A full-state attitude control method for tail-mounted vertical take-off and landing UAV

Abstract

The present invention belongs to the field of flight control law design, specifically a full-state domain attitude control method for a tail-seat vertical take-off and landing UAV, comprising the following steps: step 1, defining the body coordinate system of the tail-seat vertical take-off and landing UAV; step 2, determining the installation method of the attitude sensor on the body; step 3, defining the flight mode of the UAV; step 4, constructing attitude control variables; step 5, designing the attitude control law. The method disclosed in the present invention can realize the full-state domain control of the tail-seat vertical take-off and landing UAV in various flight states such as vertical hovering, horizontal flight, vertical to horizontal, horizontal to vertical, etc. by using a single attitude sensor, avoiding the problem of how to hand over and transition the attitude information of multiple attitude sensors.

Description

Technical Field

[0001] The invention belongs to the field of flight control law design, and specifically relates to a full-state domain attitude control method for a tail-seat vertical take-off and landing unmanned aerial vehicle. Background Art

[0002] Vertical take-off and landing aircraft use the vertical upward thrust provided by the engine to overcome gravity, thereby achieving vertical take-off and landing. This type of aircraft can get rid of the dependence on airport runways, and has the advantages of flexible departure, high attendance rate, and low maintenance cost. In addition, it can also take off and land on ships, and has unparalleled advantages over taxiing and landing carrier-based aircraft in improving amphibious combat capabilities. The main types of vertical take-off and landing aircraft have been developed to date: tail-seat type, tilt-rotor type, rotor type, jet engine thrust steering type, ducted fan type, and a hybrid of these types.

[0003] Among them, the tail-seat vertical take-off and landing UAV is an aircraft whose entire body tilts during take-off and landing. It generally uses a propeller as a power source. With its light weight, small size, and simple power system, it can take off and land in narrow spaces such as ship decks, mountains, canyons, and alleys. After carrying a payload, it can be used to perform reconnaissance, relay communications, and attacks, and has broad application prospects.

[0004] However, the attitude of the tail-seat vertical take-off and landing UAV changes greatly during vertical hovering, horizontal flight, vertical to horizontal, and horizontal to vertical. Since the attitude sensor will have singular points at the pitch angle of ±90°, the attitude information has a large error when the pitch angle is near ±90°. The traditional airborne attitude sensor installation method cannot meet the attitude information accuracy requirements of the tail-seat vertical take-off and landing UAV under all working conditions, and it is impossible to rely on sensor information to achieve effective attitude control. Of course, a conservative method is to install multiple different attitude sensors on the body, and the installation angles of each sensor are inconsistent, so that it can be ensured that at least one attitude sensor can collect information normally in any attitude of the UAV. However, this method increases the cost of the airborne attitude sensor, and there are problems with information handover and transition between multiple attitude sensors. Therefore, how to use a single attitude sensor to achieve full-state domain control of the tail-seat vertical take-off and landing UAV in various flight states such as vertical hovering, horizontal flight, vertical to horizontal, and horizontal to vertical is the key to flight control and flight safety, which is also the technical problem to be solved by this technical proposal. Summary of the invention

[0005] In order to solve the above problems and shortcomings in the prior art, the present invention proposes a full-state domain attitude control method for a tail-seat vertical take-off and landing UAV.

[0006] In order to achieve the above-mentioned invention object, the technical solution provided by this application is as follows:

[0007] Step 1: Define the body coordinate system of the tail-seat vertical take-off and landing UAV:

[0008] Center of gravity is the coordinate origin; the center of the propeller or the center of the engine tail nozzle is The connection is Axis, and pointing in the direction of the nose is positive; The axis is perpendicular to the longitudinal symmetry plane of the fuselage and is positive when it points to the right wing; The axis is determined according to the right-hand rule;

[0009] Step 2: Determine the installation method of the attitude sensor on the fuselage: The attitude sensor on the fuselage enables the attitude sensor to measure the attitude and angular velocity of the aircraft in all flight states, avoiding singular points or large measurement errors;

[0010] Step 3: Define the flight mode of the drone: Determine the flight mode based on the angle between the aircraft body and the horizontal plane. When the angle between the axis and the horizontal plane is not greater than 45°, the flight mode of the drone is defined as horizontal flight mode; when the body coordinate system When the angle between the axis and the horizontal plane is greater than 45°, the flight mode of the drone is defined as vertical flight mode;

[0011] Step 4: Construct attitude control variables:

[0012] Step S31: construct three posture control variables: Indicates the actual roll angle of the aircraft. Indicates the true pitch angle of the aircraft. represents the true yaw angle of the aircraft, and , , The specific value of can be calculated through the information of the attitude sensor;

[0013] Step S32: construct three angular velocity control variables: Indicates the true roll angular velocity of the aircraft. Indicates the true pitch angular velocity of the aircraft. represents the true yaw rate of the aircraft, and , , The specific value of can be calculated through the information of the attitude sensor;

[0014] Step 5: Design attitude control law:

[0015] Body around The control law of the control surface for shaft rotation is:

[0016]

[0017] Body around The control law of the control surface for shaft rotation is:

[0018]

[0019] Body around The control law of the control surface for shaft rotation is:

[0020]

[0021] in, Around the body Control surface commands for axis rotation, Around the body Control surface commands for axis rotation, Around the body Control surface commands for shaft rotation; is the target value of the body roll angle, is the target value of the aircraft pitch angle, is the target value of the aircraft yaw angle; K 1. K 3. K 5. K 7. K 9 is the proportional term control parameter of the attitude control law, K 2. K 4. K 6. K 8. K 10 is the control parameter of the damping term of the attitude control law.

[0022] Furthermore, the first installation method of the posture sensor in step 2 is:

[0023] Attitude sensor X Axis parallel to the body coordinate system axis, and X The positive direction of the axis The positive direction of the axis is opposite; the attitude sensor Y Axis parallel to the body coordinate system axis, and the positive direction of the axis is The positive direction of the axis is the same; the attitude sensor Z Axis parallel to the body coordinate system axis, and Z The positive direction of the axis The positive direction of the axis is the same.

[0024] In parallel, further, the second installation method of the posture sensor in step 2 is:

[0025] Attitude sensor Y Axis parallel to the body coordinate system axis, and the positive direction of the axis is The positive direction of the axis is the same; the attitude sensor X Shaft winding Y After the positive axis rotates 45°, it is aligned with the body coordinate system Axis parallel; attitude sensor Z Shaft winding Y After the positive axis rotates 45°, it is aligned with the body coordinate system Axis parallel.

[0026] Furthermore, in step three, if the attitude sensor is installed in the first manner, then: when the roll angle of the attitude sensor is greater than -45°, the flight mode of the UAV is defined as a horizontal flight mode; when the roll angle of the attitude sensor is not greater than -45°, the flight mode of the UAV is defined as a vertical flight mode.

[0027] In parallel, in step three, if the attitude sensor is installed in the second manner, then: when the pitch angle of the attitude sensor is less than 0°, the flight mode of the drone is defined as a horizontal flight mode; when the pitch angle of the attitude sensor is not less than 0°, the flight mode of the drone is defined as a vertical flight mode.

[0028] Furthermore, in step 4,

[0029] If the attitude sensor is installed in the first way, then:

[0030] , , ;

[0031] in, is the roll angle information of the attitude sensor, is the pitch angle information of the attitude sensor, is the yaw angle information of the attitude sensor;

[0032] , , ;

[0033] in, is the roll angular velocity information of the attitude sensor, is the pitch angular velocity information of the attitude sensor, It is the yaw rate information of the attitude sensor.

[0034] Furthermore, in step 4,

[0035] If the attitude sensor is installed in the second way, then:

[0036] , , ;

[0037] in, is the roll angle information of the attitude sensor, is the pitch angle information of the attitude sensor, is the yaw angle information of the attitude sensor;

[0038] , , ;

[0039] in, is the roll angular velocity information of the attitude sensor, is the pitch angular velocity information of the attitude sensor, It is the yaw rate information of the attitude sensor.

[0040] Furthermore, in step 5, when the UAV flight mode is in vertical flight mode, the control target is to make the aircraft The axis remains vertical. At this time, the angle target value is set as: , ,and According to the expectation The axis direction is determined.

[0041] Furthermore, in step 5, when the UAV flight mode is the horizontal flight mode, the control goal is to keep the UAV flying horizontally. At this time, the angle target value is set as: , Trim the pitch angle for level flight, The target heading of the flight route.

[0042] Furthermore, the control parameters K 1. K 3. K 5. K 7. K 9. K 2. K 4. K 6. K 8. K 10 It is determined based on digital simulation model parameter adjustment or flight test parameter adjustment.

[0043] The beneficial effects of the present invention are:

[0044] 1. The method disclosed in the present invention can realize full-state domain control of a tail-seat vertical take-off and landing UAV in various flight states such as vertical hovering, horizontal flight, vertical to horizontal, horizontal to vertical, etc. by using a single attitude sensor, avoiding the problem of how to hand over and transition the attitude information of multiple attitude sensors.

[0045] 2. The method disclosed in the present invention can realize the full-state domain control of the tail-seat vertical take-off and landing UAV by using a single attitude sensor, thus saving the cost of the UAV's airborne equipment.

[0046] 3. The tail-seat vertical take-off and landing UAV full-state domain control method disclosed in the present invention adopts a PID control structure, and the flight control law algorithm is simple, which is convenient for engineering implementation. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 The present invention is a flow chart of the method.

[0048] Figure 2 Schematic diagram of the body coordinate system of the tail-seat vertical take-off and landing UAV.

[0049] Figure 3 This is the installation diagram of the first installation method of the attitude sensor.

[0050] Figure 4 This is the installation diagram of the second installation method of the attitude sensor.

[0051] Figure 5 This is a curve diagram of the actual roll angle change of the simulated aircraft body in Example 3.

[0052] Figure 6 This is a curve diagram of the actual pitch angle change of the simulated aircraft body in Example 3.

[0053] Figure 7 This is a curve diagram of the actual yaw angle change of the simulated aircraft body in Example 3.

[0054] Figure 8 This is a curve diagram of the actual angular velocity change of the simulated body in Example 3.

[0055] Fig. 9 This is a curve diagram of the simulation control surface command change in Example 3.

[0056] Fig.10 This is a graph showing the change in attitude angle information of the simulated attitude sensor in Example 3.

[0057] Fig.11 This is a curve diagram of the angular velocity information change of the simulated attitude sensor in Example 3.

[0058] Fig.12 This is a curve diagram of the actual roll angle change of the simulated aircraft body in Example 4.

[0059] Fig.13 This is a curve diagram of the actual pitch angle change of the simulated aircraft body in Example 4.

[0060] Fig.14 This is a curve diagram of the actual yaw angle change of the simulated aircraft body in Example 4.

[0061] Fig.15 This is a curve diagram of the actual angular velocity change of the simulated body in Example 4.

[0062] Fig.16 This is a curve diagram of the simulation control surface command change in Example 4.

[0063] Fig.17 This is a graph showing the change in attitude angle information of the attitude sensor simulated in Example 4.

[0064] Fig.18 This is a curve diagram of the angular velocity information change of the simulated attitude sensor in Example 4. DETAILED DESCRIPTION

[0065] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is to explain the present invention rather than to limit the present invention. Based on the embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0066] The specific implementation method of the present invention is described below with reference to the accompanying drawings and examples, but the present invention is not limited to this embodiment.

[0067] Example 1

[0068] As attached Figure 1 As shown, a tail-seat vertical take-off and landing UAV full-state domain attitude control method, the specific steps are as follows:

[0069] Step 1: Define the body coordinate system of the tail-mounted vertical take-off and landing drone:

[0070] As attached Figure 2 As shown, the aircraft center of gravity is the coordinate origin; the center of the propeller or the center of the engine tail nozzle is The connection is Axis, and pointing in the direction of the nose is positive; The axis is perpendicular to the longitudinal symmetry plane of the fuselage and is positive when it points to the right wing; The axes are determined according to the right-hand rule.

[0071] Step 2: Determine how to install the attitude sensor on the aircraft:

[0072] The attitude sensor should be installed on the aircraft in such a way that it can effectively and accurately measure the aircraft's attitude and angular velocity in all flight conditions without any singularity points or large measurement errors.

[0073] Preferably, Figure 3 As shown, the installation method of the posture sensor proposed by the present invention is: X Axis parallel to the body coordinate system axis, and X The positive direction of the axis The positive direction of the axis is opposite; the attitude sensor Y Axis parallel to the body coordinate system axis, and the positive direction of the axis is The positive direction of the axis is the same; the attitude sensor Z Axis parallel to the body coordinate system axis, and Z The positive direction of the axis The positive direction of the axis is the same.

[0074] Step 3: Define the flight mode of the drone:

[0075] The flight mode of the drone is defined as follows: when the roll angle of the attitude sensor is greater than -45°, the flight mode of the drone is a horizontal flight mode; when the roll angle of the attitude sensor is not greater than -45°, the flight mode of the drone is a vertical flight mode.

[0076] Step 4: Construct attitude control variables:

[0077] Step S31: construct three posture control variables: , , , respectively represent the true roll angle, true pitch angle, and true yaw angle of the aircraft, and , , The specific value of can be obtained by the following method:

[0078] , , .

[0079] in, is the roll angle information of the attitude sensor, is the pitch angle information of the attitude sensor, It is the yaw angle information of the attitude sensor.

[0080] Step S32: construct three angular velocity control variables: , , , respectively represent the true roll angular velocity, true pitch angular velocity, and true yaw angular velocity of the aircraft, and , , The specific value of can be obtained by the following method:

[0081] , , .

[0082] in, is the roll angular velocity information of the attitude sensor, is the pitch angular velocity information of the attitude sensor, It is the yaw rate information of the attitude sensor.

[0083] Step 5: Design attitude control law:

[0084] Body around The control law of the control surface for shaft rotation is:

[0085]

[0086] Body around The control law of the control surface for shaft rotation is:

[0087]

[0088] Body around The control law of the control surface for shaft rotation is:

[0089]

[0090] in, , , The body is axis, axis, Control surface commands for shaft rotation; , , They are the target value of the aircraft's roll angle, pitch angle, and yaw angle respectively; K 1. K 3. K 5. K 7. K 9 is the proportional term control parameter of the attitude control law, K 2. K 4. K 6. K 8. K 10 is the control parameter of the damping term of the attitude control law.

[0091] Furthermore, when the UAV flight mode is vertical flight mode, the control target is to make the aircraft The axis remains vertical. At this time, the angle target value is set as: , ,and According to the expectation The axis orientation is determined, e.g., the expected When the axis points due north, ,expect When the axis points due east, .

[0092] Furthermore, when the UAV flight mode is horizontal flight mode, the control goal is to keep the UAV flying horizontally. At this time, the angle target value can be set as: , Trim the pitch angle for level flight, is the target heading of the flight route, and can all be provided by the guidance algorithm.

[0093] Furthermore, the control parameters K 1. K 3. K 5. K 7. K 9. K 2. K 4. K 6. K 8. K 10 It can be determined based on digital simulation model parameter adjustment or flight test parameter adjustment.

[0094] Example 2

[0095] As attached Figure 1 As shown, a tail-seat vertical take-off and landing UAV full-state domain attitude control method, the specific steps are as follows:

[0096] Step 1: Define the body coordinate system of the tail-mounted vertical take-off and landing drone:

[0097] As attached Figure 2 As shown, the aircraft center of gravity is the coordinate origin; the center of the propeller or the center of the engine tail nozzle is The connection is Axis, and pointing in the direction of the nose is positive; The axis is perpendicular to the longitudinal symmetry plane of the fuselage and is positive when it points to the right wing; The axes are determined according to the right-hand rule.

[0098] Step 2: Determine how to install the attitude sensor on the aircraft:

[0099] The attitude sensor should be installed on the aircraft in such a way that it can effectively and accurately measure the aircraft's attitude and angular velocity in all flight conditions without any singularity points or large measurement errors.

[0100] Preferably, Figure 4 As shown, the installation method of the posture sensor proposed by the present invention is: Y Axis parallel to the body coordinate system axis, and the positive direction of the axis is The positive direction of the axis is the same; the attitude sensor X Shaft winding Y After the positive axis rotates 45°, it is aligned with the body coordinate system Axis parallel; attitude sensor Z Shaft winding Y After the positive axis rotates 45°, it is aligned with the body coordinate system Axis parallel.

[0101] Step 3: Define the flight mode of the drone:

[0102] The flight mode of the UAV is defined as follows: when the pitch angle of the attitude sensor is less than 0°, the flight mode of the UAV is a horizontal flight mode; when the pitch angle of the attitude sensor is not less than 0°, the flight mode of the UAV is a vertical flight mode.

[0103] Step 4: Construct attitude control variables:

[0104] Step S31: construct three posture control variables: , , , respectively represent the true roll angle, true pitch angle, and true yaw angle of the aircraft, and , , The specific value of can be obtained by the following method:

[0105] , , .

[0106] in, is the roll angle information of the attitude sensor, is the pitch angle information of the attitude sensor, It is the yaw angle information of the attitude sensor.

[0107] Step S32: construct three angular velocity control variables: , , , respectively represent the true roll angular velocity, true pitch angular velocity, and true yaw angular velocity of the aircraft, and , , The specific value of can be obtained by the following method:

[0108] , , ;

[0109] in, is the roll angular velocity information of the attitude sensor, is the pitch angular velocity information of the attitude sensor, It is the yaw rate information of the attitude sensor.

[0110] Step 5: Design attitude control law:

[0111] Body around The control law of the control surface for shaft rotation is:

[0112]

[0113] Body around The control law of the control surface for shaft rotation is:

[0114]

[0115] Body around The control law of the control surface for shaft rotation is:

[0116]

[0117] in, , , The body is axis, axis, Control surface commands for shaft rotation; , , They are the target value of the aircraft's roll angle, pitch angle, and yaw angle respectively; K 1. K 3. K 5. K 7. K 9 is the proportional term control parameter of the attitude control law, K 2. K 4. K 6. K 8. K 10 is the control parameter of the damping term of the attitude control law.

[0118] When the UAV flight mode is vertical flight mode, the control target is to make the aircraft The axis remains vertical. At this time, the angle target value is set as: , ,and According to the expectation The axis orientation is determined, e.g., the expected When the axis points due north, ,expect When the axis points due east, .

[0119] When the UAV flight mode is horizontal flight mode, the control goal is to keep the UAV flying horizontally. At this time, the angle target value can be set as: , Trim the pitch angle for level flight, is the target heading of the flight route, and can all be provided by the guidance algorithm.

[0120] Control parameters K1, K3, K5, K7, K9, K2, K4, K6, K8, K 10 It can be determined based on digital simulation model parameter adjustment or flight test parameter adjustment.

[0121] Example 3

[0122] like Figure 5~Figure 11 As shown, Example 3 provides a specific simulation example based on Example 1.

[0123] Simulation conditions: the initial value of the real roll angle of the aircraft is 20°, the initial value of the real pitch angle of the aircraft is 79°, the initial value of the real yaw angle of the aircraft is 120°, the target value of the roll angle of the aircraft is 0°, the target value of the pitch angle of the aircraft is 70°, and the target value of the yaw angle of the aircraft is 100°.

[0124] Simulation Results Figure 5~Figure 7 It shows that: the actual roll angle of the aircraft reaches the target value within 2 seconds after the start of the simulation and remains stable, with an overshoot of 1°, and tracks the target value well; the actual pitch angle of the aircraft reaches the target value within 6.5 seconds after the start of the simulation and remains stable, with an overshoot of 1.8°, and tracks the target value well; the actual yaw angle of the aircraft reaches the target value within 2 seconds after the start of the simulation and remains stable, with an overshoot of 1°, and tracks the target value well.

[0125] Simulation Results Figure 8 It shows that the real roll angular velocity, real pitch angular velocity and real yaw angular velocity of the aircraft are in good dynamics during the control process, smooth and without oscillation.

[0126] Simulation Results Fig. 9 Indicates: The body is around axis, axis, The control surface commands for shaft rotation are within 5°, and the dynamics are good during control.

[0127] Simulation Results Fig.10 , Fig.11It shows that during the simulation process, the roll angle information, pitch angle information, yaw angle information, and roll angular velocity information, pitch angular velocity information, and yaw angular velocity information of the attitude sensor are consistent with the actual dynamics and kinematic changes of the aircraft, and can provide accurate sensor information for the control law.

[0128] Example 4

[0129] like Figure 12 to Figure 18 As shown, Example 4 provides a specific simulation example based on Example 2.

[0130] Simulation conditions: the initial value of the real roll angle of the aircraft is 20°, the initial value of the real pitch angle of the aircraft is 0°, the initial value of the real yaw angle of the aircraft is 50°, the target value of the roll angle of the aircraft is 0°, the target value of the pitch angle of the aircraft is 40°, and the target value of the yaw angle of the aircraft is 80°.

[0131] Simulation Results Figure 12~Figure 14 It shows that: the real roll angle of the aircraft reaches the target value within 6 seconds after the start of the simulation and remains stable, with no overshoot, and tracks the target value well; the real pitch angle of the aircraft reaches the target value within 4 seconds after the start of the simulation and remains stable, with an overshoot of 0.5°, and tracks the target value well; the real yaw angle of the aircraft reaches the target value within 2 seconds after the start of the simulation and remains stable, with an overshoot of 1.2°, and tracks the target value well.

[0132] Simulation Results Fig.15 It shows that the real roll angular velocity, real pitch angular velocity and real yaw angular velocity of the aircraft are in good dynamics during the control process, smooth and without oscillation.

[0133] Simulation Results Fig.16 Indicates: The body is around axis, axis, The control surface commands for shaft rotation are within 8°, and the dynamics are good during control.

[0134] Simulation Results Fig.17 , Fig.18 It shows that during the simulation process, the roll angle information, pitch angle information, yaw angle information, and roll angular velocity information, pitch angular velocity information, and yaw angular velocity information of the attitude sensor are consistent with the actual dynamics and kinematic changes of the aircraft, and can provide accurate sensor information for the control law.

[0135] The above description is only a preferred embodiment of the present invention and does not constitute any form of hindrance to the present invention. Any simple modification or equivalent changes made to the above embodiments based on the technical essence of the present invention shall fall within the protection scope of the present invention.

Claims

1. A full-state domain attitude control method for a tail-seat vertical take-off and landing UAV, characterized in that: The steps include: Step 1: Define the body coordinate system of the tail-seat vertical take-off and landing UAV: Center of gravity is the coordinate origin; the center of the propeller or the center of the engine tail nozzle is The connection is Axis, and pointing in the direction of the nose is positive; The axis is perpendicular to the longitudinal symmetry plane of the fuselage and is positive when it points to the right wing; The axis is determined according to the right-hand rule; Step 2: Determine the installation method of the attitude sensor on the fuselage: The attitude sensor on the fuselage enables the attitude sensor to measure the attitude and angular velocity of the aircraft in all flight states, avoiding singular points or large measurement errors; Step 3: Define the flight mode of the drone: Determine the flight mode based on the angle between the aircraft body and the horizontal plane. When the angle between the axis and the horizontal plane is not greater than 45°, the flight mode of the drone is defined as horizontal flight mode; when the body coordinate system When the angle between the axis and the horizontal plane is greater than 45°, the flight mode of the drone is defined as vertical flight mode; Step 4: Construct attitude control variables: Step S31: construct three posture control variables: Indicates the actual roll angle of the aircraft. Indicates the actual pitch angle of the aircraft. represents the true yaw angle of the aircraft, and , , The specific value of can be calculated through the information of the attitude sensor; Step S32: construct three angular velocity control variables: Indicates the true roll angular velocity of the aircraft. Indicates the true pitch angular velocity of the aircraft. represents the true yaw rate of the aircraft, and , , The specific value of can be calculated through the information of the attitude sensor; Step 5: Design attitude control law: Body around The control law of the control surface for shaft rotation is: Body around The control law of the control surface for shaft rotation is: Body around The control law of the control surface for shaft rotation is: in, Around the body Control surface commands for axis rotation, Around the body Control surface commands for axis rotation, Around the body Control surface commands for shaft rotation; is the target value of the body roll angle, is the target value of the aircraft pitch angle, is the target value of the aircraft yaw angle; K 1. K 3. K 5. K 7. K 9 is the proportional term control parameter of the attitude control law, K 2. K 4. K 6. K 8. K 10 is the control parameter of the damping term of the attitude control law; The first installation method of the posture sensor in step 2 is: Attitude sensor X Axis parallel to the body coordinate system axis, and X The positive direction of the axis The positive direction of the axis is opposite; the attitude sensor Y Axis parallel to the body coordinate system axis, and Y The positive direction of the axis The positive direction of the axis is the same; the attitude sensor Z Axis parallel to the body coordinate system axis, and Z The positive direction of the axis The positive direction of the axis is the same; The second installation method of the posture sensor in step 2 is: Attitude sensor Y Axis parallel to the body coordinate system axis, and Y The positive direction of the axis The positive direction of the axis is the same; the attitude sensor X Shaft winding Y After the positive axis rotates 45°, it is aligned with the body coordinate system Axis parallel; attitude sensor Z Shaft winding Y After the positive axis rotates 45°, it is aligned with the body coordinate system Axis parallel.

2. The full-state domain attitude control method for a tail-mounted vertical take-off and landing UAV according to claim 1 is characterized in that: In step three, if the attitude sensor is installed in the first manner, then: when the roll angle of the attitude sensor is greater than -45°, the flight mode of the drone is defined as a horizontal flight mode; when the roll angle of the attitude sensor is not greater than -45°, the flight mode of the drone is defined as a vertical flight mode.

3. The full-state domain attitude control method for a tail-seat vertical take-off and landing UAV according to claim 1 is characterized in that: In step three, if the attitude sensor is installed in the second manner, then: when the pitch angle of the attitude sensor is less than 0°, the flight mode of the drone is defined as a horizontal flight mode; when the pitch angle of the attitude sensor is not less than 0°, the flight mode of the drone is defined as a vertical flight mode.

4. The full-state domain attitude control method for a tail-mounted vertical take-off and landing UAV according to claim 2 is characterized in that: In step 4, if the attitude sensor is installed in the first way, then: ， ， ； in, is the roll angle information of the attitude sensor, is the pitch angle information of the attitude sensor, is the yaw angle information of the attitude sensor; ， ， ； in, is the roll angular velocity information of the attitude sensor, is the pitch angular velocity information of the attitude sensor, It is the yaw rate information of the attitude sensor.

5. The full-state domain attitude control method for a tail-mounted vertical take-off and landing UAV according to claim 3 is characterized in that: In step 4, if the attitude sensor is installed in the second way, then: ， ， ； in, is the roll angle information of the attitude sensor, is the pitch angle information of the attitude sensor, is the yaw angle information of the attitude sensor; ， ， ； in, is the roll angular velocity information of the attitude sensor, is the pitch angular velocity information of the attitude sensor, It is the yaw rate information of the attitude sensor.

6. A tail-mounted vertical take-off and landing UAV full-state domain attitude control method according to claim 4 or 5, characterized in that: In step 5, when the UAV flight mode is vertical flight mode, the control goal is to make the aircraft The axis remains vertical. At this time, the angle target value is set as: , ,and According to the expectation The axis direction is determined.

7. A tail-mounted vertical take-off and landing UAV full-state domain attitude control method according to claim 4 or 5, characterized in that: In step 5, when the UAV flight mode is horizontal flight mode, the control goal is to keep the UAV flying horizontally. At this time, the angle target value is set as: , Trim the pitch angle for level flight, The target heading of the flight route.

8. The full-state domain attitude control method for a tail-seat vertical take-off and landing UAV according to claim 1 is characterized in that: Control parameters K 1. K 3. K 5. K 7. K 9. K 2. K 4. K 6. K 8. K 10 It is determined based on digital simulation model parameter adjustment or flight test parameter adjustment.

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