final result information; inputting the preset landing model through a validation set to obtain validation result information; calculating the difference between the validation result information and the final result information to obtain an evaluation value; determining whether the evaluation value is greater than or equal to a preset evaluation threshold; if it is greater than or equal to, generating a landing strategy based on the final result information; if it is less than, generating a correction coefficient and correcting the parameters of the preset landing model based on the correction coefficient. The landing status information is generated based on the landing strategy, and the landing status information is compared with the preset landing information to obtain the deviation rate. Determine whether the deviation rate is greater than or equal to a preset landing deviation threshold; If the deviation is greater than or equal to the first angle threshold, correction information is generated, and the landing status is corrected based on the correction information. Specifically, this includes: acquiring the aircraft's heading angle, comparing the heading angle with a first angle threshold, and if the heading angle is greater than the first angle threshold but less than a second angle threshold, generating a first landing deviation angle; generating first landing attitude information based on the first landing deviation angle; acquiring the flight path direction information, calculating the angle difference between the flight path direction information and the first landing deviation angle to generate first correction information, and correcting the first landing attitude information based on the first correction information; if the heading angle is greater than the second angle threshold, generating a second landing deviation angle, generating second landing attitude information based on the second landing deviation angle; calculating the angle difference between the flight path direction information and the second landing deviation angle to generate second correction information, and correcting the second landing attitude information based on the second correction information. If the value is less than the threshold, the aircraft will land according to the landing strategy, which includes: the aircraft has two front wheels and two rear wheels, the two front wheels being the left front wheel and the right front wheel; the two rear wheels being the left rear wheel and the right rear wheel; after landing, the aircraft's heading angle is obtained and compared with a first angle threshold; if the heading angle is greater than the first angle threshold but less than a second angle threshold, a first landing deviation angle is generated; the deviation angles of the left and right front wheels are calculated based on the first landing deviation angle, and the difference between the deviation angles of the left and right front wheels is calculated; the braking weight coefficients of the left and right front wheels are calculated based on the difference in deviation angles; braking information is calculated based on the first landing deviation angle, and the braking information is multiplied by the braking weight coefficient of the left front wheel to obtain the braking amount of the left front wheel; the braking information is multiplied by the braking weight coefficient of the right front wheel to obtain the braking amount of the right front wheel.

2. The unmanned aerial vehicle landing correction control method according to claim 1, characterized in that, The aircraft landing according to the landing strategy also includes: Obtain pressure information at the points of contact between the aircraft's front and rear wheels; The pressure information is compared with the preset pressure information to obtain the pressure deviation rate; Determine whether the pressure deviation rate is greater than or equal to a preset pressure deviation threshold; If the value is greater than or equal to the value, the aircraft landing parameters are adjusted, and the aircraft landing speed or the landing angle between the aircraft and the airway is adjusted according to the aircraft landing parameters.

3. The unmanned aerial vehicle landing correction control method according to claim 2, characterized in that, The step of calculating the braking amount information based on the first landing deviation angle, and multiplying the braking amount information by the braking wheel weighting coefficient of the left front wheel to obtain the braking amount of the left front wheel includes: Based on the braking amount of the left front wheel, the travel angle information of the left front wheel is obtained in real time, and the travel angle information of the left rear wheel is also obtained. The travel angle deviation value is obtained by comparing the travel angle information of the left front wheel with that of the left rear wheel. The auxiliary braking amount for the left rear wheel is generated based on the angle deviation value; The aircraft's landing attitude information is adjusted based on the amount of auxiliary braking on the left rear wheel.

4. A landing correction control system for an unmanned aerial vehicle, characterized in that, The system includes a memory and a processor. The memory contains a program for a landing correction control method for unmanned aerial vehicles (UAVs). When the processor executes the program for the UAV landing correction control method, it performs the following steps: acquiring aircraft flight status information and landing point parameter information, and inputting them into a preset landing model to obtain a landing strategy; specifically, this includes: acquiring aircraft flight direction, flight speed, flight acceleration, heading angle, and flight attitude information, inputting them into a preset landing model to obtain first result information; acquiring landing point location information, landing point topography information, and landing point flight path information, inputting them into a preset landing model to obtain second result information; fusing the first result information and the second result information to obtain final result information; inputting a validation set into the preset landing model to obtain validation result information; calculating the difference between the validation result information and the final result information to obtain an evaluation value; determining whether the evaluation value is greater than or equal to a preset evaluation threshold; if it is greater than or equal to, generating a landing strategy based on the final result information; if it is less than, generating a correction coefficient and correcting the parameters of the preset landing model based on the correction coefficient. The landing status information is generated based on the landing strategy, and the landing status information is compared with the preset landing information to obtain the deviation rate. Determine whether the deviation rate is greater than or equal to a preset landing deviation threshold; If the deviation is greater than or equal to the first angle threshold, correction information is generated, and the landing status is corrected based on the correction information. Specifically, this includes: acquiring the aircraft's heading angle, comparing the heading angle with a first angle threshold, and if the heading angle is greater than the first angle threshold but less than a second angle threshold, generating a first landing deviation angle; generating first landing attitude information based on the first landing deviation angle; acquiring the flight path direction information, calculating the angle difference between the flight path direction information and the first landing deviation angle to generate first correction information, and correcting the first landing attitude information based on the first correction information; if the heading angle is greater than the second angle threshold, generating a second landing deviation angle, generating second landing attitude information based on the second landing deviation angle; calculating the angle difference between the flight path direction information and the second landing deviation angle to generate second correction information, and correcting the second landing attitude information based on the second correction information. If the value is less than the threshold, the aircraft will land according to the landing strategy, which includes: the aircraft has two front wheels and two rear wheels, the two front wheels being the left front wheel and the right front wheel; the two rear wheels being the left rear wheel and the right rear wheel; after landing, the aircraft's heading angle is obtained and compared with a first angle threshold; if the heading angle is greater than the first angle threshold but less than a second angle threshold, a first landing deviation angle is generated; the deviation angles of the left and right front wheels are calculated based on the first landing deviation angle, and the difference between the deviation angles of the left and right front wheels is calculated; the braking weight coefficients of the left and right front wheels are calculated based on the difference in deviation angles; braking information is calculated based on the first landing deviation angle, and the braking information is multiplied by the braking weight coefficient of the left front wheel to obtain the braking amount of the left front wheel; the braking information is multiplied by the braking weight coefficient of the right front wheel to obtain the braking amount of the right front wheel.

5. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a method program for unmanned aerial vehicle (UAV) landing correction control, which, when executed by a processor, implements the steps of the unmanned aerial vehicle (UAV) landing correction control method as described in any one of claims 1 to 3.

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