A method, system, device and medium for controlling the falling speed of an unpowered unmanned aerial vehicle

Abstract

The present invention discloses a method, system, equipment and medium for controlling the falling speed of an unpowered unmanned aerial vehicle, which relates to the field of unmanned system guidance and control technology, and includes the following steps: designing the theoretical speed in the longitudinal ballistic plane to obtain a closed-loop heading maneuvering speed; when the unmanned aerial vehicle is in unpowered flight, obtaining a closed-loop lateral deceleration instruction in real time for trajectory planning, and maintaining the closed-loop heading maneuvering speed of the unmanned aerial vehicle through the closed-loop lateral deceleration instruction; when the distance between the unmanned aerial vehicle and the target is within a threshold range, switching from the heading deceleration phase to the self-seeking guidance phase, so that the unmanned aerial vehicle flies toward the target point until it reaches the mission target point. The present invention is applied to the terminal speed control scheme of the unmanned aerial vehicle, and does not require any structural or external modifications to the unmanned aerial vehicle. It can achieve accurate control of the terminal speed of the unmanned aerial vehicle without affecting the terminal accuracy of the unmanned aerial vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned system guidance and control, and in particular to a method, system, equipment and medium for controlling the falling speed of an unpowered unmanned aerial vehicle. Background Art

[0002] Unmanned aerial vehicles have different requirements for flight endpoint performance indicators depending on their mission objectives. For some unmanned aerial vehicles that require secondary scattering, higher requirements are placed on their flight speed at the endpoint position to achieve the accuracy and reliability of secondary scattering.

[0003] For most unpowered unmanned aerial vehicles, there are large differences in their terminal velocities when performing mission targets at different ranges and altitudes, which affects the reliability and accuracy of secondary dispersion and will lead to mission failure.

[0004] Regarding the speed control methods in the field of unmanned system guidance and control, two solutions are usually adopted: active deceleration and increased flight resistance. The active deceleration solution requires that the power system be used to actively reduce the flight speed of the unmanned aerial vehicle at the end of its trajectory to achieve the purpose of accurately controlling its flight speed. However, this requires the unmanned aerial vehicle to have its own power system, which is relatively costly, and precise control of the flight power is required at the end of the flight. The solution of increasing flight resistance is to increase the flight resistance by changing the shape of the unmanned aerial vehicle at a certain stage of the flight to achieve the purpose of speed control. This solution can be applied to unpowered unmanned aerial vehicles, but it changes the original shape and structure of the unmanned aerial vehicle and does not have certain universality. Summary of the Invention

[0005] The purpose of the present invention is to provide a method, system, device and medium for controlling the falling speed of an unpowered unmanned aerial vehicle in order to solve the problems in the prior art.

[0006] The present invention specifically provides the following technical solution: a method for controlling the falling speed of an unpowered unmanned aerial vehicle, comprising the following steps:

[0007] According to the position information and speed information of entering the unpowered flight phase, the closed-loop heading maneuvering speed of the UAV in the longitudinal ballistic plane is obtained;

[0008] When the UAV is in unpowered flight, if the overall speed of the UAV is greater than the closed-loop heading maneuvering speed, the closed-loop lateral deceleration instruction on the UAV trajectory planning is obtained in real time, and the overall speed of the UAV is adjusted according to the closed-loop lateral deceleration instruction until the overall speed of the UAV is consistent with the closed-loop heading maneuvering speed;

[0009] When the UAV flies to the threshold range of the target point at the closed-loop heading maneuvering speed, it switches from the heading deceleration phase to the self-homing guidance phase, so that the UAV flies towards the target point until it reaches the target point.

[0010] Preferably, the closed-loop heading maneuvering speed of the UAV in the longitudinal ballistic plane is obtained, and the specific expression is:

[0011]

[0012] Among them, V DF is the terminal velocity control quantity, θ is the flight trajectory inclination, Δt is the control period, F D is the real-time resistance during flight, g is the acceleration of gravity, m represents the mass, H0 is the height of the UAV when entering speed control, R x V is the x-direction distance between the UAV and the target when entering speed control. x is the lateral flight speed, V y is the longitudinal flight speed, V tra To calculate the nominal speed value, it is the closed-loop heading maneuvering speed.

[0013] Preferably, if the overall speed of the UAV is greater than the closed-loop heading maneuvering speed, obtaining the closed-loop lateral deceleration instruction on the UAV trajectory planning in real time comprises the following steps:

[0014] According to the closed-loop heading maneuvering speed obtained before flight, the closed-loop lateral deceleration command equation is obtained; the specific expression is:

[0015]

[0016] Among them, ΔV is the speed deviation, H is the height of the UAV, V y is the longitudinal flight velocity, ψ c is the deceleration maneuver heading angle command, a is a constant, K V Set the gain factor for the deceleration maneuver, V z is the flight altitude speed, t is the flight time, n zc is the closed-loop lateral deceleration command, and V is the overall flight speed.

[0017] Preferably, the adjusting the overall speed of the UAV by the closed-loop lateral deceleration instruction until the overall speed of the UAV is consistent with the closed-loop heading maneuvering speed comprises the following steps:

[0018] Setting the gain factor K by deceleration maneuver V Adjust the closed-loop lateral deceleration command, and equate the link of the UAV adjusting the closed-loop lateral deceleration command to a first-order inertia link to obtain the transfer function equation. The specific expression is:

[0019]

[0020] Among them, n z The closed-loop sensor is sensitive to the real-time lateral overload, n zc is the closed-loop lateral deceleration command, T a is the time constant of the first-order inertia link, and s is the frequency.

[0021] Preferably, the real-time acquisition of the closed-loop lateral deceleration instruction in the UAV trajectory planning further includes the following steps:

[0022] The obtained lateral deceleration command is directional limited, and when the lateral position deviation is greater than the deviation threshold, the polarity of the lateral deceleration command is flipped to adjust the lateral distance deviation during flight to within the error range.

[0023] Preferably, the method of reversing the direction of the lateral deceleration instruction further includes the following steps:

[0024] A transition phase is set during flipping, and when the lateral deviation of the trajectory is too large, the UAV is kept stable through the transition phase; the switching expression of the transition phase is:

[0025] n c =(1-max(100*Δt,1))*n zc +max(100*Δt,1)*(-n zc )

[0026] Among them, n c is the closed-loop heading maneuver overload command, n zc is the closed-loop lateral deceleration command, and Δt is the control period.

[0027] Preferably, before the unmanned aerial vehicle performs unpowered flight, the method further includes the following steps:

[0028] During the flight of the UAV, its axial overload value is determined in real time. If it is less than zero, the UAV is considered to have entered the unpowered phase, which serves as the premise for closed-loop heading maneuvering speed control.

[0029] During the flight of the unmanned aerial vehicle, the remaining time and altitude of its trajectory are judged in real time, and secondary judgment conditions for closed-loop heading maneuvering and speed control are performed.

[0030] The present invention provides a falling speed control system for an unpowered unmanned aerial vehicle, comprising:

[0031] A data acquisition module is used to obtain the closed-loop heading maneuvering speed of the UAV in the longitudinal ballistic plane based on the position information and speed information of the UAV entering the unpowered flight phase;

[0032] The command control module is used to obtain the closed-loop lateral deceleration command on the UAV trajectory planning in real time when the UAV's overall speed is greater than the closed-loop heading maneuvering speed during unpowered flight, and adjust the UAV's overall speed according to the closed-loop lateral deceleration command until the UAV's overall speed is consistent with the closed-loop heading maneuvering speed;

[0033] The switching module is used to switch from the heading deceleration phase to the self-homing guidance phase when the unmanned aerial vehicle flies to the target point within the threshold range of the closed-loop heading maneuvering speed, so that the unmanned aerial vehicle flies towards the target point until it reaches the target point.

[0034] The present invention provides a computer device, comprising a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the steps of a method for controlling the falling speed of an unpowered unmanned aerial vehicle.

[0035] A storage medium stores a computer program, which, when executed by a processor, implements the steps of a method for controlling the falling speed of an unpowered unmanned aerial vehicle.

[0036] Compared with the prior art, the present invention has the following significant advantages:

[0037] The present invention is applied to the terminal velocity control scheme of an unmanned aerial vehicle. It is designed through the theoretical velocity in the longitudinal ballistic plane to obtain the closed-loop heading maneuvering speed. The closed-loop heading maneuvering speed of the unmanned aerial vehicle is maintained by obtaining the closed-loop lateral deceleration instruction through trajectory planning. When the distance between the unmanned aerial vehicle and the target is within the threshold range, the unmanned aerial vehicle is maneuvered from the heading deceleration stage to the self-seeking guidance stage, so that the unmanned aerial vehicle flies toward the target point until it reaches the mission target point. The present invention does not require any structural changes to the unmanned aerial vehicle. Without affecting the terminal accuracy of the unmanned aerial vehicle, it can achieve accurate control of the terminal velocity of the unmanned aerial vehicle, greatly reducing the terminal velocity dispersion range of the unmanned aerial vehicle under missions at different ranges and altitudes. The method is used to improve the already formed unmanned aerial vehicle, achieving accurate control of the terminal velocity without increasing the cost, and has great engineering application value. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 Schematic diagram of nominal speed trajectory variables of a method for controlling the falling speed of an unpowered unmanned aerial vehicle in an example of the present invention;

[0039] Figure 2 This is a flow chart of a method for controlling the falling speed of an unpowered unmanned aerial vehicle in an example of the present invention;

[0040] Figure 3This is a structural block diagram of a method for controlling the falling speed of an unpowered unmanned aerial vehicle in an example of the present invention;

[0041] Figure 4 This is a schematic diagram of the heading maneuver deceleration trajectory of a landing speed control method for an unpowered unmanned aerial vehicle according to an example of the present invention. DETAILED DESCRIPTION

[0042] The following is a clear and complete description of the technical solutions of the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0043] The present invention provides a closed-loop directional maneuvering falling speed control method for an unpowered unmanned aerial vehicle. Aiming at the characteristics of the unpowered unmanned aerial vehicle, the method takes effect after the power stage of flight ends without changing the shape of the unmanned aerial vehicle.

[0044] An embodiment of the present invention provides a method for controlling the falling speed of an unpowered unmanned aerial vehicle, comprising the following steps:

[0045] Step S1: According to the position information and speed information of entering the unpowered flight phase, the closed-loop heading maneuvering speed of the UAV in the longitudinal ballistic plane is obtained.

[0046] The specific steps include:

[0047] According to the position information and speed information of the unpowered flight phase, the theoretical speed design is carried out to obtain the closed-loop heading maneuvering speed of the UAV in the longitudinal ballistic plane; the specific expression is:

[0048]

[0049] Among them, V DF is the terminal velocity control quantity, θ is the flight trajectory inclination, Δt is the control period, F D is the real-time resistance during flight, g is the acceleration of gravity, m represents the mass, H0 is the height of the UAV when entering speed control, R x V is the x-direction distance between the UAV and the target when entering speed control. x is the lateral flight speed, V y is the longitudinal flight speed, V tra To calculate the nominal speed value, it is the closed-loop heading maneuvering speed.

[0050] Step S2: When the UAV is in unpowered flight, if the overall speed of the UAV is greater than the closed-loop heading maneuvering speed, the closed-loop lateral deceleration instruction on the UAV trajectory planning is obtained in real time, and the overall speed of the UAV is adjusted according to the closed-loop lateral deceleration instruction until the overall speed of the UAV is consistent with the closed-loop heading maneuvering speed.

[0051] Specifically:

[0052] According to the closed-loop heading maneuvering speed obtained before flight, the closed-loop lateral deceleration command equation is obtained; the specific expression is:

[0053]

[0054] Among them, ΔV is the speed deviation, H is the height of the UAV, V y is the longitudinal flight velocity, ψ c is the deceleration maneuver heading angle command, a is a constant, K V Set the gain factor for the deceleration maneuver, V z is the flight altitude speed, t is the flight time, n zc is the closed-loop lateral deceleration command, and V is the overall flight speed.

[0055] Figure 2 The figure shows the closed-loop heading maneuver solution control block diagram, which is the process of solving the closed-loop lateral deceleration command based on the real-time speed information of the unmanned aerial vehicle.

[0056] The method of adjusting the overall speed of the UAV by using a closed-loop lateral deceleration command until the overall speed of the UAV is consistent with the closed-loop heading maneuvering speed includes the following steps:

[0057] Setting the gain factor K by deceleration maneuver V Adjust the closed-loop control system, that is, adjust the closed-loop lateral deceleration command to ensure the stability of the closed-loop control system. Equivalently treat the closed-loop control system (the link for adjusting the closed-loop lateral deceleration command) as a first-order inertia link to obtain the transfer function equation. The specific expression is:

[0058]

[0059] Among them, n z The closed-loop sensor is sensitive to the real-time lateral overload, n zc is the closed-loop lateral deceleration command, T a is the time constant of the first-order inertia link, and s is the frequency.

[0060] The method of obtaining the closed-loop lateral deceleration instruction for the UAV trajectory planning in real time includes the following steps:

[0061] The direction of the obtained lateral deceleration command is limited, and when the lateral position deviation is greater than the deviation threshold, the direction of the lateral deceleration command is reversed to adjust the lateral distance deviation during flight to within the error range.

[0062] Reversing the direction of the lateral deceleration command also includes the following steps:

[0063] A transition phase is set during flipping, and when the lateral deviation of the trajectory is too large, the UAV is kept stable through the transition phase; the switching expression of the transition phase is:

[0064] n c =(1-max(100*Δt,1))*n zc +max(100*Δt,1)*(-n zc )

[0065] Among them, n c is the closed-loop heading maneuver overload command, n zc is the closed-loop lateral deceleration command, and Δt is the control period.

[0066] Before the unmanned aerial vehicle flies without power, the following steps are also included:

[0067] During the flight of the UAV, its axial overload value is determined in real time. If it is less than zero, the UAV is considered to have entered the unpowered stage, which serves as the premise for closed-loop heading maneuvering speed control.

[0068] During the flight of the unmanned aerial vehicle, the remaining time and altitude of its trajectory are judged in real time, and secondary judgment conditions for closed-loop heading maneuvering and speed control are performed.

[0069] The implementation flow chart of the method of the present invention is as follows Figure 1 As shown, during ballistic flight, the axial overload value of the rocket is determined in real time. If the axial overload remains less than zero, the power phase of the ballistic flight is considered to have ended. This serves as a prerequisite for closed-loop course velocity control. Simultaneously, the remaining time and trajectory altitude are used to determine whether closed-loop velocity control should be terminated and the ground-seeking guidance phase should be entered. Otherwise, course maneuvering instructions are controlled under the closed-loop velocity condition. The deviation between the actual velocity and the bound theoretical trajectory velocity is calculated, and course maneuvering guidance instructions are generated in real time. The flight velocity in the longitudinal plane of the trajectory is ensured to be within the grid area of the bound theoretical trajectory velocity, that is, the flight velocity is controlled within a range of 10 m / s, and the flight position information is no greater than 200 m. This ensures that the velocity dispersion at the time of entering the terminal guidance phase meets the fall velocity control requirements, thereby ensuring the stability of the fall velocity control at the terminal moment. The bound theoretical trajectory velocity is the closed-loop course maneuvering velocity.

[0070] The speed control diagram of the unmanned aerial vehicle during ballistic flight is as follows: Figure 3As shown in the figure, at point B where the power stage ends, the closed-loop heading speed control strategy is started. If the speed is continuously lower than the closed-loop heading maneuvering speed during flight, the optimal path guidance scheme should be adopted throughout the entire process to ensure that the energy of the entire flight is minimized. If the speed is higher than the closed-loop heading maneuvering speed during flight, the heading guidance command is adjusted in real time to implement the lateral speed control strategy. In this way, the speed value at the terminal guidance point C during ballistic flight can be within the grid range of the terminal speed control, ensuring the consistency and reliability of the terminal landing speed.

[0071] The present invention is used after the power stage of the flight ends, and adopts inertial navigation, satellite navigation or ground wireless positioning navigation and other means to obtain the motion state information such as the speed and position of the guidance equipment during flight.

[0072] Step S3: When the UAV is within a threshold range from the target, the UAV is maneuvered from the heading deceleration phase to the self-homing guidance phase, so that the UAV flies toward the target point until it reaches the mission target point.

[0073] The closed-loop falling speed control method of the present invention is used to perform a six-degree-of-freedom numerical simulation of the unmanned aerial vehicle. After the power stage, closed-loop heading maneuvering speed control is performed, and the ground-seeking guidance stage exits the deceleration maneuver. The effects of the closed-loop falling speed control algorithm under different pulling deviation conditions are simulated and tested, as shown in Table 1.

[0074] The trajectory of the UAV's heading maneuver deceleration is as follows: Figure 4 shown.

[0075] The simulation results show that the present invention plays a significant role and has certain reliability.

[0076] Table 1 Simulation results under various pulling conditions

[0077] Pull side Hit accuracy (m) Falling speed (m / s) none 0.02 320.1 Power + 5% 0.047 319.67 Power -5% 0.033 319.74 Resistance + 10% 0.048 316.1 Resistance -10% 0.015 321.7 Headwind 40m / s 0.095 315.78 tailwind 40m / s 0.025 320.74 Mass + 10kg 0.005 320.14 Mass - 10kg 0.036 319.38

[0078] Based on the above method, the present invention provides a falling speed control system for an unpowered unmanned aerial vehicle, comprising: a data acquisition module, a command control module and a switching module.

[0079] Among them, the data acquisition module is used to design the theoretical speed in the longitudinal ballistic plane and obtain the closed-loop heading maneuvering speed; the command control module is used to obtain the closed-loop lateral deceleration command in the trajectory planning in real time when the unmanned aerial vehicle is flying without power, and maintain the closed-loop heading maneuvering speed of the unmanned aerial vehicle through the closed-loop lateral deceleration command; the switching module is used to switch from the heading deceleration stage to the self-seeking guidance stage when the unmanned aerial vehicle is within the threshold range from the target, so that the drone flies towards the target point until it reaches the mission target point.

[0080] The present invention also provides a computer device, including a memory and a processor, wherein a computer program is stored in the memory. When the computer program is executed by the processor, the processor executes the steps of a method for controlling the falling speed of an unpowered unmanned aerial vehicle.

[0081] According to the disclosed embodiments, a computing device may communicate with one or more external devices (e.g., a keyboard, a pointing device, Bluetooth communications, etc.), or with any device that enables a computing device to communicate with one or more other computing devices (e.g., a router, a modem, etc.).

[0082] The present invention also provides a storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of a method for controlling the falling speed of an unpowered unmanned aerial vehicle are implemented.

[0083] According to the disclosed embodiments, the storage medium may be a non-volatile computer-readable storage medium, such as, but not limited to, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present invention, the storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0084] The above content is a further detailed description of the present invention in combination with specific preferred embodiments. For those skilled in the art to which the present invention belongs, several simple deductions or replacements can be made without departing from the concept of the present invention, which should be regarded as falling within the scope of protection of the present invention.

Claims

1. A method for controlling the falling speed of an unpowered unmanned aerial vehicle, characterized in that: The steps include: According to the position information and speed information of entering the unpowered flight phase, the closed-loop heading maneuvering speed of the UAV in the longitudinal ballistic plane is obtained; When the UAV is in unpowered flight, if the overall speed of the UAV is greater than the closed-loop heading maneuvering speed, the closed-loop lateral deceleration instruction on the UAV trajectory planning is obtained in real time, and the overall speed of the UAV is adjusted according to the closed-loop lateral deceleration instruction until the overall speed of the UAV is consistent with the closed-loop heading maneuvering speed; When the UAV flies to the target point within the threshold range at the closed-loop heading maneuvering speed, the UAV switches from the heading deceleration phase to the self-homing guidance phase, so that the UAV flies in the direction of the target point until it reaches the target point; If the overall speed of the UAV is greater than the closed-loop heading maneuvering speed, the closed-loop lateral deceleration instruction on the UAV trajectory planning is obtained in real time, including the following steps: According to the closed-loop heading maneuvering speed obtained before flight, the closed-loop lateral deceleration command equation is obtained; the specific expression is: in, ΔV is the speed deviation, V y is the longitudinal flight speed, ψ c For deceleration maneuver heading angle command, a is a constant, K V Set the gain factor for the deceleration maneuver, V z is the flight altitude speed, t is the flight time, n zc It is a closed-loop lateral deceleration instruction. V It is the overall flight speed of the UAV.

2. The method for controlling the falling speed of an unpowered unmanned aerial vehicle according to claim 1, wherein: The closed-loop heading maneuvering speed of the UAV in the longitudinal ballistic plane is obtained by the following expression: in, is the terminal speed control quantity, is the flight trajectory inclination angle, Δt To control the cycle, is the real-time resistance during flight, is the acceleration due to gravity, m Indicates quality, is the altitude of the UAV when entering speed control, The distance between the UAV and the target when entering speed control x Direction distance, V x is the lateral flight speed, V y is the longitudinal flight speed, To calculate the nominal speed value, it is the closed-loop heading maneuvering speed.

3. The method for controlling the falling speed of an unpowered unmanned aerial vehicle according to claim 1, wherein: The method of adjusting the overall speed of the UAV by using the closed-loop lateral deceleration command until the overall speed of the UAV is consistent with the closed-loop heading maneuvering speed includes the following steps: Setting the gain factor by deceleration maneuver K V Adjust the closed-loop lateral deceleration command, and equate the link of the UAV adjusting the closed-loop lateral deceleration command to a first-order inertia link to obtain the transfer function equation. The specific expression is: in, n z It is a closed-loop sensor sensitive to lateral overload in real time. n zc It is a closed-loop lateral deceleration instruction. T a is the time constant of the first-order inertia link, s is the frequency.

4. The method for controlling the falling speed of an unpowered unmanned aerial vehicle according to claim 1, wherein: The real-time acquisition of the closed-loop lateral deceleration instruction in the trajectory planning of the unmanned aerial vehicle further includes the following steps: The direction of the obtained lateral deceleration command is limited, and when the lateral position deviation is greater than the deviation threshold, the direction of the lateral deceleration command is reversed to adjust the lateral distance deviation during flight to within the error range.

5. The method for controlling the falling speed of an unpowered unmanned aerial vehicle according to claim 4, wherein: The method of reversing the direction of the lateral deceleration instruction further includes the following steps: A transition phase is set during flipping, and when the lateral deviation of the trajectory is too large, the UAV is kept stable through the transition phase; the switching expression of the transition phase is: in, n c is the closed-loop heading maneuver overload command, n zc It is a closed-loop lateral deceleration instruction. Δt For the control cycle.

6. The method for controlling the falling speed of an unpowered unmanned aerial vehicle according to claim 1, wherein: Before the unmanned aerial vehicle takes off without power, the following steps are also included: During the flight of the UAV, its axial overload value is determined in real time. If it is less than zero, the UAV is considered to have entered the unpowered phase, which serves as the premise for closed-loop heading maneuvering speed control. During the flight of the unmanned aerial vehicle, the remaining time and altitude of its trajectory are judged in real time, and secondary judgment conditions for closed-loop heading maneuvering and speed control are performed.

7. A system for controlling the falling speed of an unpowered unmanned aerial vehicle according to any one of claims 1 to 6, characterized in that: include: A data acquisition module is used to obtain the closed-loop heading maneuvering speed of the UAV in the longitudinal ballistic plane based on the position information and speed information of the UAV entering the unpowered flight phase; The command control module is used to obtain the closed-loop lateral deceleration command on the UAV trajectory planning in real time when the UAV's overall speed is greater than the closed-loop heading maneuvering speed during unpowered flight, and adjust the UAV's overall speed according to the closed-loop lateral deceleration command until the UAV's overall speed is consistent with the closed-loop heading maneuvering speed; The switching module is used to switch from the heading deceleration phase to the self-homing guidance phase when the unmanned aerial vehicle flies to the target point within the threshold range of the closed-loop heading maneuvering speed, so that the unmanned aerial vehicle flies towards the target point until it reaches the target point.

8. A computer device, characterized in that: The method comprises a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the steps of a method for controlling the falling speed of an unpowered unmanned aerial vehicle as described in any one of claims 1 to 6.

9. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of a method for controlling the falling speed of an unpowered unmanned aerial vehicle according to any one of claims 1 to 6 are implemented.

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