Guidance and control method for net recovery of shipboard fixed-wing unmanned aerial vehicle

Abstract

The application discloses a guiding and controlling method for net collision recovery of a ship-borne fixed-wing unmanned aerial vehicle, and belongs to the field of flight control of aircrafts. The method calculates relevant variables and establishes a mathematical model of relative motion under a line-of-sight coordinate by using a recovery net image shot by a camera of the ship-borne unmanned aerial vehicle, deduces a guiding instruction for net collision recovery of the unmanned aerial vehicle based on a Lyapunov stability principle, and realizes high-precision net collision recovery through flight control.

Description

Technical Field

[0001] This invention relates to the field of aircraft flight control technology, and in particular to a guidance and control method for the recovery of a shipborne fixed-wing unmanned aerial vehicle after it crashes into a net. Background Technology

[0002] With the rapid development of drone technology, the application of shipborne drones is becoming increasingly widespread. However, the safe and accurate recovery of drones, especially in harsh maritime environments, has become one of the challenges restricting their widespread application. Existing recovery technologies, such as GPS navigation and radar guidance, are often plagued by problems such as signal blockage and insufficient positioning accuracy. The guidance and control methods used are often affected by factors such as starting position and bearing, requiring trajectory generation and smoothing, resulting in complex guidance and control logic. Summary of the Invention

[0003] This invention provides a guidance and control method for recovering a shipborne fixed-wing UAV that has collided with a net. Based on visual positioning information, a tracking guidance method is used to design the guidance and control of the UAV, so as to achieve high-precision and safe recovery of the fixed-wing UAV from net collision in a shipborne environment.

[0004] This invention provides a guidance and control method for recovering a shipborne fixed-wing unmanned aerial vehicle (UAV) that has collided with a recovery net. The recovery net is installed on the ship and moves synchronously with the ship's navigation. The method includes the following steps:

[0005] Step 1: Obtain the line-of-sight information of the shipborne UAV relative to the recovery net based on the image of the recovery net taken by the shipborne UAV, and obtain the flight information of the shipborne UAV and the navigation information of the ship.

[0006] Step 2: Establish a mathematical model of the line-of-sight state quantities of the UAV's net-collision and recovery motion using line-of-sight information, flight information, and navigation information;

[0007] Step 3: Based on the expression for the elevation angle of the line of sight in the mathematical model of the line of sight state, construct the Lyapunov function, and solve for the longitudinal pitch rate guidance command of the shipborne UAV according to the Lyapunov stability requirements.

[0008] Step 4: Based on the expression of the line of sight azimuth angle in the mathematical model of the line of sight state, construct the Lyapunov function, and solve the lateral roll angle guidance command of the shipborne UAV according to the Lyapunov stability requirements;

[0009] Step 5: Based on the line-of-sight distance expression in the mathematical model of the line-of-sight state quantity, construct the Lyapunov function, and solve for the shipborne UAV speed control command according to the Lyapunov stability requirements;

[0010] Step 6: Design the flight control law for the shipborne UAV, construct the control surface, and realize the tracking of guidance and control commands.

[0011] Optionally, in one embodiment of the present invention, in step 1, obtaining the line-of-sight information of the shipborne UAV relative to the recovery net based on the image of the recovery net captured by the shipborne UAV includes: the elevation angle λ of the line-of-sight of the shipborne UAV relative to the center of the recovery net. lon And line of sight azimuth λ lat And the line-of-sight distance ρ between the shipborne UAV and the recovery net;

[0012] The flight information of the shipborne UAV includes the pitch angle θ and the heading angle ψ of the shipborne UAV. A track tilt angle γ and current flight speed V A ;

[0013] Ship navigation information includes: ship's speed V S With heading angle ψ S .

[0014] Optionally, in one embodiment of the present invention, step 2 includes:

[0015] Rate of change of line-of-sight distance ρ in inertial coordinate system The ship's velocity vector V S With the velocity vector V of the shipborne UAV A The difference is:

[0016]

[0017] In the inertial coordinate system, the velocity vector V of the shipborne UAV A With the ship's velocity vector V S The three-axis component expressions are:

[0018]

[0019] Where γ is the trajectory inclination angle of the shipborne UAV, and ψ A ψ is the heading angle of the shipborne UAV. S Let be the ship's heading angle; the rate of change of the line-of-sight distance ρ in the line-of-sight coordinate system is expressed as:

[0020]

[0021] in, R y R z The transformation matrices from the inertial coordinate system to the line-of-sight coordinate system are defined as follows:

[0022]

[0023] Where θ is the pitch angle of the shipborne UAV, and λ lon λ is the elevation angle of the shipborne UAV relative to the center of the recovery net. lat Let the azimuth angle of the shipborne UAV relative to the center of the recovery net be the line of sight. The above formula can be expanded to:

[0024]

[0025] The rate of change of the line-of-sight vector in the line-of-sight coordinate system is expressed as follows:

[0026]

[0027] Obtain the rate of change of line of sight distance Rate of change of line of sight azimuth and the rate of change of the elevation angle of the line of sight The expression:

[0028]

[0029]

[0030] Optionally, in one embodiment of the present invention, step 3 includes:

[0031] Constructing the Lyapunov function for the elevation angle of the line of sight:

[0032]

[0033] According to the Lyapunov stability requirement, let its derivative... The received guidance command for the shipborne UAV's pitch rate is:

[0034]

[0035] Wherein, the longitudinal control gain coefficient K lon >0.

[0036] Optionally, in one embodiment of the present invention, step 4 includes:

[0037] Constructing the Lyapunov function for the line-of-sight azimuth:

[0038]

[0039] According to the Lyapunov stability requirement, let its derivative... The yaw rate guidance command received from the shipborne UAV is:

[0040]

[0041] Among them, the lateral control gain coefficient K is selected. lat >0;

[0042] When the shipborne UAV makes a coordinated turn in the lateral passage:

[0043]

[0044] Where g is the acceleration due to gravity, and φ is the roll angle of the shipborne UAV;

[0045] The lateral roll angle guidance command for shipborne UAVs is as follows:

[0046]

[0047] Optionally, in one embodiment of the present invention, step 5 includes:

[0048] Constructing the Lyapunov function for line-of-sight distance:

[0049]

[0050] According to the Lyapunov stability requirement, let its derivative be... The speed control command received from the shipborne UAV is:

[0051]

[0052] Among them, V C V is the set speed at which the drone crashes into the net. C >0.

[0053] Optionally, in one embodiment of the present invention, step 6 includes:

[0054] Design a flight control law for the shipborne UAV, which tracks the longitudinal pitch rate guidance command, the lateral roll rate guidance command, and the speed control command of the shipborne UAV respectively.

[0055] The longitudinal elevator control law for shipborne UAVs is as follows:

[0056]

[0057] Where, δ e The deflection of the elevator of the shipborne UAV. For the elevator control gain coefficient of shipborne UAVs, For the pitch rate of the shipborne UAV, For shipborne UAVs, pitch rate guidance commands are provided.

[0058] The lateral aileron control law for shipborne UAVs is:

[0059]

[0060] Where, δa K represents the deflection of the aileron rudder of a shipborne UAV. φ K φ φ is the aileron control gain coefficient for shipborne UAVs. c This is a lateral roll angle guidance command for shipborne unmanned aerial vehicles. For the roll rate of the shipborne UAV;

[0061] The throttle control law for shipborne UAVs is:

[0062]

[0063] Where, δ T For the throttle opening of the shipborne drone, K V K VI δ is the gain coefficient for throttle control of shipborne UAVs. T0 As the reference throttle opening, For shipborne unmanned aerial vehicles (UAVs) speed control commands;

[0064] The control law for the rudder of a shipborne UAV is:

[0065] δ r =K r r+K β β

[0066] Where, δ r Let β be the rudder deflection of the carrier-based UAV, r be the yaw rate of the carrier-based UAV's airframe, β be the sideslip angle of the carrier-based UAV, and K be the rudder deflection of the carrier-based UAV's airframe. r K β This is the gain coefficient for the rudder control of a shipborne UAV.

[0067] The guidance and control method for recovering a shipborne fixed-wing UAV that crashes into a recovery net, as described in this invention, delves into the field of aircraft flight control technology. It ensures the safety and efficiency of the UAV recovery process through a highly intelligent approach. This invention utilizes real-time line-of-sight information, such as the relative position, speed, and attitude between the UAV and the recovery net, to design a sophisticated guidance and control algorithm. Through this algorithm, the UAV can autonomously adjust its flight trajectory in complex maritime environments, accurately track and lock onto the recovery net target, achieving autonomous net-crashing recovery without human intervention.

[0068] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0069] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0070] Figure 1A flowchart illustrating a guidance and control method for recovering a shipborne fixed-wing unmanned aerial vehicle (UAV) from a net collision, according to an embodiment of the present invention;

[0071] Figure 2 This is a schematic diagram of the longitudinal motion relationship of the shipborne UAV during net collision and recovery in an embodiment of the present invention;

[0072] Figure 3 This is a schematic diagram illustrating the lateral motion relationship of a shipborne UAV during net collision and recovery in an embodiment of the present invention.

[0073] Figure 4 This is a structural diagram of the shipborne UAV collision net recovery guidance and control system in an embodiment of the present invention. Detailed Implementation

[0074] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0075] Figure 1 This is a flowchart illustrating a guidance and control method for recovering a shipborne fixed-wing unmanned aerial vehicle (UAV) from a net collision, according to an embodiment of the present invention.

[0076] like Figure 1 As shown, the guidance and control method for the recovery of a shipborne fixed-wing UAV from a net collision includes the following steps:

[0077] Step 1: Obtain the line-of-sight information of the shipborne UAV relative to the recovery net based on the images of the recovery net taken by the shipborne UAV, and obtain the flight information of the shipborne UAV and the navigation information of the ship.

[0078] In an embodiment of the invention, a recovery net is mounted on a ship and moves synchronously with the ship's navigation. The recovery net is equipped with easily trackable optical markers. A shipborne unmanned aerial vehicle (UAV) is located at the stern of the ship and is equipped with a high-resolution camera whose lens is pointed directly forward of the UAV's fuselage axis.

[0079] As the shipborne drone enters the recovery phase, it captures images of the recovery net using its onboard camera. After image processing, the elevation angle λ of the shipborne drone's line of sight relative to the center of the recovery net is obtained. lon And line of sight azimuth λ lat And the line-of-sight distance ρ between the shipborne drone and the recovery net.

[0080] The shipborne flight attitude and status parameters of the UAV are acquired in real time through a sensor system, including the pitch angle θ and heading angle ψ of the shipborne UAV. A track tilt angle γ and current flight speed V ASimultaneously, the shipborne sensor system acquires the ship's speed V. S With heading angle ψ S .

[0081] Step 2: Build a mathematical model of the line-of-sight state quantities of the UAV's net-collision and recovery motion using line-of-sight information, flight information, and navigation information.

[0082] This invention, based on the relationship between the rate of change of the line-of-sight distance vector and the velocity vectors of the UAV and the recovery net, derives and establishes a mathematical model of the line-of-sight state quantities that meets the requirements for net-collision recovery. Step 2 includes:

[0083] Rate of change of line-of-sight distance ρ in inertial coordinate system The ship's velocity vector V S With the velocity vector V of the shipborne UAV A The difference is:

[0084]

[0085] In the inertial coordinate system, the velocity vector V of the shipborne UAV A With the ship's velocity vector V S The three-axis component expressions are:

[0086]

[0087] Where γ is the trajectory inclination angle of the shipborne UAV, and ψ A ψ is the heading angle of the shipborne UAV. S Let be the ship's heading angle; the rate of change of the line-of-sight distance ρ in the line-of-sight coordinate system is expressed as:

[0088]

[0089] in, R y R z The transformation matrices from the inertial coordinate system to the line-of-sight coordinate system are defined as follows:

[0090]

[0091] Where θ is the pitch angle of the shipborne UAV, and λ lon λ is the elevation angle of the shipborne UAV relative to the center of the recovery net. lat The azimuth angle of the shipborne UAV relative to the center of the recovery net is given. Since the camera is mounted on the shipborne UAV, its coordinate system is consistent with the body coordinate system, so the camera's attitude angle is consistent with the UAV's attitude angle.

[0092] Further development From the expression, we can obtain its three-axis components as follows:

[0093]

[0094] Depend on Figure 2 , Figure 3 The diagram shown illustrates the longitudinal and lateral motion relationships during the drone's net-collision recovery. The rate of change of the line-of-sight vector is represented by the three-axis components in the line-of-sight coordinate system as follows:

[0095]

[0096] In summary, the rate of change of line-of-sight distance can be obtained. Rate of change of line of sight azimuth and the rate of change of the elevation angle of the line of sight The expression:

[0097]

[0098] Step 3: Based on the expression for the elevation angle of the line of sight in the mathematical model of the line of sight state, construct the Lyapunov function, and solve for the longitudinal pitch rate guidance command of the shipborne UAV according to the Lyapunov stability requirements.

[0099] In an embodiment of the present invention, step 3 includes:

[0100] Constructing the Lyapunov function for the elevation angle of the line of sight:

[0101]

[0102] According to the Lyapunov stability requirement, when W1 > 0, if its derivative... The system asymptotically stabilizes with zero tracking error. During the drone's collision with the net and subsequent recovery, the longitudinal line-of-sight elevation angle approaches zero, indicating that the drone is aligned with the recovery net in the longitudinal channel. Taking the derivative of W1, we obtain:

[0103]

[0104] Let its derivative The received guidance command for the shipborne UAV's pitch rate is:

[0105]

[0106] Wherein, the longitudinal control gain coefficient K lon >0.

[0107] To avoid a situation where the line-of-sight distance ρ gradually decreases as the drone approaches the recovery net, resulting in a large pitch rate command, K is set to be set when ρ < 0.2 meters. lon Take 0.01.

[0108] Step 4: Based on the expression of the line of sight azimuth angle in the mathematical model of line of sight state, construct the Lyapunov function, and solve for the lateral roll angle guidance command of the shipborne UAV according to the Lyapunov stability requirements.

[0109] In an embodiment of the present invention, step 4 includes:

[0110] Constructing the Lyapunov function for the line-of-sight azimuth:

[0111]

[0112] According to the Lyapunov stability requirement, when W2 > 0, if its derivative... The system asymptotically stabilizes with zero tracking error. This means that during retrieval, the lateral line-of-sight azimuth angle approaches zero, indicating that the UAV is aligned with the retrieval net in the lateral channel. Differentiating W², we get:

[0113]

[0114] Setting its derivative W2 < 0, the yaw rate guidance command for the shipborne UAV is obtained as follows:

[0115]

[0116] Among them, the lateral control gain coefficient K is selected. lat >0;

[0117] During flight, the lateral passage of the UAV should meet the requirements for coordinated turning. When the lateral passage of the shipborne UAV is used for coordinated turning:

[0118]

[0119] Where g is the acceleration due to gravity, and φ is the roll angle of the shipborne UAV;

[0120] Therefore, the lateral roll angle guidance command for shipborne UAVs is:

[0121]

[0122] To avoid a situation where the roll angle command becomes too large as the drone approaches the recovery net and the line-of-sight distance ρ gradually decreases, K is set to be greater when ρ < 0.2m. lat Take 0.01.

[0123] Step 5: Based on the line-of-sight distance expression in the mathematical model of line-of-sight state quantities, construct the Lyapunov function, and solve for the shipborne UAV speed control command according to the Lyapunov stability requirements.

[0124] In an embodiment of the present invention, step 5 includes:

[0125] Constructing the Lyapunov function for line-of-sight distance:

[0126]

[0127] According to the Lyapunov stability requirement, when W3 > 0, its derivative... The system gradually stabilizes, and the tracking error approaches zero. During the net collision and retrieval process, the distance between the drone and the retrieval net gradually decreases, eventually colliding with the net at a certain speed. Taking the derivative of W3, we get:

[0128]

[0129] Let its derivative The speed control command received from the shipborne UAV is:

[0130]

[0131] Among them, V C V is the set speed at which the drone crashes into the net. C >0.

[0132] Step 6: Design the flight control law for the shipborne UAV, construct the control surface, and realize the tracking of guidance and control commands.

[0133] according to Figure 4 The diagram illustrates the structure of the shipborne UAV recovery guidance and control system. The guidance commands obtained in steps 2, 3, and 4 are input into the UAV flight control system. A flight control law is designed to track the shipborne UAV's longitudinal pitch rate guidance command, lateral roll rate guidance command, and speed control command, respectively.

[0134] In an embodiment of the present invention, step 6 includes:

[0135] The longitudinal elevator control law for shipborne UAVs is as follows:

[0136]

[0137] Where, δ e The deflection of the elevator of the shipborne UAV. For the elevator control gain coefficient of shipborne UAVs, For the pitch rate of the shipborne UAV, For shipborne UAVs, pitch rate guidance commands are provided.

[0138] The lateral aileron control law for shipborne UAVs is:

[0139]

[0140] Where, δ a K represents the deflection of the aileron rudder of a shipborne UAV.φ K φ φ is the aileron control gain coefficient for shipborne UAVs. c This is a lateral roll angle guidance command for shipborne unmanned aerial vehicles. For the roll rate of the shipborne unmanned aerial vehicle;

[0141] The throttle control law for shipborne UAVs is:

[0142]

[0143] Where, δ T For the throttle opening of the shipborne drone, K V K VI δ is the gain coefficient for throttle control of shipborne UAVs. T0 As the reference throttle opening, For shipborne unmanned aerial vehicles (UAVs) speed control commands;

[0144] The control law for the rudder of a shipborne UAV is:

[0145] δ r =K r r+K β β

[0146] Where, δ r Let β be the rudder deflection of the carrier-based UAV, r be the yaw rate of the carrier-based UAV's airframe, β be the sideslip angle of the carrier-based UAV, and K be the rudder deflection of the carrier-based UAV's airframe. r K β This is the gain coefficient for the rudder control of a shipborne UAV.

[0147] The guidance and control method for recovering a shipborne fixed-wing UAV from a net, proposed in this embodiment of the invention, utilizes images of the recovery net captured by the shipborne UAV's camera to calculate relevant variables and establish a mathematical model of relative motion under line-of-sight coordinates. Based on the Lyapunov stability principle, guidance commands for UAV net recovery are derived, and high-precision net recovery is achieved through flight control.

[0148] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0149] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0150] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or N executable instructions for implementing custom logic functions or processes, and the scope of preferred embodiments of the invention includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as will be understood by those skilled in the art to which embodiments of the invention pertain.

Claims

1. A method for guiding and controlling the crash net recovery of a carrier-based fixed-wing drone, the recovery net being installed on a ship and moving in synchronization with the ship's navigation, characterized in that, The method comprises the following steps: Step 1: obtaining line-of-sight information of the ship-borne unmanned aerial vehicle (UAV) relative to the net according to a net image taken by the ship-borne UAV, acquiring flight information of the ship-borne UAV and navigation information of the ship; Step 2: establishing a line-of-sight state variable mathematical model of the net-recovery motion of the UAV by using the line-of-sight information, the flight information and the navigation information; Step 3: constructing a Lyapunov function based on an expression of a line-of-sight elevation angle in the line-of-sight state variable mathematical model, and solving a longitudinal pitch rate guidance command of the ship-borne UAV according to a Lyapunov stability requirement; Step 3 comprises: constructing a Lyapunov function of the line-of-sight elevation angle: where λ lon is the line-of-sight elevation angle of the carrier-based UAV relative to the center of the recovery net; According to Lyapunov stability requirements, let its derivative The pitch rate guidance command of the carrier-based UAV is wherein p is the line-of-sight distance between the shipboard UAV and the net, V S is the speed of the ship, ψ A is the heading angle of the shipboard UAV, ψ S is the heading angle of the ship, λ lat is the line-of-sight azimuth angle of the shipboard UAV relative to the center of the net, V A is the current flight speed of the shipboard UAV, γ is the flight path inclination angle of the shipboard UAV, θ is the pitch angle of the shipboard UAV, and K lon > 0. Step 4: constructing a Lyapunov function based on an expression of a line-of-sight azimuth angle in the line-of-sight state variable mathematical model, and solving a lateral roll angle guidance command of the ship-borne UAV according to a Lyapunov stability requirement; Step 4 comprises: constructing a Lyapunov function of the line-of-sight azimuth angle: According to Lyapunov stability requirements, let its derivative The yaw angle rate guidance command of the carrier-based UAV is obtained as wherein the lateral control gain coefficient K lat > 0; When the ship-borne UAV makes a coordinated turn in the lateral direction: wherein g is a gravity acceleration, and φ is a roll angle of the ship-borne UAV; the lateral roll angle guidance command of the ship-borne UAV is: Step 5: constructing a Lyapunov function based on an expression of a line-of-sight distance in the line-of-sight state variable mathematical model, and solving a speed control command of the ship-borne UAV according to a Lyapunov stability requirement; Step 5 comprises: constructing a Lyapunov function of the line-of-sight distance: According to the requirement of Lyapunov stability, let its derivative The speed control instruction of the shipborne UAV is obtained as V C is a set unmanned aerial vehicle net collision speed, V C > 0; Step 6: designing a flight control law of the ship-borne UAV, and constructing a control of a rudder surface to realize tracking of the guidance and control commands.

2. The method of claim 1, wherein, In step 1, obtaining the line-of-sight information of the shipboard UAV relative to the recovery net according to the recovery net image taken by the shipboard UAV includes: a line-of-sight elevation angle λ of the shipboard UAV relative to the center of the recovery net lon and a line-of-sight azimuth angle λ lat , and a line-of-sight distance ρ between the shipboard UAV and the recovery net; The flight information of the shipboard UAV includes a pitch angle θ, a heading angle ψ, a track inclination angle γ and a current flight speed V of the shipboard UAV A A ​​ The sailing information of the ship includes: sailing speed V of the ship S The sailing information of the ship includes: sailing speed V of the ship S .

3. The method of claim 1, wherein, Step 2 comprises: Rate of change of line of sight range p in inertial frame is the difference between the ship velocity vector V S and the UAV velocity vector V A is the difference between the ship velocity vector V In the inertial coordinate system, the velocity vector V of the shipborne UAV A With the ship's velocity vector V S The three-axis component expressions are: wherein γ is the flight path inclination angle of the shipboard UAV, ψ A is the heading angle of the shipboard UAV, ψ S is the heading angle of the ship. a rate of change of the line-of-sight distance ρ in a line-of-sight coordinate system is expressed as: wherein R y , R z are the transformation matrices from the inertial coordinate system to the line-of-sight coordinate system, defined as: where θ is the pitch angle of the UAV, λ lon is the line-of-sight elevation angle of the UAV relative to the center of the net, λ lat is the line-of-sight azimuth angle of the UAV relative to the center of the net, and the above equation expands to: three-axis components of a line-of-sight vector rate of change in the line-of-sight coordinate system are expressed as: obtain an expression for the rate of change of line-of-sight distance obtain an expression for the rate of change of line-of-sight azimuth angle obtain an expression for the rate of change of line-of-sight elevation angle obtain an expression for the rate of change of line-of-sight elevation angle 4. The method of claim 3, wherein, Step 6 comprises: designing a flight control law of the ship-borne UAV to respectively track the longitudinal pitch rate guidance command of the ship-borne UAV, the lateral roll angle guidance command of the ship-borne UAV and the speed control command of the ship-borne UAV; a longitudinal elevator control law of the ship-borne UAV is: wherein, δ e is the deflection of the elevators of the shipboard unmanned aerial vehicle, is the control gain coefficient of the elevators of the shipboard unmanned aerial vehicle, is the pitch angle rate of the shipboard unmanned aerial vehicle, is the pitch angle rate guide command of the shipboard unmanned aerial vehicle; a lateral aileron control law of the ship-borne UAV is: wherein δ a is the deflection of the aileron rudder of the shipboard UAV, K φ , is the aileron control gain coefficient of the shipboard UAV, φ c is the lateral roll angle guidance command of the shipboard UAV, is the roll angle rate of the shipboard UAV; a throttle control law of the ship-borne UAV is: wherein δ T is the throttle opening of the shipboard UAV, K V , K VI is the throttle control gain coefficient of the shipboard UAV, δ T0 is the reference throttle opening, is the speed control command of the shipboard UAV; a rudder control law of the ship-borne UAV is: δ r = K r r + K β β wherein δ r is the rudder deflection of the carrier-based UAV, r is the body axis yaw rate of the carrier-based UAV, β is the sideslip angle of the carrier-based UAV, K r , K β is the rudder control gain coefficient of the carrier-based UAV.

Images