Unmanned aerial vehicle ground sliding deviation correction control method and device, unmanned aerial vehicle and storage medium

Abstract

The invention provides an unmanned aerial vehicle ground sliding deviation correction control method and device, an unmanned aerial vehicle and a storage medium, and relates to the technical field of unmanned aerial vehicle control. According to the method, firstly, ground sliding parameters of the unmanned aerial vehicle needing ground sliding deviation correction control can be determined; secondly, the ground sliding parameters can be processed on the basis of a predetermined ground sliding deviation correction control rule, and ground sliding deviation correction control parameters of the unmanned aerial vehicle are obtained; and then, a ground sliding deviation correction control mechanism of the unmanned aerial vehicle can be controlled based on the ground sliding deviation correction control parameters, so that the unmanned aerial vehicle completes ground sliding deviation correction control operation. On the basis of the content, the problem that in the prior art, the control reliability is relatively poor in the ground sliding deviation correction control process of the unmanned aerial vehicle can be solved.

Description

Technical Field

[0001] The present application relates to the technical field of unmanned aerial vehicle control, and in particular to a method and device for unmanned aerial vehicle ground sliding correction control, an unmanned aerial vehicle, and a storage medium. Background Art

[0002] UAVs are generally of a three-point front configuration, with two rear wheels at the back, divided into a left wheel and a right wheel, and a front wheel in the center at the front. A front wheel turning device is installed on the front wheel. When the front wheel turns a certain angle, the aircraft can generate a yaw moment, thereby causing the aircraft to yaw. Braking devices are installed on the left and right wheels. When there are different braking amounts on the left and right wheels, the aircraft will generate a yaw moment, thereby causing the aircraft to yaw. The rudder is installed at the tail of the aircraft, and the aircraft can also be yawed by the deflection angle. Therefore, the control parameters for correction are generally the front wheel deflection angle, the differential braking amount of the left and right wheels, and the rudder deflection angle. However, the inventors have found through research that in the prior art, in the process of correction control of UAV ground taxiing, there is a problem of relatively poor control reliability. Summary of the invention

[0003] In view of this, the purpose of the present application is to provide a method and device for UAV ground taxiing correction control, a UAV and a storage medium, so as to improve the problem of relatively poor control reliability in the process of UAV ground taxiing correction control in the prior art.

[0004] To achieve the above objectives, this application adopts the following technical solutions:

[0005] A method for correcting the sliding of an unmanned aerial vehicle on the ground, comprising:

[0006] Determining a ground taxiing parameter of the UAV that needs to perform ground taxiing correction control, wherein the ground taxiing parameter includes at least one of a lateral deviation acceleration and a yaw angle acceleration;

[0007] Based on a predetermined ground taxiing deviation correction control rule, the ground taxiing parameter is processed to obtain a ground taxiing deviation correction control parameter of the UAV;

[0008] Based on the ground taxiing correction control parameters, the ground taxiing correction control mechanism of the UAV is controlled so that the UAV completes the ground taxiing correction control operation, wherein the ground taxiing correction control mechanism includes a turning device installed on the front wheel of the UAV, a braking device installed on the left and right wheels of the UAV, and at least one of a rudder installed on the tail of the UAV, and the ground taxiing correction control parameters include at least one of a front wheel deflection angle, a left and right wheel differential braking amount, and a rudder deflection angle, the front wheel deflection angle is used to control the turning device, the left and right wheel differential braking amount is used to control the left and right wheel braking devices, and the rudder deflection angle is used to control the rudder.

[0009] In a preferred embodiment of the present application, in the above-mentioned UAV ground taxiing correction control method, the step of processing the ground taxiing parameters based on a predetermined ground taxiing correction control rule to obtain the ground taxiing correction control parameters of the UAV includes:

[0010] Based on the rudder deviation correction control sub-rule included in the predetermined ground taxiing deviation correction control rule, the ground taxiing parameter is processed to obtain the rudder deflection angle included in the ground taxiing deviation correction control parameter of the UAV;

[0011] Based on the braking deviation correction control sub-rule included in the predetermined ground taxiing deviation correction control rule, the ground taxiing parameter is processed to obtain the left and right wheel differential braking amount included in the ground taxiing deviation correction control parameter of the UAV;

[0012] Based on the front wheel deviation correction control sub-rule included in the predetermined ground taxiing deviation correction control rule, the ground taxiing parameter is processed to obtain the front wheel deflection angle included in the ground taxiing deviation correction control parameter of the UAV.

[0013] In a preferred embodiment of the present application, in the above-mentioned UAV ground taxiing correction control method, the step of processing the ground taxiing parameters based on the rudder correction control sub-rule included in the predetermined ground taxiing correction control rule to obtain the rudder deflection angle included in the ground taxiing correction control parameter of the UAV includes:

[0014] Determine a first rudder correction control parameter based on a first control parameter in a rudder correction control sub-rule included in a predetermined ground taxiing correction control rule and a lateral deviation acceleration in the ground taxiing parameter, wherein the first control parameter is used to reflect a control gain of the lateral deviation acceleration of the rudder channel;

[0015] Determine a second rudder correction control parameter based on the second control parameter in the rudder correction control sub-rule and the yaw angle acceleration in the ground taxiing parameter, wherein the second control parameter is used to reflect the control gain of the yaw angle acceleration of the rudder channel;

[0016] Based on the first rudder correction control parameter and the second rudder correction control parameter, the rudder deflection angle included in the ground taxiing correction control parameter of the UAV is obtained.

[0017] In a preferred embodiment of the present application, in the above-mentioned UAV ground taxiing correction control method, the step of obtaining the rudder deflection angle included in the ground taxiing correction control parameter of the UAV based on the first rudder correction control parameter and the second rudder correction control parameter comprises:

[0018] Determining a third rudder correction control parameter based on the third control parameter in the rudder correction control sub-rule and the side deviation distance in the ground taxiing parameter, wherein the third control parameter is used to reflect the control gain of the side deviation distance of the rudder channel;

[0019] Determining a fourth rudder correction control parameter based on a fourth control parameter in the rudder correction control sub-rule and a lateral deviation speed in the ground taxiing parameter, wherein the fourth control parameter is used to reflect a control gain of the lateral deviation speed of the rudder channel;

[0020] Determining a fifth rudder correction control parameter based on a fifth control parameter in the rudder correction control sub-rule and a yaw angle difference in the ground sliding parameter, wherein the third control parameter is used to reflect a control gain of the yaw angle difference of the rudder channel;

[0021] Determining a sixth rudder correction control parameter based on a sixth control parameter in the rudder correction control sub-rule and a yaw angular velocity in the ground sliding parameter, wherein the third control parameter is used to reflect a control gain of the yaw angular velocity of the rudder channel;

[0022] The first rudder correction control parameter, the second rudder correction control parameter, the third rudder correction control parameter, the fourth rudder correction control parameter, the fifth rudder correction control parameter and the sixth rudder correction control parameter are summed up to obtain the rudder deflection angle included in the ground taxiing correction control parameters of the UAV.

[0023] In a preferred embodiment of the present application, in the above-mentioned UAV ground taxiing correction control method, the step of processing the ground taxiing parameters based on the braking correction control sub-rule included in the predetermined ground taxiing correction control rule to obtain the left and right wheel differential braking amount included in the ground taxiing correction control parameter of the UAV includes:

[0024] Based on the seventh control parameter in the brake deviation correction control sub-rule included in the predetermined ground slide deviation correction control rule and the lateral deviation acceleration in the ground slide parameter, a first brake deviation correction control parameter is determined, wherein the seventh control parameter is used to reflect the control gain of the lateral deviation acceleration of the brake channel;

[0025] Based on the eighth control parameter in the rudder correction control sub-rule and the yaw angle acceleration in the ground taxiing parameter, a second brake correction control parameter is determined, wherein the eighth control parameter is used to reflect the control gain of the yaw angle acceleration of the brake channel;

[0026] Based on the first brake correction control parameter and the second brake correction control parameter, the left and right wheel differential braking amounts included in the ground taxi correction control parameters of the UAV are obtained.

[0027] In a preferred embodiment of the present application, in the above-mentioned UAV ground taxiing correction control method, the step of obtaining the left and right wheel differential braking amount included in the ground taxiing correction control parameter of the UAV based on the first brake correction control parameter and the second brake correction control parameter comprises:

[0028] Determine a third braking deviation control parameter based on a ninth control parameter in the braking deviation control sub-rule and a lateral deviation in the ground sliding parameter, wherein the ninth control parameter is used to reflect a control gain of the lateral deviation of the braking channel;

[0029] Based on the tenth control parameter in the braking deviation correction control sub-rule and the lateral deviation speed in the ground sliding parameter, a fourth braking deviation correction control parameter is determined, wherein the tenth control parameter is used to reflect the control gain of the lateral deviation speed of the braking channel;

[0030] Based on the eleventh control parameter in the braking deviation correction control sub-rule and the yaw angle difference in the ground sliding parameter, a fifth braking deviation correction control parameter is determined, wherein the eleventh control parameter is used to reflect the control gain of the yaw angle difference of the braking channel;

[0031] Based on the twelfth control parameter in the braking correction control sub-rule and the yaw angular velocity in the ground sliding parameter, a sixth braking correction control parameter is determined, wherein the twelfth control parameter is used to reflect the control gain of the yaw angular velocity of the braking channel;

[0032] The first brake correction control parameter, the second brake correction control parameter, the third brake correction control parameter, the fourth brake correction control parameter, the fifth brake correction control parameter and the sixth brake correction control parameter are summed up and calculated to obtain the left and right wheel differential braking amount included in the ground sliding correction control parameters of the UAV.

[0033] In a preferred embodiment of the present application, in the above-mentioned UAV ground taxiing correction control method, the step of processing the ground taxiing parameters based on the front wheel correction control sub-rule included in the predetermined ground taxiing correction control rule to obtain the front wheel deflection angle included in the ground taxiing correction control parameter of the UAV includes:

[0034] Determine a first front wheel deviation correction control parameter based on a thirteenth control parameter in the front wheel deviation correction control sub-rule included in the predetermined ground slip correction control rule and the lateral deviation acceleration in the ground slip parameter, wherein the thirteenth control parameter is used to reflect the control gain of the lateral deviation acceleration of the front wheel channel;

[0035] Determining a second front wheel deviation correction control parameter based on a fourteenth control parameter in the front wheel deviation correction control sub-rule and a yaw angle acceleration in the ground sliding parameter, wherein the fourteenth control parameter is used to reflect a control gain of a yaw angle acceleration of a front wheel channel;

[0036] Based on the first front wheel deviation correction control parameter and the second front wheel deviation correction control parameter, a front wheel deflection angle included in the ground sliding deviation correction control parameter of the UAV is obtained.

[0037] In a preferred embodiment of the present application, in the above-mentioned UAV ground sliding correction control method, the step of obtaining the front wheel deflection angle included in the ground sliding correction control parameter of the UAV based on the first front wheel correction control parameter and the second front wheel correction control parameter comprises:

[0038] Determine a third front wheel deviation correction control parameter based on a fifteenth control parameter in the front wheel deviation correction control sub-rule and a side deviation distance in the ground sliding parameter, wherein the fifteenth control parameter is used to reflect a control gain of a side deviation distance of a front wheel channel;

[0039] Determining a fourth front wheel deviation correction control parameter based on a sixteenth control parameter in the front wheel deviation correction control sub-rule and a lateral deviation speed in the ground sliding parameter, wherein the sixteenth control parameter is used to reflect a control gain of a lateral deviation speed of a front wheel channel;

[0040] Based on the seventeenth control parameter in the front wheel deviation correction control sub-rule and the yaw angle difference in the ground sliding parameter, a fifth front wheel deviation correction control parameter is determined, wherein the seventeenth control parameter is used to reflect the control gain of the yaw angle difference of the front wheel channel;

[0041] Determining a sixth front wheel deviation correction control parameter based on an eighteenth control parameter in the front wheel deviation correction control sub-rule and a yaw angular velocity in the ground sliding parameter, wherein the eighteenth control parameter is used to reflect a control gain of a yaw angular velocity of a front wheel channel;

[0042] The first front wheel correction control parameter, the second front wheel correction control parameter, the third front wheel correction control parameter, the fourth front wheel correction control parameter, the fifth front wheel correction control parameter and the sixth front wheel correction control parameter are summed up to obtain the front wheel deflection angle included in the ground sliding correction control parameters of the UAV.

[0043] The present application also provides a UAV ground sliding correction control device, comprising:

[0044] A glide parameter determination module, used to determine the ground glide parameter of the UAV that needs to perform ground glide correction control, wherein the ground glide parameter includes at least one of a lateral deviation acceleration and a yaw angle acceleration;

[0045] A control parameter determination module, used to process the ground taxiing parameters based on a predetermined ground taxiing deviation correction control rule to obtain the ground taxiing deviation correction control parameters of the UAV;

[0046] The correction control execution module is used to control the ground taxiing correction control mechanism of the UAV based on the ground taxiing correction control parameters, so that the UAV completes the ground taxiing correction control operation, wherein the ground taxiing correction control mechanism includes a turning device installed on the front wheel of the UAV, a braking device installed on the left and right wheels of the UAV and at least one of a rudder installed on the tail of the UAV, and the ground taxiing correction control parameters include at least one of a front wheel deflection angle, a left and right wheel differential braking amount and a rudder deflection angle, the front wheel deflection angle is used to control the turning device, the left and right wheel differential braking amount is used to control the left and right wheel braking devices, and the rudder deflection angle is used to control the rudder.

[0047] On the basis of the above, the present application also provides a drone, including:

[0048] Memory for storing computer programs;

[0049] The processor connected to the memory is used to execute the computer program stored in the memory to implement the above-mentioned UAV ground sliding correction control method.

[0050] On the basis of the above, the present application also provides a computer-readable storage medium, in which a computer program is stored, and when the computer program is run, each step of the above-mentioned UAV ground sliding correction control method is executed.

[0051] The UAV ground taxiing correction control method and device, UAV and storage medium provided in the present application can, firstly, determine the ground taxiing parameters of the UAV that needs to perform ground taxiing correction control; secondly, based on predetermined ground taxiing correction control rules, the ground taxiing parameters can be processed to obtain the ground taxiing correction control parameters of the UAV; then, based on the ground taxiing correction control parameters, the ground taxiing correction control mechanism of the UAV can be controlled to enable the UAV to complete the ground taxiing correction control operation. Based on the above content, since the ground taxiing parameters include at least one of the lateral offset acceleration and the yaw angular acceleration, in the ground taxiing correction control, the corresponding torque is adjusted by controlling the lateral offset acceleration and the yaw angular acceleration. For example, increasing the lateral offset acceleration can make the UAV move sideways faster, thereby adjusting the position faster during ground taxiing. For example, increasing the yaw angular acceleration can change the heading and direction of the aircraft more quickly, which helps to control more smoothly and accurately when turning on the ground. In this way, when facing strong disturbances or complex ground conditions, correction control can be performed faster and more accurately, and high-reliability correction control can be achieved, thereby improving the problem of relatively poor control reliability in the process of UAV ground taxiing correction control in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings.

[0053] Figure 1 A structural block diagram of the drone provided in an embodiment of the present application.

[0054] Figure 2 A flow chart of a method for controlling a UAV's ground sliding deviation correction provided in an embodiment of the present application.

[0055] Figure 3 A schematic diagram of the rudder correction control sub-rule provided in an embodiment of the present application.

[0056] Figure 4 A schematic diagram of the brake correction control sub-rule provided in an embodiment of the present application.

[0057] Figure 5A schematic diagram of the front wheel deviation correction control sub-rule provided in an embodiment of the present application.

[0058] Figure 6 A block diagram of a UAV ground taxiing correction control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0059] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0060] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0061] like Figure 1 As shown, an embodiment of the present application provides a drone, wherein the drone may include a memory, a processor, and a drone ground sliding deviation correction control device.

[0062] In detail, the memory and the processor are electrically connected directly or indirectly to achieve data transmission or interaction. For example, the memory and the processor can be electrically connected through one or more communication buses or signal lines. The UAV ground taxiing correction control device includes at least one software function module stored in the memory in the form of software or firmware. The processor is used to execute an executable computer program stored in the memory, for example, the software function module and computer program included in the UAV ground taxiing correction control device, so as to implement the UAV ground taxiing correction control method provided in the embodiment of the present application.

[0063] Optionally, the memory can be, but is not limited to, random access memory (RAM), read only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable read-only memory (Electric Erasable Programmable Read-Only Memory, EEPROM), etc.

[0064] Furthermore, the processor may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), a system on chip (SoC), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0065] Understandably, Figure 1 The structure shown is for illustration only, and the drone may also include Figure 1 More components as shown in , or with Figure 1 The different configurations shown, for example, may also include a communication unit for exchanging information with other devices (such as other drones or servers, etc.).

[0066] Combination Figure 2 The embodiment of the present application also provides a method for controlling a ground taxiing deviation correction of a UAV that can be applied to the above-mentioned UAV. The method steps defined in the process related to the method for controlling a ground taxiing deviation correction of a UAV can be implemented by the UAV.

[0067] The following will Figure 2 The specific process shown is explained in detail.

[0068] Step S110, determining the ground taxiing parameters of the UAV that needs to perform ground taxiing correction control.

[0069] In the embodiment of the present application, the UAV can determine the ground taxiing parameters of the UAV that need to perform ground taxiing correction control. The ground taxiing parameters include at least one of the side deviation acceleration and the yaw angle acceleration, and can also further include other parameters such as side deviation distance, side deviation speed, yaw angle difference and yaw angle speed.

[0070] Step S120: processing the ground taxiing parameters based on a predetermined ground taxiing deviation correction control rule to obtain the ground taxiing deviation correction control parameters of the UAV.

[0071] In the embodiment of the present application, after determining the ground taxiing parameters, the UAV can also process the ground taxiing parameters based on a predetermined ground taxiing deviation correction control rule to obtain the ground taxiing deviation correction control parameters of the UAV. In other words, the ground taxiing parameters can be calculated or mapped based on the ground taxiing deviation correction control rule, so that the ground taxiing deviation correction control parameters of the UAV can be obtained.

[0072] Step S130: Based on the ground taxiing deviation correction control parameters, the ground taxiing deviation correction control mechanism of the UAV is controlled so that the UAV completes the ground taxiing deviation correction control operation.

[0073] In an embodiment of the present application, after obtaining the ground taxiing correction control parameter, the UAV can also control the ground taxiing correction control mechanism of the UAV based on the ground taxiing correction control parameter, so that the UAV completes the ground taxiing correction control operation. Wherein, the ground taxiing correction control mechanism includes at least one of a turning device installed on the front wheel of the UAV, a braking device installed on the left and right wheels of the UAV, and a rudder installed on the tail of the UAV. Correspondingly, the ground taxiing correction control parameter includes at least one of a front wheel deflection angle, a left and right wheel differential braking amount, and a rudder deflection angle. The front wheel deflection angle is used to control the turning device, the left and right wheel differential braking amount is used to control the left and right wheel braking device, and the rudder deflection angle is used to control the rudder. In other words, the turning device can be controlled based on the front wheel deflection angle, the left and right wheel braking device can be controlled based on the left and right wheel differential braking amount, and the rudder can also be controlled based on the rudder deflection angle.

[0074] It should be noted that the left and right wheel differential braking amount can be decomposed into the left wheel braking amount and the right wheel braking amount. In this way, the left wheel braking device can be controlled based on the left wheel braking amount, and the right wheel braking device can be controlled based on the right wheel braking amount.

[0075] Based on the above content, since the ground taxiing parameters include at least one of the lateral offset acceleration and the yaw angular acceleration, in the ground taxiing correction control, the corresponding torque is adjusted by controlling the lateral offset acceleration and the yaw angular acceleration. For example, increasing the lateral offset acceleration can make the UAV move sideways faster, thereby adjusting the position faster during ground taxiing. For example, increasing the yaw angular acceleration can change the heading and direction of the aircraft more quickly, which helps to control more smoothly and accurately when turning on the ground. In this way, when facing strong disturbances or complex ground conditions, correction control can be performed faster and more accurately, and high-reliability correction control can be achieved, thereby improving the problem of relatively poor control reliability in the process of UAV ground taxiing correction control in the prior art.

[0076] It should be noted that for the above step S120, the specific method of processing the ground taxiing parameters to obtain the ground taxiing deviation correction control parameters of the UAV is not limited, or in other words, the specific rule content of the predetermined ground taxiing deviation correction control rules is not limited.

[0077] For example, in an alternative embodiment, in order to ensure the reliability of the obtained ground taxiing correction control parameters, so that the ground taxiing correction control operation based on the ground taxiing correction control parameters can be reliably completed, the above-mentioned step S120 may further include step S121, step S122 and step S123, and the specific content of each step is described as follows.

[0078] Step S121, based on the rudder deviation correction control sub-rule included in the predetermined ground taxiing deviation correction control rule, the ground taxiing parameters are processed to obtain the rudder deflection angle included in the ground taxiing deviation correction control parameters of the UAV.

[0079] In the embodiment of the present application, after the ground taxiing parameters are determined, the ground taxiing parameters can be processed based on the rudder correction control sub-rule included in the predetermined ground taxiing correction control rule to obtain the rudder deflection angle included in the ground taxiing correction control parameter of the UAV. In other words, for the correction control of the rudder, the corresponding rudder correction control sub-rule can be configured separately, so that the reliability of the rudder deflection angle determined based on the rudder correction control sub-rule can be relatively high, that is, the sub-rule has good pertinence and adaptability.

[0080] Step S122, based on the braking deviation correction control sub-rule included in the predetermined ground taxiing deviation correction control rule, the ground taxiing parameters are processed to obtain the left and right wheel differential braking amounts included in the ground taxiing deviation correction control parameters of the UAV.

[0081] In the embodiment of the present application, after determining the ground taxiing parameters, the ground taxiing parameters can be processed based on the brake deviation correction control sub-rule included in the predetermined ground taxiing deviation correction control rule to obtain the left and right wheel differential braking amount included in the ground taxiing deviation correction control parameter of the UAV. In other words, for the brake deviation correction control, the corresponding brake deviation correction control sub-rule can be configured separately, so that the reliability of the left and right wheel differential braking amount determined based on the brake deviation correction control sub-rule can be relatively high, that is, the sub-rule has good pertinence and adaptability.

[0082] Step S123, based on the front wheel deviation correction control sub-rule included in the predetermined ground sliding deviation correction control rule, the ground sliding parameter is processed to obtain the front wheel deflection angle included in the ground sliding deviation correction control parameter of the UAV.

[0083] In the embodiment of the present application, after determining the ground taxiing parameters, the ground taxiing parameters can be processed based on the front wheel deviation correction control sub-rule included in the predetermined ground taxiing deviation correction control rule to obtain the front wheel deflection angle included in the ground taxiing deviation correction control parameter of the UAV. In other words, for the deviation correction control of the front wheel, the corresponding front wheel deviation correction control sub-rule can be configured separately, so that the reliability of the front wheel deflection angle determined based on the front wheel deviation correction control sub-rule can be relatively high, that is, the sub-rule has good pertinence and adaptability.

[0084] It can be understood that, in the above step S121, the specific method of processing the ground taxiing parameters to obtain the rudder deflection angle is not limited and can be selected according to actual needs.

[0085] For example, in an alternative implementation, the first rudder correction control parameter may be determined based only on the rudder correction control sub-rule and the lateral deviation acceleration, or the second rudder correction control parameter may be determined based only on the rudder correction control sub-rule and the yaw angle acceleration. In this way, the control efficiency may be improved and the calculation cost may be reduced to a certain extent.

[0086] For another example, in another alternative implementation, in order to further improve the reliability of the determined rudder angle, the above-mentioned step S121 may further include step S121a, step S121b and step S121c, and the specific content of each step is as follows.

[0087] Step S121a, determining a first rudder correction control parameter based on a first control parameter in a rudder correction control sub-rule included in a predetermined ground taxiing correction control rule and a lateral deviation acceleration in the ground taxiing parameter.

[0088] In an embodiment of the present application, a first rudder correction control parameter is determined based on a first control parameter in a rudder correction control sub-rule included in a predetermined ground taxiing correction control rule and a lateral deviation acceleration in the ground taxiing parameter. The first control parameter is used to reflect the control gain of the lateral deviation acceleration of the rudder channel. Exemplarily, the first control parameter and the lateral deviation acceleration may be multiplied to obtain the first rudder correction control parameter.

[0089] Step S121b: determining a second rudder correction control parameter based on the second control parameter in the rudder correction control sub-rule and the yaw angle acceleration in the ground gliding parameter.

[0090] In an embodiment of the present application, a second rudder correction control parameter can be determined based on the second control parameter in the rudder correction control sub-rule and the yaw angle acceleration in the ground taxiing parameter. The second control parameter is used to reflect the control gain of the yaw angle acceleration of the rudder channel. Exemplarily, the second control parameter and the yaw angle acceleration can be multiplied to obtain the second rudder correction control parameter.

[0091] Step S121c, based on the first rudder correction control parameter and the second rudder correction control parameter, obtaining the rudder deflection angle included in the ground taxiing correction control parameter of the UAV.

[0092] In an embodiment of the present application, after obtaining the first rudder correction control parameter and the second rudder correction control parameter, the rudder deflection angle included in the ground taxiing correction control parameter of the UAV can be obtained based on the first rudder correction control parameter and the second rudder correction control parameter. Exemplarily, the first rudder correction control parameter and the second rudder correction control parameter can be fused.

[0093] It should be further explained that, in the above step S121c, the specific manner of obtaining the rudder deflection angle based on the first rudder correction control parameter and the second rudder correction control parameter is not limited. For example, the first rudder correction control parameter and the second rudder correction control parameter may be directly integrated, or other parameters may be further integrated on this basis to further improve the reliability of the obtained rudder deflection angle. Based on this, the above step S121c may further include the following specific contents that can be implemented:

[0094] In a first aspect, a third rudder deviation correction control parameter may be determined based on a third control parameter in the rudder deviation correction control sub-rule and a side deviation distance in the ground taxiing parameter, wherein the third control parameter is used to reflect a control gain of a side deviation distance of a rudder channel; illustratively, the third control parameter may be multiplied by the side deviation distance to obtain the third rudder deviation correction control parameter;

[0095] In a second aspect, a fourth rudder correction control parameter may be determined based on a fourth control parameter in the rudder correction control sub-rule and a lateral deviation speed in the ground taxiing parameter, wherein the fourth control parameter is used to reflect a control gain of a lateral deviation speed of a rudder channel; illustratively, the fourth control parameter and the lateral deviation speed may be multiplied, so that a corresponding fourth rudder correction control parameter may be obtained;

[0096] In a third aspect, a fifth rudder correction control parameter may be determined based on a fifth control parameter in the rudder correction control sub-rule and a yaw angle difference in the ground taxiing parameter, wherein the third control parameter is used to reflect a control gain of the yaw angle difference of the rudder channel; illustratively, the fifth control parameter and the yaw angle difference may be multiplied to obtain the fifth rudder correction control parameter;

[0097] In a fourth aspect, a sixth rudder correction control parameter may be determined based on a sixth control parameter in the rudder correction control sub-rule and a yaw angular velocity in the ground taxiing parameter, wherein the third control parameter is used to reflect a control gain of the yaw angular velocity of the rudder channel; illustratively, the sixth control parameter and the yaw angular velocity may be multiplied, so that the corresponding sixth rudder correction control parameter may be obtained;

[0098] In a fifth aspect, the first rudder correction control parameter, the second rudder correction control parameter, the third rudder correction control parameter, the fourth rudder correction control parameter, the fifth rudder correction control parameter and the sixth rudder correction control parameter may be summed to obtain the rudder deflection angle included in the ground taxiing correction control parameters of the UAV; that is, the result of the summation calculation may be used as the rudder deflection angle.

[0099] For details, please refer to Figure 3 As shown, K1 is the control gain of the lateral offset distance of the rudder channel, K2 is the control gain of the lateral offset speed of the rudder channel, K3 is the control gain of the lateral offset acceleration of the rudder channel, K4 is the control gain of the yaw angle of the rudder channel, K5 is the control gain of the yaw angular velocity of the rudder channel, and K6 is the control gain of the yaw angular acceleration of the rudder channel. Y is the lateral offset distance, is the lateral deviation velocity, is the lateral deviation acceleration, Δψ is the yaw angle difference, r is the yaw angular velocity, ωz is the yaw angular acceleration, and δr is the rudder deflection angle.

[0100] It is understandable that, in the above step S122, the specific method of processing the ground sliding parameters to obtain the left and right wheel differential braking amount is not limited and can be selected according to actual needs.

[0101] For example, in an alternative implementation, the first brake correction control parameter can be determined based only on the brake correction control sub-rule and the lateral deviation acceleration, or the second brake correction control parameter can be determined based only on the brake correction control sub-rule and the yaw angle acceleration. In this way, the control efficiency can be improved and the calculation cost can be reduced to a certain extent.

[0102] For another example, in another alternative embodiment, in order to further improve the reliability of the determined left and right wheel differential braking amount, the above-mentioned step S122 may further include step S122a, step S122b and step S122c, and the specific content of each step is as follows.

[0103] Step S122a, determining a first braking deviation correction control parameter based on the seventh control parameter in the braking deviation correction control sub-rule included in the predetermined ground sliding deviation correction control rule and the lateral deviation acceleration in the ground sliding parameter.

[0104] In an embodiment of the present application, a first brake correction control parameter is determined based on the seventh control parameter in the brake correction control sub-rule included in the predetermined ground slide correction control rule and the lateral deviation acceleration in the ground slide parameter. The seventh control parameter is used to reflect the control gain of the lateral deviation acceleration of the brake channel. Exemplarily, the first control parameter and the lateral deviation acceleration can be multiplied to obtain the first brake correction control parameter.

[0105] Step S122b: Determine a second braking deviation correction control parameter based on the eighth control parameter in the braking deviation correction control sub-rule and the yaw angle acceleration in the ground sliding parameter.

[0106] In an embodiment of the present application, a second brake correction control parameter can be determined based on the eighth control parameter in the brake correction control sub-rule and the yaw angle acceleration in the ground sliding parameter. The eighth control parameter is used to reflect the control gain of the yaw angle acceleration of the brake channel. Exemplarily, the eighth control parameter and the yaw angle acceleration can be multiplied to obtain the second brake correction control parameter.

[0107] Step S122c, based on the first braking correction control parameter and the second braking correction control parameter, obtain the left and right wheel differential braking amount included in the ground sliding correction control parameter of the UAV.

[0108] In an embodiment of the present application, after obtaining the first brake correction control parameter and the second brake correction control parameter, the left and right wheel differential braking amount included in the ground taxiing correction control parameter of the UAV can be obtained based on the first brake correction control parameter and the second brake correction control parameter. Exemplarily, the first brake correction control parameter and the second brake correction control parameter can be fused.

[0109] It should be further explained that, in the above step S122c, the specific method of obtaining the left and right wheel differential braking amount based on the first brake correction control parameter and the second brake correction control parameter is not limited. For example, the first brake correction control parameter and the second brake correction control parameter can be directly integrated, or other parameters can be further integrated on this basis to further improve the reliability of the obtained left and right wheel differential braking amount. Based on this, the above step S122c can further include the following specific contents that can be implemented:

[0110] In a first aspect, a third brake deviation correction control parameter may be determined based on a ninth control parameter in the brake deviation correction control sub-rule and a side deviation distance in the ground sliding parameter, wherein the ninth control parameter is used to reflect a control gain of a side deviation distance of a brake channel; illustratively, the ninth control parameter and the side deviation distance may be multiplied to obtain the third brake deviation correction control parameter;

[0111] In a second aspect, a fourth brake correction control parameter may be determined based on a tenth control parameter in the brake correction control sub-rule and a lateral deviation speed in the ground sliding parameter, wherein the tenth control parameter is used to reflect a control gain of a lateral deviation speed of a brake channel; illustratively, the tenth control parameter may be multiplied by the lateral deviation speed, so that a corresponding fourth brake correction control parameter may be obtained;

[0112] In a third aspect, a fifth brake correction control parameter may be determined based on an eleventh control parameter in the brake correction control sub-rule and a yaw angle difference in the ground sliding parameter, wherein the eleventh control parameter is used to reflect a control gain of the yaw angle difference of the brake channel; illustratively, the eleventh control parameter and the yaw angle difference may be multiplied to obtain the fifth brake correction control parameter;

[0113] In a fourth aspect, a sixth brake correction control parameter may be determined based on a twelfth control parameter in the brake correction control sub-rule and a yaw angular velocity in the ground sliding parameter, wherein the twelfth control parameter is used to reflect a control gain of the yaw angular velocity of the brake channel; illustratively, the twelfth control parameter and the yaw angular velocity may be multiplied, so that the corresponding sixth brake correction control parameter may be obtained;

[0114] In the fifth aspect, the first brake correction control parameter, the second brake correction control parameter, the third brake correction control parameter, the fourth brake correction control parameter, the fifth brake correction control parameter and the sixth brake correction control parameter can be summed to obtain the left and right wheel differential braking amount included in the ground taxiing correction control parameters of the UAV; that is, the result of the summation calculation can be used as the left and right wheel differential braking amount.

[0115] For details, please refer to Figure 4 As shown, K7 is the control gain of the lateral offset distance of the brake channel, K8 is the control gain of the lateral offset speed of the brake channel, K9 is the control gain of the lateral offset acceleration of the brake channel, and K 10 is the control gain of the yaw angle of the brake channel, K 11 is the control gain of the yaw rate of the brake channel, K 12 is the control gain of the yaw acceleration of the brake channel. Y is the side offset, is the lateral deviation velocity, is the lateral deviation acceleration, Δψ is the yaw angle difference, r is the yaw angular velocity, ωz is the yaw angular acceleration, δ B It is the differential braking amount of left and right wheels.

[0116] It can be understood that, in the above step S123, the specific method of processing the ground sliding parameters to obtain the front wheel deflection angle is not limited and can be selected according to actual needs.

[0117] For example, in an alternative implementation, the first front wheel deviation correction control parameter may be determined based only on the brake deviation correction control sub-rule and the lateral deviation acceleration, or the second front wheel deviation correction control parameter may be determined based only on the front wheel deviation correction control sub-rule and the yaw angle acceleration. In this way, the control efficiency may be improved and the calculation cost may be reduced to a certain extent.

[0118] For another example, in another alternative implementation, in order to further improve the reliability of the determined front wheel deflection angle, the above-mentioned step S123 may further include step S123a, step S123b and step S123c, and the specific content of each step is as follows.

[0119] Step S123a, determining a first front wheel deviation correction control parameter based on the thirteenth control parameter in the front wheel deviation correction control sub-rule included in the predetermined ground deviation correction control rule and the lateral deviation acceleration in the ground deviation parameter.

[0120] In an embodiment of the present application, a first front wheel deviation correction control parameter is determined based on the thirteenth control parameter in the front wheel deviation correction control sub-rule included in the predetermined ground slip correction control rule and the lateral deviation acceleration in the ground slip parameter. The thirteenth control parameter is used to reflect the control gain of the lateral deviation acceleration of the brake channel. Exemplarily, the thirteenth control parameter and the lateral deviation acceleration can be multiplied to obtain the first front wheel deviation correction control parameter.

[0121] Step S123b: determining a second front wheel deviation correction control parameter based on the fourteenth control parameter in the front wheel deviation correction control sub-rule and the yaw angle acceleration in the ground sliding parameter.

[0122] In an embodiment of the present application, a second front wheel deviation correction control parameter can be determined based on the fourteenth control parameter in the front wheel deviation correction control sub-rule and the yaw angle acceleration in the ground sliding parameter. The fourteenth control parameter is used to reflect the control gain of the yaw angle acceleration of the brake channel. Exemplarily, the fourteenth control parameter and the yaw angle acceleration can be multiplied to obtain the second front wheel deviation correction control parameter.

[0123] Step S123c, based on the first front wheel deviation correction control parameter and the second front wheel deviation correction control parameter, obtaining the front wheel deflection angle included in the ground sliding deviation correction control parameter of the UAV.

[0124] In an embodiment of the present application, after obtaining the first front wheel correction control parameter and the second front wheel correction control parameter, the front wheel deflection angle included in the ground sliding correction control parameter of the UAV can be obtained based on the first front wheel correction control parameter and the second front wheel correction control parameter. Exemplarily, the first front wheel correction control parameter and the second front wheel correction control parameter can be fused.

[0125] It should be further explained that, in the above step S123c, the specific method of obtaining the front wheel deflection angle based on the first front wheel deviation correction control parameter and the second front wheel deviation correction control parameter is not limited. For example, the first front wheel deviation correction control parameter and the second front wheel deviation correction control parameter may be directly integrated, or other parameters may be further integrated on this basis to further improve the reliability of the obtained front wheel deviation angle. Based on this, the above step S123c may further include the following specific contents that can be implemented:

[0126] In a first aspect, a third front wheel deviation correction control parameter may be determined based on a fifteenth control parameter in the front wheel deviation correction control sub-rule and a side deviation distance in the ground sliding parameter, wherein the fifteenth control parameter is used to reflect a control gain of a side deviation distance of a braking channel; illustratively, the fifteenth control parameter and the side deviation distance may be multiplied to obtain the third front wheel deviation correction control parameter;

[0127] In a second aspect, a fourth front wheel deviation correction control parameter may be determined based on a sixteenth control parameter in the front wheel deviation correction control sub-rule and a lateral deviation speed in the ground sliding parameter, wherein the sixteenth control parameter is used to reflect a control gain of a lateral deviation speed of a braking channel; illustratively, the sixteenth control parameter and the lateral deviation speed may be multiplied, so that a corresponding fourth front wheel deviation correction control parameter may be obtained;

[0128] In a third aspect, a fifth front wheel deviation correction control parameter may be determined based on a seventeenth control parameter in the front wheel deviation correction control sub-rule and a yaw angle difference in the ground sliding parameter, wherein the seventeenth control parameter is used to reflect a control gain of a yaw angle difference of a braking channel; illustratively, the seventeenth control parameter and the yaw angle difference may be multiplied to obtain the fifth front wheel deviation correction control parameter;

[0129] In a fourth aspect, a sixth front wheel deviation correction control parameter may be determined based on an eighteenth control parameter in the front wheel deviation correction control sub-rule and a yaw angular velocity in the ground sliding parameter, wherein the eighteenth control parameter is used to reflect a control gain of a yaw angular velocity of a braking channel; illustratively, the eighteenth control parameter and the yaw angular velocity may be multiplied to obtain a corresponding sixth front wheel deviation correction control parameter;

[0130] In the fifth aspect, the first front wheel correction control parameter, the second front wheel correction control parameter, the third front wheel correction control parameter, the fourth front wheel correction control parameter, the fifth front wheel correction control parameter and the sixth front wheel correction control parameter can be summed up to obtain the front wheel deflection angle included in the ground sliding correction control parameters of the UAV; that is, the result of the summation calculation can be used as the front wheel deflection angle.

[0131] For details, please refer to Figure 5 As shown, K 13 is the control gain of the side deviation of the front wheel channel, K 14 is the control gain of the lateral deviation speed of the front wheel channel, K 15 is the control gain of the lateral deviation acceleration of the front wheel channel, K 16 is the control gain of the yaw angle of the front wheel channel, K 17 is the control gain of the yaw rate of the front wheel channel, K 18is the control gain of the yaw acceleration of the front wheel channel. Y is the side offset, is the lateral deviation velocity, is the lateral deviation acceleration, Δψ is the yaw angle difference, r is the yaw angular velocity, ωz is the yaw angular acceleration, δ N is the front wheel deflection angle.

[0132] Combination Figure 6 The embodiment of the present application also provides a UAV ground taxiing deviation correction control device applicable to the above-mentioned UAV. The UAV ground taxiing deviation correction control device may include a taxiing parameter determination module, a control parameter determination module and a deviation correction control execution module.

[0133] In detail, the glide parameter determination module can be used to determine the ground glide parameter of the UAV that needs to perform ground glide correction control, wherein the ground glide parameter includes at least one of the lateral deviation acceleration and the yaw angle acceleration. In the embodiment of the present application, the glide parameter determination module can be used to perform Figure 2 As shown in step S110, the relevant contents of the sliding parameter determination module can refer to the above description of step S110.

[0134] In detail, the control parameter determination module can be used to process the ground taxiing parameters based on a predetermined ground taxiing deviation correction control rule to obtain the ground taxiing deviation correction control parameters of the UAV. Figure 2 As shown in step S120, the relevant contents of the control parameter determination module can refer to the above description of step S120.

[0135] In detail, the correction control execution module can be used to control the ground taxiing correction control mechanism of the UAV based on the ground taxiing correction control parameters, so that the UAV completes the ground taxiing correction control operation, wherein the ground taxiing correction control mechanism includes a turning device installed on the front wheel of the UAV, a braking device installed on the left and right wheels of the UAV, and at least one of a rudder installed on the tail of the UAV, and the ground taxiing correction control parameters include at least one of a front wheel deflection angle, a left and right wheel differential braking amount, and a rudder deflection angle, the front wheel deflection angle is used to control the turning device, the left and right wheel differential braking amount is used to control the left and right wheel braking device, and the rudder deflection angle is used to control the rudder. In an embodiment of the present application, the correction control execution module can be used to execute Figure 2 As shown in step S130, the relevant contents of the deviation correction control execution module can refer to the above description of step S130.

[0136] In an embodiment of the present application, corresponding to the above-mentioned UAV ground taxiing correction control method applied to the UAV, a computer-readable storage medium is also provided, in which a computer program is stored, and when the computer program is run, each step of the UAV ground taxiing correction control method is executed.

[0137] Among them, the steps executed when the aforementioned computer program is running will not be described one by one here, and reference can be made to the explanation of the aforementioned UAV ground sliding correction control method in the previous text.

[0138] To sum up, the UAV ground taxiing correction control method and device, UAV and storage medium provided by the present application can, firstly, determine the ground taxiing parameters of the UAV that needs to perform ground taxiing correction control; secondly, based on predetermined ground taxiing correction control rules, the ground taxiing parameters can be processed to obtain the ground taxiing correction control parameters of the UAV; then, based on the ground taxiing correction control parameters, the ground taxiing correction control mechanism of the UAV can be controlled to enable the UAV to complete the ground taxiing correction control operation. Based on the above content, since the ground taxiing parameters include at least one of the lateral offset acceleration and the yaw angular acceleration, in the ground taxiing correction control, the corresponding torque is adjusted by controlling the lateral offset acceleration and the yaw angular acceleration. For example, increasing the lateral offset acceleration can make the UAV move sideways faster, thereby adjusting the position faster during ground taxiing. For example, increasing the yaw angular acceleration can change the heading and direction of the aircraft more quickly, which helps to control more smoothly and accurately when turning on the ground. In this way, when facing strong disturbances or complex ground conditions, correction control can be performed faster and more accurately, and high-reliability correction control can be achieved, thereby improving the problem of relatively poor control reliability in the process of UAV ground taxiing correction control in the prior art.

[0139] In several embodiments provided in the embodiments of the present application, it should be understood that the disclosed device and method can also be implemented in other ways. The device and method embodiments described above are merely schematic, for example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the device, method and computer program product according to multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0140] In addition, the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0141] If the function is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, an electronic device, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a disk or an optical disk. It should be noted that, in this article, the term "include", "include" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes other elements that are not explicitly listed, or also includes elements inherent to such a process, method, article or device. Without more constraints, an element defined by the phrase "comprising a..." does not exclude the existence of other identical elements in the process, method, article or apparatus comprising the element.

[0142] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for correcting the sliding of an unmanned aerial vehicle on the ground, characterized in that: include: Determining a ground taxiing parameter of the UAV that needs to perform ground taxiing correction control, wherein the ground taxiing parameter includes at least one of a lateral deviation acceleration and a yaw angle acceleration; Based on a predetermined ground taxiing deviation correction control rule, the ground taxiing parameter is processed to obtain a ground taxiing deviation correction control parameter of the UAV; Based on the ground taxiing correction control parameters, the ground taxiing correction control mechanism of the UAV is controlled so that the UAV completes the ground taxiing correction control operation, wherein the ground taxiing correction control mechanism includes a turning device installed on the front wheel of the UAV, a braking device installed on the left and right wheels of the UAV, and at least one of a rudder installed on the tail of the UAV, and the ground taxiing correction control parameters include at least one of a front wheel deflection angle, a left and right wheel differential braking amount, and a rudder deflection angle, the front wheel deflection angle is used to control the turning device, the left and right wheel differential braking amount is used to control the left and right wheel braking devices, and the rudder deflection angle is used to control the rudder.

2. The method for correcting the sliding of an unmanned aerial vehicle on the ground according to claim 1, characterized in that: The step of processing the ground taxiing parameters based on a predetermined ground taxiing deviation correction control rule to obtain the ground taxiing deviation correction control parameters of the UAV comprises: Based on the rudder deviation correction control sub-rule included in the predetermined ground taxiing deviation correction control rule, the ground taxiing parameter is processed to obtain the rudder deflection angle included in the ground taxiing deviation correction control parameter of the UAV; Based on the braking deviation correction control sub-rule included in the predetermined ground taxiing deviation correction control rule, the ground taxiing parameter is processed to obtain the left and right wheel differential braking amount included in the ground taxiing deviation correction control parameter of the UAV; Based on the front wheel deviation correction control sub-rule included in the predetermined ground taxiing deviation correction control rule, the ground taxiing parameter is processed to obtain the front wheel deflection angle included in the ground taxiing deviation correction control parameter of the UAV.

3. The method for correcting the sliding of an unmanned aerial vehicle on the ground according to claim 2, characterized in that: The step of processing the ground taxiing parameters based on the rudder deviation correction control sub-rule included in the predetermined ground taxiing deviation correction control rule to obtain the rudder deflection angle included in the ground taxiing deviation correction control parameter of the UAV comprises: Determine a first rudder correction control parameter based on a first control parameter in a rudder correction control sub-rule included in a predetermined ground taxiing correction control rule and a lateral deviation acceleration in the ground taxiing parameter, wherein the first control parameter is used to reflect a control gain of the lateral deviation acceleration of the rudder channel; Determine a second rudder correction control parameter based on the second control parameter in the rudder correction control sub-rule and the yaw angle acceleration in the ground taxiing parameter, wherein the second control parameter is used to reflect the control gain of the yaw angle acceleration of the rudder channel; Based on the first rudder correction control parameter and the second rudder correction control parameter, the rudder deflection angle included in the ground taxiing correction control parameter of the UAV is obtained.

4. The method for correcting the sliding of an unmanned aerial vehicle on the ground according to claim 3 is characterized in that: The step of obtaining the rudder deflection angle included in the ground taxiing correction control parameter of the UAV based on the first rudder correction control parameter and the second rudder correction control parameter comprises: Determining a third rudder correction control parameter based on the third control parameter in the rudder correction control sub-rule and the side deviation distance in the ground taxiing parameter, wherein the third control parameter is used to reflect the control gain of the side deviation distance of the rudder channel; Determining a fourth rudder correction control parameter based on a fourth control parameter in the rudder correction control sub-rule and a lateral deviation speed in the ground taxiing parameter, wherein the fourth control parameter is used to reflect a control gain of the lateral deviation speed of the rudder channel; Determining a fifth rudder correction control parameter based on a fifth control parameter in the rudder correction control sub-rule and a yaw angle difference in the ground sliding parameter, wherein the third control parameter is used to reflect a control gain of the yaw angle difference of the rudder channel; Determining a sixth rudder correction control parameter based on a sixth control parameter in the rudder correction control sub-rule and a yaw angular velocity in the ground sliding parameter, wherein the third control parameter is used to reflect a control gain of the yaw angular velocity of the rudder channel; The first rudder correction control parameter, the second rudder correction control parameter, the third rudder correction control parameter, the fourth rudder correction control parameter, the fifth rudder correction control parameter and the sixth rudder correction control parameter are summed up to obtain the rudder deflection angle included in the ground taxiing correction control parameters of the UAV.

5. The method for correcting the sliding of an unmanned aerial vehicle on the ground according to claim 2, characterized in that: The step of processing the ground sliding parameters based on the braking deviation correction control sub-rule included in the predetermined ground sliding deviation correction control rule to obtain the left and right wheel differential braking amount included in the ground sliding deviation correction control parameter of the UAV comprises: Based on the seventh control parameter in the brake deviation correction control sub-rule included in the predetermined ground slide deviation correction control rule and the lateral deviation acceleration in the ground slide parameter, a first brake deviation correction control parameter is determined, wherein the seventh control parameter is used to reflect the control gain of the lateral deviation acceleration of the brake channel; Based on the eighth control parameter in the rudder correction control sub-rule and the yaw angle acceleration in the ground taxiing parameter, a second brake correction control parameter is determined, wherein the eighth control parameter is used to reflect the control gain of the yaw angle acceleration of the brake channel; Based on the first brake correction control parameter and the second brake correction control parameter, the left and right wheel differential braking amounts included in the ground taxi correction control parameters of the UAV are obtained.

6. The method for correcting the sliding of an unmanned aerial vehicle on the ground according to claim 5, characterized in that: The step of obtaining the left and right wheel differential braking amounts included in the ground sliding correction control parameters of the UAV based on the first brake correction control parameter and the second brake correction control parameter comprises: Determine a third braking deviation control parameter based on a ninth control parameter in the braking deviation control sub-rule and a lateral deviation in the ground sliding parameter, wherein the ninth control parameter is used to reflect a control gain of the lateral deviation of the braking channel; Based on the tenth control parameter in the braking deviation correction control sub-rule and the lateral deviation speed in the ground sliding parameter, a fourth braking deviation correction control parameter is determined, wherein the tenth control parameter is used to reflect the control gain of the lateral deviation speed of the braking channel; Based on the eleventh control parameter in the braking deviation correction control sub-rule and the yaw angle difference in the ground sliding parameter, a fifth braking deviation correction control parameter is determined, wherein the eleventh control parameter is used to reflect the control gain of the yaw angle difference of the braking channel; Based on the twelfth control parameter in the braking correction control sub-rule and the yaw angular velocity in the ground sliding parameter, a sixth braking correction control parameter is determined, wherein the twelfth control parameter is used to reflect the control gain of the yaw angular velocity of the braking channel; The first brake correction control parameter, the second brake correction control parameter, the third brake correction control parameter, the fourth brake correction control parameter, the fifth brake correction control parameter and the sixth brake correction control parameter are summed up and calculated to obtain the left and right wheel differential braking amount included in the ground sliding correction control parameters of the UAV.

7. The method for correcting the sliding of an unmanned aerial vehicle on the ground according to claim 2, characterized in that: The step of processing the ground sliding parameters based on the front wheel deviation correction control sub-rule included in the predetermined ground sliding deviation correction control rule to obtain the front wheel deflection angle included in the ground sliding deviation correction control parameter of the UAV comprises: Determine a first front wheel deviation correction control parameter based on a thirteenth control parameter in the front wheel deviation correction control sub-rule included in the predetermined ground slip correction control rule and the lateral deviation acceleration in the ground slip parameter, wherein the thirteenth control parameter is used to reflect the control gain of the lateral deviation acceleration of the front wheel channel; Determining a second front wheel deviation correction control parameter based on a fourteenth control parameter in the front wheel deviation correction control sub-rule and a yaw angle acceleration in the ground sliding parameter, wherein the fourteenth control parameter is used to reflect a control gain of a yaw angle acceleration of a front wheel channel; Based on the first front wheel deviation correction control parameter and the second front wheel deviation correction control parameter, a front wheel deflection angle included in the ground sliding deviation correction control parameter of the UAV is obtained.

8. The method for correcting the sliding of an unmanned aerial vehicle on the ground according to claim 7, characterized in that: The step of obtaining the front wheel deflection angle included in the ground sliding correction control parameter of the UAV based on the first front wheel correction control parameter and the second front wheel correction control parameter comprises: Determine a third front wheel deviation correction control parameter based on a fifteenth control parameter in the front wheel deviation correction control sub-rule and a side deviation distance in the ground sliding parameter, wherein the fifteenth control parameter is used to reflect a control gain of a side deviation distance of a front wheel channel; Determining a fourth front wheel deviation correction control parameter based on a sixteenth control parameter in the front wheel deviation correction control sub-rule and a lateral deviation speed in the ground sliding parameter, wherein the sixteenth control parameter is used to reflect a control gain of a lateral deviation speed of a front wheel channel; Based on the seventeenth control parameter in the front wheel deviation correction control sub-rule and the yaw angle difference in the ground sliding parameter, a fifth front wheel deviation correction control parameter is determined, wherein the seventeenth control parameter is used to reflect the control gain of the yaw angle difference of the front wheel channel; Determining a sixth front wheel deviation correction control parameter based on an eighteenth control parameter in the front wheel deviation correction control sub-rule and a yaw angular velocity in the ground sliding parameter, wherein the eighteenth control parameter is used to reflect a control gain of a yaw angular velocity of a front wheel channel; The first front wheel correction control parameter, the second front wheel correction control parameter, the third front wheel correction control parameter, the fourth front wheel correction control parameter, the fifth front wheel correction control parameter and the sixth front wheel correction control parameter are summed up to obtain the front wheel deflection angle included in the ground sliding correction control parameters of the UAV.

9. A UAV ground sliding deviation correction control device, characterized in that: include: A glide parameter determination module, used to determine the ground glide parameter of the UAV that needs to perform ground glide correction control, wherein the ground glide parameter includes at least one of a lateral deviation acceleration and a yaw angle acceleration; A control parameter determination module, used to process the ground taxiing parameters based on a predetermined ground taxiing deviation correction control rule to obtain the ground taxiing deviation correction control parameters of the UAV; The correction control execution module is used to control the ground taxiing correction control mechanism of the UAV based on the ground taxiing correction control parameters, so that the UAV completes the ground taxiing correction control operation, wherein the ground taxiing correction control mechanism includes a turning device installed on the front wheel of the UAV, a braking device installed on the left and right wheels of the UAV and at least one of a rudder installed on the tail of the UAV, and the ground taxiing correction control parameters include at least one of a front wheel deflection angle, a left and right wheel differential braking amount and a rudder deflection angle, the front wheel deflection angle is used to control the turning device, the left and right wheel differential braking amount is used to control the left and right wheel braking devices, and the rudder deflection angle is used to control the rudder.

10. A drone, characterized in that: include: Memory for storing computer programs; A processor connected to the memory is used to execute the computer program stored in the memory to implement the UAV ground taxiing correction control method described in any one of claims 1-8.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which, when running, executes the UAV ground sliding correction control method described in any one of claims 1 to 8.

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