Precision landing method, system, equipment and storage medium for vehicle-mounted tethered drone

Abstract

The present application provides a method, system, device and storage medium for precise landing of a vehicle-mounted tethered drone, which relates to the field of drone technology. The method includes: obtaining the relative position of the target vehicle and the tethered drone, the reserved time for the tethered drone to park at the target vehicle, and the motion trajectory of the target vehicle within the reserved time; combining the relative position and the motion trajectory, generating an initial landing plan for the tethered drone within the reserved time; obtaining the tension information and environmental wind speed information of the tethered rope connecting the tethered drone; calculating the attitude deviation value of the tethered drone based on the tension information and the environmental wind speed information, adjusting the initial landing plan based on the attitude deviation value, and generating a target landing plan; controlling the tethered drone to land on the target vehicle according to the target landing plan within the reserved time. The technical effect of the present application is: in the actual landing process, reducing the attitude deviation generated by the drone and improving the landing accuracy.

Description

Technical Field

[0001] The present application relates to the field of UAV technology, and in particular to a method, system, device and storage medium for precise landing of a vehicle-mounted tethered UAV. Background Art

[0002] With the rapid development of drone technology, vehicle-mounted tethered drones have been widely used in military reconnaissance, emergency rescue, communication relay, etc. In actual application scenarios, tethered drones often need to achieve precise landing while the target vehicle is moving, but because the vehicle is in motion and there is complex external environment interference, it is difficult for tethered drones to achieve precise landing.

[0003] The existing technology usually uses visual navigation or GPS positioning to achieve precise landing of drones. Specifically, by setting specific visual signs on the target vehicle, or using GPS signals to obtain the relative position relationship between the drone and the target vehicle, the drone is controlled to land according to a preset trajectory. However, the above scheme does not consider the influence of the tether tension and the ambient wind speed on the drone's attitude, resulting in the drone's attitude deviation easily during the actual landing process, affecting the landing accuracy. Summary of the invention

[0004] The present application provides a method, system, device and storage medium for precise landing of a vehicle-mounted tethered UAV, which are used to reduce the attitude deviation of the UAV and improve the landing accuracy during the actual landing process.

[0005] In a first aspect, the present application provides a method for precise landing of a vehicle-mounted tethered drone, the method comprising: obtaining the relative position of a target vehicle and a tethered drone, obtaining a reserved time for the tethered drone to be parked at the target vehicle, and a motion trajectory of the target vehicle within the reserved time; generating an initial landing plan for the tethered drone within the reserved time by combining the relative position and the motion trajectory; obtaining tension information and ambient wind speed information of a tethering rope connecting the tethered drone; calculating an attitude deviation value of the tethered drone based on the tension information and the ambient wind speed information, and adjusting the initial landing plan based on the attitude deviation value to generate a target landing plan for the tethered drone within the reserved time; and controlling the tethered drone to land at the target vehicle according to the target landing plan within the reserved time.

[0006] By adopting the above technical solution, the initial landing plan is formulated by obtaining the relative position information of the target vehicle and the tethered UAV and the vehicle's motion trajectory within the reserved time, and the attitude deviation value is calculated by combining the tethered rope tension information and the ambient wind speed information, and the initial plan is optimized and adjusted to finally generate the target landing plan. This method not only takes into account the spatial relationship and time constraints between the tethered UAV and the target vehicle, but also includes external factors such as tethered rope tension and ambient wind speed into the calculation range, and improves the landing accuracy by calculating and compensating the attitude deviation value. Since the motion trajectory of the target vehicle is continuously tracked within the reserved time and the landing strategy is adjusted in real time, the attitude deviation generated by the UAV is reduced during the actual landing process, and the landing accuracy is improved.

[0007] Optionally, the combining of the relative position and the motion trajectory to generate an initial landing plan for the tethered UAV within the reserved time period includes: determining the distance and height difference between the tethered UAV and the target vehicle based on the relative position; calculating an initial descent speed of the tethered UAV based on the reserved time period and combining the distance and the height difference; determining a horizontal moving path of the tethered UAV based on the motion trajectory; and generating an initial landing plan for the tethered UAV within the reserved time period by combining the initial descent speed and the horizontal moving path.

[0008] By adopting the above technical solution, the initial descent speed is calculated according to the distance and height difference between the tethered UAV and the target vehicle combined with the reserved time, and the horizontal movement path is determined according to the motion trajectory of the target vehicle. The generated initial landing plan can reasonably plan the motion parameters of the tethered UAV, ensure that the tethered UAV can complete the landing process within the reserved time, and improve the controllability of the landing plan.

[0009] Optionally, based on the reserved time, combined with the distance and the altitude difference, the initial descent speed of the tethered UAV is calculated, including: taking the reserved time as the total flight time of the tethered UAV; taking the ratio of the altitude difference to the total flight time as the vertical component speed of the tethered UAV; taking the ratio of the distance to the total flight time as the horizontal component speed of the tethered UAV; performing vector synthesis operation on the vertical component speed and the horizontal component speed to obtain the initial descent speed of the tethered UAV.

[0010] By adopting the above technical solution, the reserved time is taken as the total flight time, the vertical component velocity and the horizontal component velocity of the tethered UAV are calculated respectively, and vector synthesis is performed to obtain the initial descent speed. This method can make the tethered UAV move evenly in the horizontal and vertical directions, achieve a smooth landing, and avoid the occurrence of posture instability caused by sudden changes in speed.

[0011] Optionally, calculating the attitude deviation value of the tethered drone based on the tension information and the ambient wind speed information includes: obtaining the tension vector of the tethering rope in the tension information and the wind vector in the ambient wind speed information; obtaining the mass of the tethered drone, and calculating the actual flight attitude angle of the tethered drone in combination with the tension vector, the wind vector and the mass; and performing a difference operation between the actual flight attitude angle and a preset ideal landing attitude angle to obtain the attitude deviation value of the tethered drone.

[0012] By adopting the above technical solution, by obtaining the tension vector of the tethering rope and the environmental wind vector, the actual flight attitude angle is calculated in combination with the mass of the tethered UAV, and the attitude deviation value is obtained by performing a difference operation with the preset ideal landing attitude angle. This method can accurately obtain the degree of influence of external environmental factors on the attitude of the tethered UAV, and provide a reliable basis for the adjustment of subsequent landing plans.

[0013] Optionally, the actual flight attitude angle includes a pitch angle and a yaw angle, and the combining the pulling force vector, the wind force vector and the mass to calculate the actual flight attitude angle of the tethered drone includes: substituting the pulling force vector, the wind force vector and the mass into a preset formula to calculate the pitch angle and the yaw angle of the tethered drone;

[0014] The preset formula is: ; Wherein, θ is the pitch angle, ψ is the yaw angle, T is the pull vector, FW is the wind vector, α is the angle between the pull vector and the horizontal plane, β is the angle between the wind vector and the horizontal plane, m is the mass, and g is the acceleration of gravity.

[0015] By adopting the above technical solution, by substituting the tension vector of the tethering rope, the environmental wind vector and the mass of the tethered UAV into the preset mechanical equilibrium equation, the pitch angle and yaw angle of the tethered UAV can be calculated respectively. This method establishes the mathematical relationship between the posture of the tethered UAV and the external force based on force analysis, and can accurately quantify the impact of external environmental factors on the posture of the tethered UAV.

[0016] Optionally, adjusting the initial landing plan according to the attitude deviation value to generate a target landing plan for the tethered UAV within the reserved duration includes: obtaining a pitch angle deviation value and a yaw angle deviation value in the attitude deviation value; adjusting the descent speed in the initial landing plan according to the pitch angle deviation value to obtain a target descent speed; adjusting the horizontal moving path in the initial landing plan according to the yaw angle deviation value to obtain a target horizontal moving path; obtaining a target landing trajectory by combining the target descent speed and the target horizontal moving path; and generating a target landing plan for the tethered UAV within the reserved duration according to the target landing trajectory.

[0017] By adopting the above technical solution, by obtaining the pitch angle deviation value and the yaw angle deviation value, the descent speed and the horizontal movement path in the initial landing plan are adjusted respectively, and the target landing trajectory is generated, thereby obtaining the target landing plan of the tethered UAV. This method can adjust the landing parameters in time according to the influence of actual environmental factors on the posture of the tethered UAV, so that the tethered UAV maintains a stable posture during the landing process, thereby improving the safety and reliability of the landing process.

[0018] Optionally, the method also includes: obtaining real-time flight status information of the tethered UAV; when the real-time flight status information indicates that the tethered UAV deviates from the target landing plan, calculating the deviation between the real-time position of the tethered UAV and the target landing plan; when the deviation is greater than a preset threshold, adjusting the target landing plan to generate a revised landing plan; when the deviation is not greater than the preset threshold, controlling the tethered UAV to land to the target vehicle according to the target landing plan.

[0019] By adopting the above technical solution, the flight status information of the tethered UAV is monitored in real time, the deviation from the target landing plan is calculated, and whether the landing plan needs to be corrected is determined based on whether the deviation exceeds a preset threshold. This method realizes real-time monitoring and dynamic adjustment of the landing process of the tethered UAV, can correct flight deviations in a timely manner, ensure that the tethered UAV always remains on a safe landing trajectory, and further improves the controllability and accuracy of the landing process.

[0020] In a second aspect, the present application provides a vehicle-mounted tethered drone precision landing system, the system comprising: a first acquisition module, a combination module, a second acquisition module, an adjustment module and a control module; wherein,

[0021] The first acquisition module is used to acquire the relative position of the target vehicle and the tethered drone, the reserved time for the tethered drone to park at the target vehicle, and the motion trajectory of the target vehicle within the reserved time; the combination module is used to combine the relative position and the motion trajectory to generate an initial landing plan for the tethered drone within the reserved time; the second acquisition module is used to acquire the tension information and environmental wind speed information of the tethered rope connecting the tethered drone; the adjustment module is used to calculate the attitude deviation value of the tethered drone according to the tension information and the environmental wind speed information, and adjust the initial landing plan according to the attitude deviation value to generate a target landing plan for the tethered drone within the reserved time; the control module is used to control the tethered drone to land at the target vehicle according to the target landing plan within the reserved time.

[0022] In a third aspect, the present application provides an electronic device, which adopts the following technical solution: it includes a processor, a memory, a user interface and a network interface, the memory is used to store instructions, the user interface and the network interface are used to communicate with other devices, and the processor is used to execute the instructions stored in the memory so that the electronic device executes a computer program such as any of the above-mentioned methods for precise landing of a vehicle-mounted tethered drone.

[0023] In a fourth aspect, the present application provides a computer-readable storage medium, which adopts the following technical solution: a computer program that can be loaded by a processor and execute any of the above-mentioned methods for precise landing of a tethered vehicle-mounted drone is stored.

[0024] In summary, the present application includes at least one of the following beneficial technical effects:

[0025] By obtaining the relative position information between the target vehicle and the tethered UAV and the vehicle's motion trajectory within the reserved time, an initial landing plan is formulated, and the attitude deviation value is calculated by combining the tethered rope tension information and the ambient wind speed information. The initial plan is optimized and adjusted to finally generate the target landing plan. This method not only considers the spatial relationship and time constraints between the tethered UAV and the target vehicle, but also includes external factors such as tethered rope tension and ambient wind speed in the calculation range, and improves the landing accuracy by calculating and compensating the attitude deviation value. Since the motion trajectory of the target vehicle is continuously tracked within the reserved time and the landing strategy is adjusted in real time, the attitude deviation generated by the UAV is reduced during the actual landing process, and the landing accuracy is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a flow chart of a method for precise landing of a vehicle-mounted tethered drone provided in an embodiment of the present application;

[0027] Figure 2 It is a structural schematic diagram of a vehicle-mounted tethered drone precision landing system provided in an embodiment of the present application;

[0028] Figure 3 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application.

[0029] Description of reference numerals: 1000, electronic device; 1001, processor; 1002, communication bus; 1003, user interface; 1004, network interface; 1005, memory. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below in conjunction with the drawings in the embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this application, not all of the embodiments.

[0031] In the description of the embodiments of the present application, words such as "illustrative", "for example" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "illustrative", "for example" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "illustrative", "for example" or "for example" is intended to present related concepts in a concrete way.

[0032] Figure 1 1 is a flow chart of a method for accurately landing a vehicle-mounted tethered drone provided in an embodiment of the present application. Figure 1 As shown, the method includes S101-S105:

[0033] S101, obtaining the relative position of the target vehicle and the tethered drone, obtaining the reserved time for the tethered drone to park at the target vehicle, and the movement trajectory of the target vehicle within the reserved time.

[0034] In this embodiment, it is first necessary to obtain the relative position of the target vehicle and the tethered drone. The target vehicle here can be any vehicle used to carry a tethered drone, such as a transport vehicle, an inspection vehicle, etc.; a tethered drone refers to an unmanned aerial vehicle that is physically connected to the target vehicle through a tethering rope. The relative position can be obtained by setting a positioning device (such as a GPS positioning module) on the target vehicle and a position sensor (such as an inertial measurement unit IMU) on the tethered drone. The positioning device and the position sensor respectively collect the spatial coordinate information of the target vehicle and the tethered drone, and obtain the relative position information through coordinate difference calculation. The purpose of obtaining the relative position is to provide basic data support for the subsequent formulation of a landing plan.

[0035] Next, the reserved time for the tethered drone to park on the target vehicle is obtained. The reserved time refers to the time limit within which the tethered drone must complete the landing process and park on the target vehicle within this fixed time period. The reserved time can be set according to the actual application scenario requirements. For example, a shorter reserved time can be set in an emergency, and a relatively generous reserved time can be set in normal operation. The setting of the reserved time provides a time constraint for the subsequent planning of the landing trajectory.

[0036] At the same time, it is also necessary to obtain the target vehicle's motion trajectory within the reserved time. The target vehicle's motion trajectory can be obtained through the driving route information provided by the vehicle navigation system, including the vehicle's position, speed and other motion parameters within the reserved time. Since the tethered drone needs to complete the landing within the reserved time, it is particularly important to obtain the target vehicle's motion trajectory during this period. This trajectory information will be directly used to calculate the landing path of the tethered drone.

[0037] S102, combining the relative position and the motion trajectory, generating an initial landing plan for the tethered UAV within a reserved time.

[0038] After obtaining the relative position of the target vehicle and the tethered drone and the vehicle's motion trajectory, it is necessary to generate an initial landing plan for the tethered drone within the reserved time. The initial landing plan refers to the flight control plan that the tethered drone needs to execute to land from the current position to the target vehicle without considering the influence of external environmental factors.

[0039] First, based on the relative position information, the distance and height difference between the tethered drone and the target vehicle are determined by spatial coordinate calculation. The distance here refers to the projected distance between the tethered drone and the target vehicle on the horizontal plane, and the height difference refers to the difference in the vertical distance between the tethered drone and the target vehicle. These two parameters constitute the spatial displacement that needs to be overcome during the landing of the tethered drone.

[0040] Under the condition of known reserved time, combined with the calculated distance and height difference, the initial descent speed of the tethered drone can be calculated. The calculation of the initial descent speed includes two components: vertical component speed and horizontal component speed. The vertical component speed is obtained by dividing the height difference by the reserved time, which represents the movement speed of the tethered drone in the vertical direction; the horizontal component speed is obtained by dividing the distance by the reserved time, which represents the movement speed of the tethered drone in the horizontal direction. By vector synthesis of these two component speeds, the initial descent speed of the tethered drone is obtained.

[0041] Next, the horizontal movement path of the tethered drone needs to be determined based on the movement trajectory of the target vehicle. The horizontal movement path refers to the movement trajectory of the tethered drone on the horizontal plane. This path needs to match the movement trajectory of the target vehicle to ensure that the tethered drone can accurately track the moving target vehicle. Considering the position change of the vehicle within the reserved time, the planning of the horizontal movement path needs to achieve synchronization between the movement of the tethered drone and the vehicle.

[0042] Finally, the calculated initial descent speed is combined with the planned horizontal movement path to generate the initial landing plan of the tethered UAV within the reserved time. This plan contains the motion trajectory and speed information of the tethered UAV in space, providing a benchmark for subsequent plan adjustments when considering the influence of external environmental factors. Through this method of generating an initial landing plan based on time-space relationships, the basic requirement of the tethered UAV reaching the target position within the reserved time can be achieved, laying the foundation for subsequent refined adjustments.

[0043] Based on the above embodiment, as an optional implementation, in S102, combining the relative position and the motion trajectory to generate an initial landing plan for the tethered drone within the reserved time specifically includes S21-S24:

[0044] S21, determining the distance and height difference between the tethered UAV and the target vehicle based on the relative position.

[0045] First, it is necessary to determine the distance and height difference between the tethered drone and the target vehicle based on the relative position. The relative position here refers to the positional relationship between the tethered drone and the target vehicle in three-dimensional space. By obtaining the spatial coordinate information of both parties, the projection distance between the tethered drone and the target vehicle on the horizontal plane, the so-called distance, can be calculated; at the same time, the position difference between the two in the vertical direction, the so-called height difference, can be calculated. This distance calculation method based on spatial coordinates can accurately describe the spatial positional relationship between the tethered drone and the target vehicle.

[0046] S22, based on the reserved time, combined with the distance and height difference, calculate the initial descent speed of the tethered drone.

[0047] Under the condition of known reserved time, the initial descent speed of the tethered drone is calculated by combining the calculated distance and height difference. The initial descent speed is divided into two components: vertical speed and horizontal speed. The vertical speed is obtained by dividing the height difference by the reserved time, which indicates the vertical descent speed that the tethered drone needs to maintain; the horizontal speed is obtained by dividing the distance by the reserved time, which indicates the horizontal movement speed that the tethered drone needs to maintain. This speed calculation method based on the time-space relationship can ensure that the tethered drone completes the spatial displacement within the reserved time.

[0048] Based on the above embodiment, as an optional implementation, in S22, based on the reserved time, combined with the distance and the height difference, calculating the initial descent speed of the tethered drone specifically includes S221-S224:

[0049] S221, the reserved time is used as the total flight time of the tethered UAV.

[0050] S222, taking the ratio of the altitude difference to the total flight time as the vertical component velocity of the tethered UAV.

[0051] S223, taking the ratio of the distance to the total flight time as the horizontal component velocity of the tethered UAV.

[0052] S224, performing vector synthesis operation on the vertical component velocity and the horizontal component velocity to obtain the initial descent velocity of the tethered UAV.

[0053] The system preset reserved time is directly used as the total flight time of the tethered drone. The reason for this setting is that the reserved time represents the maximum time allowed for the entire landing process. Using it as the total flight time can ensure that the landing process is completed within the specified time.

[0054] The vertical velocity is obtained by dividing the height difference by the total flight time, which indicates the vertical descent rate that the tethered drone needs to maintain; the horizontal velocity is obtained by dividing the distance by the total flight time, which indicates the horizontal movement rate that the tethered drone needs to maintain. This speed calculation method based on uniform motion can enable the tethered drone to complete the displacement at a uniform speed within the specified time, avoiding the instability caused by sudden changes in speed.

[0055] Vector synthesis takes into account the directionality of velocity and synthesizes the two perpendicular velocities into a total velocity vector. The magnitude and direction of this velocity vector determine the actual motion state of the tethered drone. This method based on vector decomposition and synthesis can accurately describe the motion characteristics of the tethered drone in three-dimensional space.

[0056] S23, determining a horizontal moving path of the tethered UAV according to the movement trajectory.

[0057] According to the motion trajectory of the target vehicle, the horizontal movement path of the tethered drone is determined. The motion trajectory of the target vehicle records the movement of the vehicle on the horizontal plane based on time. The horizontal movement path of the tethered drone needs to match the motion trajectory of the vehicle. By predicting the position change of the vehicle within the reserved time, the corresponding horizontal motion trajectory of the tethered drone is planned. This time series-based path planning method can achieve synchronization between the tethered drone and the target vehicle.

[0058] S24, combining the initial descent speed and the horizontal movement path, generating an initial landing plan for the tethered UAV within the reserved time.

[0059] The combination process is mainly carried out around the time dimension, that is, at each time point within the reserved time, the spatial position and motion state of the tethered drone need to be clear. Specifically, at each time point, the spatial position of the tethered drone is determined by the plane coordinates determined by the horizontal movement path and the height value determined by the initial descent speed. At the same time, the motion state of the tethered drone at this time point is described by the position change rate on the horizontal movement path (i.e., horizontal speed) and the initial descent speed (i.e., vertical speed).

[0060] This combination actually constructs a four-dimensional motion description, that is, adding a time dimension to the three-dimensional space. For example, when the tethered drone is at a certain moment in the landing process, its specific position must not only meet the requirements of the horizontal movement path (ensuring that it maintains the correct relative position with the target vehicle), but also meet the height requirements set by the initial descent speed (ensuring that the height reduction is completed as planned). This combination ensures that the tethered drone can both follow the target vehicle and smoothly reduce its height.

[0061] S103, obtaining tension information of a tethered rope connected to the tethered drone and ambient wind speed information.

[0062] After generating the initial landing plan, in order to ensure that the tethered drone can land on the target vehicle more accurately, it is necessary to obtain the tension information of the tether rope and the environmental wind speed information. The tether rope here refers to the rope that physically connects the tethered drone to the target vehicle to ensure that the tethered drone will not completely escape the control range of the target vehicle.

[0063] The tension information of the tether rope can be obtained by installing a tension sensor at the connection between the tether rope and the tethered drone. The tension sensor can collect the magnitude and direction of the tension of the tether rope in space in real time and convert this data into tension vector information. The tension vector includes both the magnitude and direction of the tension, reflecting the degree of influence of the tether rope on the flight attitude of the tethered drone. The acquisition of tension information is of great significance for the subsequent calculation of the actual flight attitude of the tethered drone, because the tension of the tether rope will directly affect the balance state of the tethered drone.

[0064] Ambient wind speed information can be collected by installing a wind speed sensor on a tethered drone. The wind speed sensor can measure the speed and direction of air flow around the tethered drone and convert this data into wind vector information. The wind vector also includes the magnitude and direction of the wind force, reflecting the impact of the ambient wind field on the flight state of the tethered drone. The acquisition of wind speed information is crucial to assessing the degree of interference of the external environment on the landing process of the tethered drone, because the wind force can cause the tethered drone to produce unexpected deviations.

[0065] S104, calculating the attitude deviation value of the tethered UAV according to the tension information and the ambient wind speed information, and adjusting the initial landing plan according to the attitude deviation value to generate a target landing plan for the tethered UAV within the reserved time.

[0066] In order to ensure that the tethered drone can land accurately in a suitable posture, it is necessary to calculate the attitude deviation value of the tethered drone based on the acquired tethering rope tension information and ambient wind speed information, and adjust the initial landing plan accordingly. The attitude deviation value refers to the angle difference between the actual flight posture of the tethered drone and the ideal landing posture.

[0067] First, it is necessary to extract the tension vector of the tethered rope from the tension information and the wind vector from the ambient wind speed information. At the same time, the mass information of the tethered drone is obtained, and these parameters are substituted into the preset calculation formula to calculate the actual flight attitude angle of the tethered drone. The actual flight attitude angle includes two components: the pitch angle and the yaw angle. The pitch angle θ reflects the degree of inclination of the tethered drone in the vertical plane, and the yaw angle ψ reflects the deflection angle of the tethered drone in the horizontal plane.

[0068] The specific calculation formula is: ; where θ is the pitch angle, is the yaw angle, T is the pull vector, FW is the wind vector, α is the angle between the pull vector and the horizontal plane, β is the angle between the wind vector and the horizontal plane, m is the mass, and g is the acceleration of gravity.

[0069] The calculation formula of the pitch angle θ is: ; This formula is based on the principle of mechanical balance, the molecular part It represents the total force on the tethered drone in the vertical direction. The denominator is It represents the resultant force on the tethered drone in the horizontal direction.

[0070] T represents the tension of the tethered rope, which is directly measured by the tension sensor; α represents the angle between the tension direction of the tethered rope and the horizontal plane, reflecting the spatial inclination of the tethered rope; FW represents the environmental wind force, which is measured by the wind speed sensor; β represents the angle between the wind force direction and the horizontal plane, reflecting the direction of wind force; m represents the mass of the tethered drone, which is a known constant; g represents the acceleration of gravity, which is 9.8m / s².

[0071] The ratio of the vertical force to the horizontal force is converted into an angle through the arctan function to obtain the pitch angle θ of the tethered drone. This calculation method takes into account the three main forces of tethering rope tension, wind force and gravity, and can accurately reflect the actual tilt state of the tethered drone in the vertical plane.

[0072] Yaw angle The calculation formula is: ; This formula reflects the steering angle of the tethered drone in the horizontal plane, mainly considering the horizontal component of the tether rope tension. Where: Tsinα represents the component of the tether rope tension in the vertical direction; Tcosα represents the component of the tether rope tension in the horizontal direction.

[0073] The yaw angle of the tethered drone is obtained by calculating the ratio of the vertical component to the horizontal component and converting it into an angle using the arctan function. This calculation method mainly considers the effect of the tether rope tension, because in the horizontal plane, the constraint of the tether rope is the main factor affecting the steering of the tethered drone.

[0074] The setting of these two formulas is based on the following considerations: Mechanical principles: The formulas are based on the principles of decomposition and synthesis of forces, and can accurately describe the impact of various forces on the posture of the tethered drone; Calculation simplification: The calculation process is simplified by decomposing the forces in three-dimensional space into two components, the vertical plane and the horizontal plane; Real-time: All required parameters can be obtained in real time through sensors, which facilitates real-time calculation and adjustment of the system; Practicality: The calculation results directly reflect the attitude angle of the tethered drone, which is convenient for subsequent attitude adjustment.

[0075] The calculated actual flight attitude angle is subtracted from the preset ideal landing attitude angle to obtain the attitude deviation value of the tethered UAV. The ideal landing attitude angle refers to the attitude angle that the tethered UAV should maintain in the optimal landing state. This angle is usually determined based on the structural characteristics of the tethered UAV and the requirements of the landing platform. By calculating the difference between the actual attitude angle and the ideal attitude angle, the pitch angle deviation value and the yaw angle deviation value can be obtained.

[0076] According to the calculated attitude deviation value, the initial landing plan needs to be adjusted. Specifically, the pitch angle deviation value is used to adjust the descent speed in the initial landing plan to obtain the target descent speed; the yaw angle deviation value is used to adjust the horizontal movement path in the initial landing plan to obtain the target horizontal movement path. The adjusted target descent speed and target horizontal movement path are combined to form the target landing trajectory, and finally the target landing plan of the tethered drone within the reserved time is generated.

[0077] Based on the above embodiment, as an optional implementation, in S104, adjusting the initial landing plan according to the attitude deviation value, generating a target landing plan for the tethered drone within the reserved time specifically includes S41-S45:

[0078] S41, obtaining a pitch angle deviation value and a yaw angle deviation value in the attitude deviation value.

[0079] S42, adjusting the descent speed in the initial landing plan according to the pitch angle deviation value to obtain a target descent speed.

[0080] During the landing process of a tethered drone, the pitch angle is an important parameter that affects the landing stability. The pitch angle deviation value reflects the difference between the actual pitch angle and the ideal pitch angle, which directly affects the motion state of the tethered drone and the force of the tether rope. Therefore, it is necessary to adjust the descent speed in the initial landing plan according to the pitch angle deviation value to ensure the stability and safety of the landing process.

[0081] The adjustment process first needs to establish the corresponding relationship between the pitch angle deviation value and the speed adjustment amount. When a positive deviation occurs, it indicates that the pitch angle of the tethered drone is greater than the ideal value. At this time, it is necessary to appropriately reduce the descent speed so that the tethered drone has more time to adjust its attitude; when a negative deviation occurs, it indicates that the pitch angle of the tethered drone is less than the ideal value. At this time, the descent speed can be appropriately increased to improve the landing efficiency. The amplitude of the adjustment is proportional to the size of the deviation value. The larger the deviation, the larger the adjustment amplitude. This method can ensure the rationality and effectiveness of the adjustment.

[0082] Speed ​​regulation should not only consider the vertical descent speed, but also the horizontal movement speed. Since the tethered drone moves as a whole, speed regulation needs to consider the components of both directions at the same time. By comprehensively adjusting the vertical and horizontal speeds, a new target descent speed can be obtained. This target descent speed can not only meet the needs of attitude adjustment, but also ensure that the landing mission is completed within the reserved time.

[0083] S43, adjusting the horizontal moving path in the initial landing plan according to the yaw angle deviation value to obtain a target horizontal moving path.

[0084] The difference between the actual heading of the tethered drone and the expected heading will affect the accuracy of the tethered drone tracking the target vehicle. Therefore, the horizontal movement path in the initial landing plan needs to be adjusted according to the yaw angle deviation value to ensure that the tethered drone can accurately follow the movement of the target vehicle.

[0085] The adjustment process first needs to analyze the impact of yaw angle deviation on the horizontal movement path. When there is a positive deviation, it means that the actual heading of the tethered drone deviates from the target direction. At this time, it is necessary to increase the correction amount on the basis of the original horizontal movement path and compensate for the heading deviation by local adjustment of the path; when there is a negative deviation, it is necessary to correct the path in the opposite direction. The size of the correction amount is proportional to the deviation value. The larger the deviation, the larger the path correction amplitude. This corresponding relationship ensures the timeliness and effectiveness of the correction.

[0086] Path adjustment needs to ensure that the corrected path still meets the motion constraints of the tethered drone. This requires that the curvature of the corrected path cannot be too large to avoid sharp turns that the tethered drone cannot follow. At the same time, the corrected path also needs to consider the motion characteristics of the tether rope to ensure that the tether rope does not generate excessive lateral tension due to path adjustment. This comprehensive path adjustment method can achieve the purpose of heading correction while ensuring the stability of the system.

[0087] S44, combining the target descent speed and the target horizontal movement path to obtain the target landing trajectory.

[0088] S45, generating a target landing plan for the tethered UAV within a reserved time period according to the target landing trajectory.

[0089] After completing the speed adjustment and path adjustment, it is necessary to organically combine the target descent speed and the target horizontal movement path to form a complete target landing trajectory. This combination is carried out in the time dimension, that is, at each time point within the reserved time, the three-dimensional spatial position and motion state of the tethered drone need to be clear. The necessity of this combination lies in: only by unifying and coordinating the vertical movement and the horizontal movement can the movement of the tethered drone meet the descent requirements and ensure accurate tracking of the target vehicle.

[0090] The combination process first needs to establish a time series and divide the reserved time into several time periods. At each time point, the height change of the tethered drone is determined by the target descent speed, and the horizontal position change is determined by the target horizontal movement path. These two changes together determine the spatial position of the tethered drone at that moment. At the same time, the motion characteristics of the tether rope need to be considered to ensure that the length and tension of the tether rope are within a reasonable range at each moment.

[0091] Based on the obtained target landing trajectory, it is necessary to further generate a target landing plan. This process includes converting the spatial trajectory into specific control parameters, such as the expected position, speed, attitude angle, etc. at each moment. These control parameters need to meet the dynamic constraints and system constraints of the tethered drone to ensure the feasibility of the plan. At the same time, the target landing plan also needs to include a handling strategy for possible interference and abnormal situations to improve the robustness of the plan.

[0092] S105, controlling the tethered UAV to land on the target vehicle according to the target landing plan within the reserved time.

[0093] After determining the target landing plan, the plan needs to be converted into actual control instructions through the control system of the tethered drone. The control system will first convert the motion parameters such as position information and speed information contained in the target landing plan into specific control quantities of each actuator of the tethered drone. These control quantities include motor speed, attitude angle, etc., and the precise motion control of the tethered drone can be achieved by adjusting these parameters.

[0094] The control process adopts a real-time closed-loop control strategy. The control system will continuously obtain the real-time status information of the tethered drone, including parameters such as the current position, speed, and attitude angle. By comparing this real-time status information with the expected state at the corresponding time in the target landing plan, the deviation value is calculated. Based on these deviation values, the control system will adjust the control amount in real time to ensure that the actual motion state of the tethered drone is consistent with the target landing plan.

[0095] During the landing process, the control system also needs to coordinate the retraction and release of the tether rope. The retraction and release speed of the tether rope needs to match the motion state of the tethered drone, which requires the control system to reasonably control the tension and length of the tether rope according to the motion trajectory of the drone to avoid the tether rope being too loose or too tight, which affects the stability of the landing process. At the same time, the control system also needs to maintain the appropriate tension of the tether rope, which is important for maintaining the stability and controllability of the tethered drone.

[0096] In order to ensure the safety of the landing process, the control system also sets up a safety protection mechanism. When abnormal conditions are detected, such as sudden strong winds, abnormal tether ropes, etc., the control system will immediately start the emergency handling procedure to deal with these abnormal conditions by adjusting the drone's attitude and motion state to ensure the safety of the landing process.

[0097] The method also includes: obtaining real-time flight status information of the tethered UAV; when the real-time flight status information indicates that the tethered UAV deviates from the target landing plan, calculating the deviation between the real-time position of the tethered UAV and the target landing plan; when the deviation is greater than a preset threshold, adjusting the target landing plan and generating a revised landing plan; when the deviation is not greater than the preset threshold, controlling the tethered UAV to land on the target vehicle according to the target landing plan.

[0098] In one example, when a tethered drone is performing a landing mission, the uncertainty of the external environment (such as wind changes, airflow disturbances, etc.) may cause the actual flight state to deviate from the predetermined plan. Therefore, it is necessary to establish a real-time monitoring mechanism to ensure the safety and accuracy of the landing process by obtaining the real-time flight status information of the tethered drone. The real-time flight status information includes key parameters such as the spatial position coordinates, flight speed, attitude angle, and tension of the tethered rope of the tethered drone. This information is collected in real time by the onboard sensor system and transmitted to the control system for processing.

[0099] After obtaining the real-time flight status information, the control system will compare it with the expected state at the corresponding time in the target landing plan and calculate the deviation. The calculation of the deviation needs to consider multiple dimensions, including spatial position deviation, speed deviation, attitude angle deviation, etc. These deviations are combined to form the overall deviation in a weighted manner. The setting of the weight reflects the degree of influence of different parameters on landing safety. The setting of the preset threshold needs to balance the system safety margin and control sensitivity. Too large a threshold may lead to untimely correction, and too small a threshold may cause frequent plan adjustments.

[0100] When the calculated deviation is greater than the preset threshold, it indicates that the actual state of the tethered drone has deviated significantly from expectations, and the target landing plan needs to be adjusted. The adjustment process first needs to analyze the main cause of the deviation, such as whether it is mainly position deviation or attitude deviation, and then modify the corresponding control parameters in a targeted manner. The generation of a corrected landing plan needs to take into account the dynamic characteristics and constraints of the system to ensure the smoothness of the correction process. At the same time, the correction plan also needs to reserve sufficient adjustment room to deal with new deviations that may occur later.

[0101] When the deviation is not greater than the preset threshold, it indicates that the actual state of the tethered drone is still within the acceptable range, and the original target landing plan will continue to be executed. In this case, the control system will maintain the system state by fine-tuning the control output to ensure that the tethered drone can land stably according to the predetermined plan. This strategy avoids unnecessary plan adjustments and ensures the continuity and stability of the landing process.

[0102] Based on the above method, the present application also discloses a vehicle-mounted tethered drone precision landing system, such as Figure 2 As shown, Figure 2 : is a structural diagram of a vehicle-mounted tethered drone precision landing system provided in an embodiment of the present application, the system includes: a first acquisition module, a combination module, a second acquisition module, an adjustment module and a control module; wherein,

[0103] The first acquisition module is used to obtain the relative position of the target vehicle and the tethered drone, the reserved time for the tethered drone to park at the target vehicle, and the motion trajectory of the target vehicle within the reserved time; the combination module is used to combine the relative position and the motion trajectory to generate an initial landing plan for the tethered drone within the reserved time; the second acquisition module is used to obtain the tension information and environmental wind speed information of the tethered rope connecting the tethered drone; the adjustment module is used to calculate the attitude deviation value of the tethered drone according to the tension information and the environmental wind speed information, and adjust the initial landing plan according to the attitude deviation value to generate a target landing plan for the tethered drone within the reserved time; the control module is used to control the tethered drone to land at the target vehicle according to the target landing plan within the reserved time.

[0104] It should be noted that: when the system provided in the above embodiment realizes its functions, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the system and method embodiments provided in the above embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0105] See also Figure 3, is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 3 As shown, the electronic device 1000 may include: at least one processor 1001 , at least one network interface 1004 , a user interface 1003 , a memory 1005 , and at least one communication bus 1002 .

[0106] The communication bus 1002 is used to realize the connection and communication between these components.

[0107] The user interface 1003 may include a display screen (Display) and a camera (Camera). Optionally, the user interface 1003 may also include a standard wired interface and a wireless interface.

[0108] The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a WI-FI interface).

[0109] Among them, the processor 1001 may include one or more processing cores. The processor 1001 uses various interfaces and lines to connect various parts in the entire server, and executes various functions of the server and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 1005, and calling data stored in the memory 1005. Optionally, the processor 1001 can be implemented in at least one hardware form of digital signal processing (Digital Signal Processing, DSP), field programmable gate array (Field-Programmable Gate Array, FPGA), and programmable logic array (Programmable Logic Array, PLA). The processor 1001 can integrate one or a combination of a central processing unit (Central Processing Unit, CPU), a graphics processing unit (Graphics Processing Unit, GPU) and a modem. Among them, the CPU mainly processes the operating system, user interface and application programs; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; the modem is used to process wireless communications. It can be understood that the above-mentioned modem may not be integrated into the processor 1001, and it can be implemented separately through a chip.

[0110] Among them, the memory 1005 may include a random access memory (Random Access Memory, RAM) and may also include a read-only memory (Read-Only Memory). Optionally, the memory 1005 includes a non-transitory computer-readable storage medium. The memory 1005 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 1005 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area may store data involved in the above-mentioned various method embodiments, etc. The memory 1005 may optionally also be at least one storage device located away from the aforementioned processor 1001. As Figure 3 As shown, the memory 1005 as a computer storage medium may include an operating system, a network communication module, a user interface module, and an application program for a method for precise landing of a vehicle-mounted tethered drone.

[0111] exist Figure 3 In the electronic device 1000 shown, the user interface 1003 is mainly used to provide an input interface for the user and obtain data input by the user; and the processor 1001 can be used to call an application program stored in the memory 1005 for a method for precise landing of a vehicle-mounted tethered drone. When executed by one or more processors, the electronic device executes one or more of the methods described in the above embodiments.

[0112] An electronic device readable storage medium stores instructions, which, when executed by one or more processors, enable the electronic device to execute one or more of the methods described in the above embodiments.

[0113] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the order of the actions described, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required for the present application.

[0114] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0115] In the several embodiments provided in the present application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of the units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some service interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0116] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0117] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0118] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a memory and includes several instructions for a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned memory includes: various media that can store program codes, such as USB flash drives, mobile hard drives, magnetic disks or optical disks.

[0119] The above is only an exemplary embodiment of the present disclosure, and the scope of the present disclosure cannot be limited thereto. That is, any equivalent changes and modifications made according to the teachings of the present disclosure are still within the scope of the present disclosure. After considering the specification and practicing the disclosure here, those skilled in the art will easily think of other embodiments of the present disclosure. This application is intended to cover any modification, use or adaptation of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary technical means in the technical field not recorded in the present disclosure. The description and examples are only regarded as exemplary, and the scope and spirit of the present disclosure are defined by the claims.

Claims

1. A method for precise landing of a vehicle-mounted tethered drone, characterized in that: The method comprises: Obtaining the relative position of the target vehicle and the tethered drone, obtaining the reserved time for the tethered drone to park at the target vehicle, and the movement trajectory of the target vehicle within the reserved time; Combining the relative position and the motion trajectory, generating an initial landing plan for the tethered drone within the reserved time period; Obtaining tension information of a tethered rope connected to the tethered drone and ambient wind speed information; Calculating the attitude deviation value of the tethered drone according to the tension information and the environmental wind speed information, wherein calculating the attitude deviation value of the tethered drone according to the tension information and the environmental wind speed information comprises: acquiring the tension vector of the tethered rope in the tension information and the wind vector in the environmental wind speed information; The mass of the tethered drone is obtained, and an actual flight attitude angle of the tethered drone is calculated by combining the pulling force vector, the wind force vector and the mass; the actual flight attitude angle includes a pitch angle and a yaw angle, and the actual flight attitude angle of the tethered drone is calculated by combining the pulling force vector, the wind force vector and the mass, including: substituting the pulling force vector, the wind force vector and the mass into a preset formula to calculate the pitch angle and the yaw angle of the tethered drone; the preset formula is: ; Wherein, θ is the pitch angle, ψ is the yaw angle, T is the pull vector, FW is the wind vector, α is the angle between the pull vector and the horizontal plane, β is the angle between the wind vector and the horizontal plane, m is the mass, and g is the acceleration of gravity; Performing a difference calculation on the actual flight attitude angle and the preset ideal landing attitude angle to obtain an attitude deviation value of the tethered UAV; And according to the attitude deviation value, the initial landing plan is adjusted to generate a target landing plan for the tethered UAV within the reserved time length; the adjusting the initial landing plan according to the attitude deviation value to generate a target landing plan for the tethered UAV within the reserved time length includes: obtaining a pitch angle deviation value and a yaw angle deviation value in the attitude deviation value; adjusting the descent speed in the initial landing plan according to the pitch angle deviation value to obtain a target descent speed; adjusting the horizontal movement path in the initial landing plan according to the yaw angle deviation value to obtain a target horizontal movement path; combining the target descent speed and the target horizontal movement path to obtain a target landing trajectory; generating a target landing plan for the tethered UAV within the reserved time length according to the target landing trajectory; The tethered UAV is controlled to land on the target vehicle according to the target landing plan within the reserved time.

2. The method for precise landing of a vehicle-mounted tethered drone according to claim 1, characterized in that: The step of combining the relative position and the motion trajectory to generate an initial landing plan for the tethered drone within the reserved time period includes: Determining the distance and height difference between the tethered drone and the target vehicle based on the relative position; Based on the reserved time, combined with the distance and the height difference, calculating the initial descent speed of the tethered drone; Determining a horizontal movement path of the tethered drone according to the motion trajectory; In combination with the initial descent speed and the horizontal movement path, an initial landing plan for the tethered drone within the reserved time is generated.

3. The method for precise landing of a vehicle-mounted tethered drone according to claim 2, characterized in that: The calculating the initial descent speed of the tethered drone based on the reserved time and in combination with the distance and the height difference includes: The reserved time is used as the total flight time of the tethered drone; The ratio of the height difference to the total flight time is used as the vertical component velocity of the tethered UAV; The ratio of the distance to the total flight time is taken as the horizontal component velocity of the tethered UAV; The vertical component velocity and the horizontal component velocity are vector-synthesized to obtain the initial descent velocity of the tethered UAV.

4. The method for precise landing of a vehicle-mounted tethered drone according to claim 1, characterized in that: The method further comprises: Obtaining real-time flight status information of the tethered drone; When the real-time flight status information indicates that the tethered UAV deviates from the target landing plan, calculating the deviation between the real-time position of the tethered UAV and the target landing plan; When the deviation is greater than a preset threshold, the target landing plan is adjusted to generate a revised landing plan; when the deviation is not greater than the preset threshold, the tethered drone is controlled to land on the target vehicle according to the target landing plan.

5. A vehicle-mounted tethered drone precision landing system, characterized in that: The system comprises: a first acquisition module, a combination module, a second acquisition module, an adjustment module and a control module; wherein, The first acquisition module is used to acquire the relative position of the target vehicle and the tethered drone, the reserved time for the tethered drone to park at the target vehicle, and the movement trajectory of the target vehicle within the reserved time; The combining module is used to combine the relative position and the motion trajectory to generate an initial landing plan for the tethered drone within the reserved time period; The second acquisition module is used to acquire the tension information of the tethering rope connected to the tethered drone and the ambient wind speed information; The adjustment module is used to calculate the attitude deviation value of the tethered UAV according to the tension information and the environmental wind speed information, and the attitude deviation value of the tethered UAV is calculated according to the tension information and the environmental wind speed information, including: obtaining the tension vector of the tethered rope in the tension information and the wind vector in the environmental wind speed information; The mass of the tethered drone is obtained, and an actual flight attitude angle of the tethered drone is calculated by combining the pulling force vector, the wind force vector and the mass; the actual flight attitude angle includes a pitch angle and a yaw angle, and the actual flight attitude angle of the tethered drone is calculated by combining the pulling force vector, the wind force vector and the mass, including: substituting the pulling force vector, the wind force vector and the mass into a preset formula to calculate the pitch angle and the yaw angle of the tethered drone; the preset formula is: ; In the formula, θ is the pitch angle, ψ is the yaw angle, T is the pulling force vector, FW is the wind force vector, α is the angle between the pulling force vector and the horizontal plane, β is the angle between the wind vector and the horizontal plane, m is the mass, and g is the acceleration of gravity; the actual flight attitude angle is differenced with the preset ideal landing attitude angle to obtain the attitude deviation value of the tethered UAV; and according to the attitude deviation value, the initial landing plan is adjusted to generate the target landing plan of the tethered UAV within the reserved time; according to the attitude deviation value, the initial landing plan is adjusted , generating a target landing plan for the tethered UAV within the reserved time, including: obtaining a pitch angle deviation value and a yaw angle deviation value in the attitude deviation value; adjusting the descent speed in the initial landing plan according to the pitch angle deviation value to obtain a target descent speed; adjusting the horizontal movement path in the initial landing plan according to the yaw angle deviation value to obtain a target horizontal movement path; combining the target descent speed and the target horizontal movement path to obtain a target landing trajectory; generating a target landing plan for the tethered UAV within the reserved time according to the target landing trajectory; The control module is used to control the tethered UAV to land on the target vehicle according to the target landing plan within the reserved time.

6. An electronic device, characterized in that: It includes a processor, a memory, a user interface and a network interface, the memory is used to store instructions, the user interface and the network interface are used to communicate with other devices, and the processor is used to execute the instructions stored in the memory so that the electronic device executes the method according to any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that: A computer program is stored which can be loaded by a processor and execute the method according to any one of claims 1 to 4.

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