Precise route tracking and guiding control method of unpowered parachute wing unmanned aerial vehicle in wind field

By establishing a six-degree-of-freedom equation for the UAV and designing a PID control method, combined with GPS and sensors for guidance and control, the problem of accurate flight path tracking for unpowered paragliding UAVs in windy conditions was solved, achieving accurate flight path tracking and safe airdrop under windy conditions.

CN117008626BActive Publication Date: 2026-07-21NORTHWESTERN POLYTECHNICAL UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
NORTHWESTERN POLYTECHNICAL UNIV
Filing Date
2023-07-04
Publication Date
2026-07-21

AI Technical Summary

Technical Problem

Unpowered paragliding drones are difficult to control precisely in windy conditions. Due to the complexity of dynamics and the influence of wind, existing control methods cannot guarantee the accuracy and safety of airdrops.

Method used

By employing PID control combined with GPS, IMU, and airspeed sensors, a guidance control algorithm is designed by establishing a six-degree-of-freedom equation and designing the inner-loop control law of the paraglider system. GPS is then used for online wind field estimation to refine the guidance control algorithm and achieve precise flight path tracking.

Benefits of technology

Under windy conditions, the system achieved precise tracking and control of the UAV's flight path, with fast tracking speed and high tracking accuracy. The system can converge to the desired flight path at any position and in any direction, and the control method is simple and easy to apply.

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Abstract

The application discloses a precise route tracking and guiding control method of a non-powered umbrella wing unmanned plane in a wind field, which comprises the following steps: firstly, analyzing the force and moment of the umbrella wing unmanned plane, and establishing six-degree-of-freedom equations of the system according to Newton's second law and the theorem of momentum moment; next, adopting a PID control method to complete the design of the inner loop control law of the wing umbrella system; then, according to the uploaded route information, measuring the speed, position and heading angle information of the umbrella wing unmanned plane by means of GPS, IMU and air speed sensors, and completing the design of the azimuth angle and relative distance information required by the guiding control instruction; after that, completing the design of the guiding control algorithm, analyzing and proving that the designed algorithm is gradually convergent; finally, completing online wind field estimation by means of GPS, correcting the guiding control algorithm, and ensuring that the wing umbrella unmanned plane can realize precise tracking control on the route under the condition of wind. The guiding control method has fast tracking speed and high tracking precision, and can satisfy the precise tracking on the route.
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