Large wingspan unmanned aerial vehicle landing control method, electronic equipment and medium

Abstract

The invention discloses a large-wingspan unmanned aerial vehicle landing control method, electronic equipment and a medium. The method comprises the following steps: acquiring a ship motion state, and generating an unmanned aerial vehicle control surface control instruction; determining a plurality of stages of a carrier landing process of the unmanned aerial vehicle; and determining a track control strategy of each stage. The unmanned aerial vehicle-ship-ship wake flow combined integrated design thought is adopted, forced ship landing does not simply depend on the characteristics of the unmanned aerial vehicle, the landing point walking can be effectively reduced, the ship landing control precision is improved, the ship landing impact load is reduced, and the safety of the unmanned aerial vehicle is improved.

Description

Technical Field

[0001] The present invention relates to the field of aircraft flight control technology, and more specifically, to a large-wingspan unmanned aerial vehicle landing control method, electronic equipment and medium. Background Art

[0002] New energy fixed-wing UAVs, represented by solar-powered UAVs and hydrogen-powered UAVs, are green, flexible, low-cost and easy to maintain. They can easily perform tasks such as environmental monitoring, meteorological and climate research, information relay, information support and confrontation. In order to pursue higher cruising altitudes and longer flight time, this type of UAV often has a large wingspan and a high lift-to-drag ratio, which makes the flight speed relatively low, the landing glide difficult, and the anti-interference ability poor. The landing control is difficult and the landing point dispersion is relatively large.

[0003] During the landing process, carrier-based aircraft are affected by many unfavorable factors such as the ship wake disturbance, ship deck movement, atmospheric turbulence, pilot reference single and control coupling, optoelectronic system time delay, etc. The seemingly cool landing process is full of thrills. Pilots usually adjust the flight attitude up to 200 to 300 times in the last 18 seconds of a landing due to the harsh flight environment of the ship. There are still many problems such as control channel function coupling and low landing accuracy. Large-wingspan carrier-based drones are prone to large altitude and track deviations after encountering external disturbances, especially under the influence of ship wake disturbances, complex low-altitude meteorological environments, and the sinking and swaying of ships. At the least, the flight quality is reduced or the landing is unsuccessful, and at the worst, the landing safety is endangered. As aviation technology becomes increasingly mature and automatic landing guidance systems, aircraft carrier deck motion compensation technology, and ship wake suppression technology are developing day by day, carrier-based aircraft landing failures still occur from time to time. Carrier-based UAV landing also faces huge challenges and needs to adapt to safe landing within multiple constraint boundaries. In particular, for new large-wingspan, low-speed UAVs, safe landing control technology under strong disturbances still needs to be urgently resolved.

[0004] At present, a landing control method for large-wingspan UAVs needs to be developed.

[0005] The information disclosed in the background technology section of the present invention is only intended to deepen the understanding of the general background technology of the present invention, and should not be regarded as acknowledging or suggesting in any form that the information constitutes the prior art already known to those skilled in the art. Summary of the invention

[0006] The present invention proposes a large-wingspan UAV landing control method, electronic equipment and medium, which sequentially lower the altitude according to a segmented landing control strategy and then enter the altitude holding stage, and quickly land after entering the wake downwash area of ​​the ship in level flight.

[0007] In a first aspect, an embodiment of the present disclosure provides a large-wingspan UAV landing control method, including:

[0008] Obtain the ship's motion status and generate UAV rudder control instructions;

[0009] Identify the multiple stages of the drone landing process;

[0010] Determine the trajectory control strategy for each stage.

[0011] Preferably, the multiple stages of the landing process include an altitude descent stage, an altitude maintenance stage, a rapid landing stage, a braking stage, and a go-around stage.

[0012] Preferably, the track control strategy of the altitude descent segment includes:

[0013] The UAV flies horizontally at a preset altitude H2 toward the ship's runway. According to the relative position of the UAV and the ship, the UAV lowers after capturing the glide path.

[0014] The UAV uses the ship's heading as the UAV's real-time heading instruction, and the landing centerline uses the ship's runway centerline as the UAV's landing centerline for track control.

[0015] Preferably, the track control strategy of the altitude holding segment includes:

[0016] After the UAV descends to the altitude holding section, it turns to level flight. The altitude control loop introduces the ship's lifting and lowering speed to reduce the impact of the ship's vertical swing. The track control loop introduces the lateral speed to slow down the impact of the ship's sway. The attitude control loop introduces the ship's roll, pitch, and yaw angles to reduce the control deviation, and the continuous flight distance is L2.

[0017] Preferably, the track control strategy of the rapid landing phase includes:

[0018] The UAV flies to the rapid landing section, reduces thrust for rapid landing, and introduces pitch angle integral into the pitch angle control loop. When the altitude is at a set distance from the deck, the UAV power is shut off, and the nose is pulled up for deceleration landing.

[0019] Preferably, the track control strategy of the braking section includes:

[0020] After landing, the UAV enters the braking section and performs differential braking to quickly decelerate and stop the UAV and effectively control the lateral speed. The brake correction control structure is consistent with the UAV lateral deviation-rudder control structure, and the track control roll angle command softens and transitions to zero.

[0021] Preferably, the track control strategy of the missed approach segment includes:

[0022] If the UAV is subject to ship wake and atmospheric disturbances while flying in the altitude hold phase and does not meet the conditions for rapid landing, it will fly according to the missed approach heading and land again.

[0023] In a second aspect, an embodiment of the present disclosure further provides an electronic device, the electronic device comprising:

[0024] A memory storing executable instructions;

[0025] A processor runs the executable instructions in the memory to implement the large-wingspan UAV landing control method.

[0026] In a third aspect, an embodiment of the present disclosure further provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the large-wingspan UAV landing control method is implemented.

[0027] Its beneficial effects are:

[0028] The present invention adopts a segmented landing control method which fully considers the motion characteristics of large-wingspan, low-speed UAVs, the characteristics of ship swaying motion and the area affected by ship wake. It is suitable for landing control of different types of ships and ship-borne UAVs, and can select the altitude holding section height and the rapid landing point for a specific ship according to the influence of the ship wake.

[0029] The methods and apparatus of the present invention have other features and advantages that will be apparent from, or will be described in detail in, the accompanying drawings and subsequent detailed descriptions incorporated herein, which together serve to explain the specific principles of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The above and other objects, features and advantages of the present invention will become more apparent through a more detailed description of exemplary embodiments of the present invention in conjunction with the accompanying drawings, wherein like reference numerals generally represent like components throughout the exemplary embodiments of the present invention.

[0031] Figure 1 A flow chart showing the steps of a large wingspan UAV landing control method according to an embodiment of the present invention.

[0032] Figure 2 A schematic diagram of a UAV segmented landing control strategy according to an embodiment of the present invention is shown.

[0033] Figure 3 A schematic diagram of a large-wingspan UAV landing control judgment process according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0034] The preferred embodiments of the present invention will be described in more detail below. Although the preferred embodiments of the present invention are described below, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0035] Figure 1 A flow chart showing the steps of a large wingspan UAV landing control method according to an embodiment of the present invention.

[0036] like Figure 1 As shown, the large wingspan UAV landing control method includes:

[0037] Step 101, obtaining the motion state of the ship and generating a control instruction for the rudder of the UAV;

[0038] Step 102, determining multiple stages of the landing process of the UAV;

[0039] Step 103, determining the track control strategy for each stage.

[0040] In one example, the multiple phases of the landing process include an altitude descent phase, an altitude hold phase, a fast landing phase, a braking phase, and a go-around phase.

[0041] In one example, the trajectory control strategy for the altitude descent segment includes:

[0042] The UAV flies horizontally at a preset altitude H2 toward the ship's runway. According to the relative position of the UAV and the ship, the UAV lowers after capturing the glide path.

[0043] The UAV uses the ship's heading as the UAV's real-time heading instruction, and the landing centerline uses the ship's runway centerline as the UAV's landing centerline for track control.

[0044] In one example, the track control strategy for the altitude hold segment includes:

[0045] After the UAV descends to the altitude holding stage, it turns to level flight. The altitude control loop introduces the ship's lifting and lowering speed to reduce the impact of the ship's vertical swing. The track control loop introduces the lateral speed to slow down the impact of the ship's sway. The attitude control loop introduces the ship's roll, pitch, and bow angles to reduce the control deviation and continue the flight distance L2.

[0046] In one example, the track control strategy for the fast landing phase includes:

[0047] The UAV flies to the rapid landing section, reduces thrust for rapid landing, and introduces pitch angle integral into the pitch angle control loop. When the altitude is at a set distance from the deck, the UAV power is shut off and the nose is pulled up to slow down for landing.

[0048] In one example, the track control strategy for the braking segment includes:

[0049] After landing, the UAV enters the braking section and performs differential braking, which allows the UAV to quickly decelerate and stop and effectively control the lateral speed. The brake correction control structure is consistent with the UAV's lateral deviation-rudder control structure, and the track control roll angle command softens and transitions to zero.

[0050] In one example, the track control strategy for the missed approach segment includes:

[0051] If the UAV is subject to ship wake and atmospheric disturbances while flying in the altitude hold phase and does not meet the conditions for rapid landing, it will fly according to the missed approach heading and land again.

[0052] Specifically, the ship is equipped with motion state monitoring sensors and uplinks. The ship's motion state includes position, altitude, horizontal speed, lifting speed, three-axis angular rate and three-axis attitude angle, which can accurately describe the hull's sinking, pitching and rolling motion, the position, altitude and position change rate of the landing point, and upload the ship's motion state to the drone through the uplink. The drone generates drone rudder control instructions based on the motion state to control the drone's attitude and landing trajectory. Using the CGCS2000 Chinese Geodetic Navigation Coordinate System, let the ship's longitude be lon0, latitude be lat0, altitude be h0, and the three-way velocities of north, east and sky be v respectively. n0 、v e0 、v s0 , the roll angular rate is ω x0 , the yaw rate is ω y0 , the pitch angular rate is ω y0 , the roll angle is γ0, the pitch angle is θ0, and the heading angle is ψ0.

[0053] Figure 2 A schematic diagram of a UAV segmented landing control strategy according to an embodiment of the present invention is shown.

[0054] like Figure 2 As shown in the figure, the UAV landing process is decomposed into the altitude descent stage, the altitude holding stage, the rapid landing stage, the braking stage and the go-around stage. The preset glide path angle of the UAV rapid landing stage is θ1, and the preset height of the altitude holding stage is H1. The selection basis is that the downwash airflow generated in the area affected by the wake of the ship is small, and the UAV can maintain altitude in this altitude area. The preset horizontal distance of the altitude holding stage is L2; ​​the preset glide path angle of the altitude descent stage is θ2, and the preset height of the altitude descent stage is H2. Let the preset horizontal distance of the UAV relative to the landing point be L0, and the calculation formula is:

[0055] L0=H1 / tan(θ1)+L2+H2 / tan(θ2).

[0056] The UAV approaches the runway of the ship at a preset altitude H2 and flies level. According to the relative position of the UAV and the ship, the UAV captures the glide path and then descends. The longitude of the UAV is lon and the latitude is lat. The relative position is calculated as L according to the longitude and latitude information of the UAV and the ship, referred to as the waiting distance. When it is judged that L≤L0, the UAV starts to descend. The relative position calculation formula is:

[0057] L=R×arccos(sin(lon0)sin(lon)cos(lon0-lon)+cos(lat0)cos(lat))×π / 180

[0058] Let the heading angle of the drone pointing to the ship be ψ Z , and its calculation formula is:

[0059] ψ Z =arctan2(sin(lon-lon0)cos(lat),cos(lat0)sin(lat)-sin(lat0)cos(lat)cos(lon-lon0))

[0060] Furthermore, the value range of the heading angle pointing to the landing point is changed from (-180,180] to [0,360].

[0061] During the descent phase, the UAV uses the ship's heading as the UAV's real-time heading instruction, and the landing centerline uses the ship's runway centerline as the UAV's landing centerline for track control.

[0062] After the UAV descends to the altitude holding stage, it turns to level flight. The UAV changes its control structure. The altitude control loop introduces the ship's lifting and lowering speed to reduce the impact of the ship's vertical swing. The track control loop introduces the lateral speed to slow down the impact of the ship's sway. The attitude control loop introduces the ship's roll, pitch, and bow angles to reduce the control deviation, thereby minimizing the UAV control deviation caused by the ship's movement.

[0063] The longitudinal control loop of the drone uses the pitch rate ω z The pitch angle θ is fed back by a dual loop. The pitch angle command is the pitch attitude of the ship. The UAV changes in real time with the pitch angle of the ship. The control law is in the form of:

[0064]

[0065] Among them, δ z The elevator rudder is deflected. is the pitch angle control gain, θ is the pitch angle, and θ0 is the ship pitch angle. In order to further eliminate the influence of the sinking and floating motion, the UAV introduces the ship's sinking and floating speed into the altitude control loop for altitude loop control. In order to ensure the control accuracy of the altitude loop, an integral link is also introduced. The control law is in the form of:

[0066]

[0067] in, is the height change rate control gain, is the altitude change rate of the UAV, is the ship's sinking and floating speed, is the height control gain, h is the height of the drone, is a highly integral control gain.

[0068] Due to the limited width of the ship deck runway, the accuracy of track control is required to be high. At the same time, considering the impact of the ship's roll and sway, the roll angle and sway speed are introduced into the track control loop to reduce the impact on the accuracy of the UAV landing track control. The control law is shown in the following formula:

[0069]

[0070] Among them, δ a is the aileron rudder deflection, is the roll angle control gain, γ is the roll angle, γ c is the command roll angle during landing, γ0 is the ship roll angle, is the roll rate control gain, ω x is the roll angular rate, ω x0 is the ship's roll angular rate, is the yaw angle aileron control gain, ψ s is the heading angle, ψ0 is the real-time heading angle of the ship, is the aileron control gain, z is the UAV's side deviation relative to the centerline of the ship's runway, is the lateral speed aileron control gain, is the lateral speed of the UAV relative to the centerline of the ship runway, is the aileron integral control gain, δ r is the rudder deflection, is the yaw rate control gain, ω y is the yaw angular rate, is the yaw angle rudder control gain, The gain for the rudder control.

[0071] The lateral deviation of the UAV relative to the centerline of the ship runway is calculated based on the longitude and latitude of the UAV. The specific calculation formula is:

[0072] z=L*sin(ψ z -ψ0).

[0073] The UAV continues to fly the distance L2 according to the altitude maintenance segment control law.

[0074] When the drone flies to the rapid landing stage, the drone reduces thrust and lands quickly. The rapid landing point is selected within the range of the ship deck and in an area with obvious downwash. The drone can use the downwash of the ship's wake to land quickly. The drone track control loop maintains the altitude holding stage control structure, and the pitch angle control loop introduces the pitch angle integral to improve the pitch angle control accuracy, so that the drone landing posture is closer to the ship's pitch angle and retains a safety margin, which can minimize the longitudinal overload during landing.

[0075] The control law of the pitch angle loop is:

[0076]

[0077] where θ c This is the pitch angle command for the UAV's rapid landing phase. When the UAV is 2 meters above the deck, the power is shut down and the nose is pulled up to slow down for landing.

[0078] When a low-speed UAV is flying in the altitude hold phase, it is subject to the ship wake and atmospheric disturbances. If the conditions for rapid landing are not met, the UAV will choose to fly according to the go-around course and then land again. The judgment conditions for abandoning landing and going around are: a) The UAV deviates from the centerline of the deck runway by more than the difference between 1 / 2 of the deck runway width and 1 / 2 of the UAV landing gear spacing, that is, the UAV cannot land accurately; b) Due to encountering strong updrafts or headwind shear during the altitude hold phase, the UAV's rapid landing phase altitude exceeds the landing decision altitude, and when it does not match the glide forward distance, the forward distance of the ship is not enough for the UAV to slow down and stop. That is, h ≥ K L L1tan(θ1), where K L Safety factor of drone landing decision altitude.

[0079] After the UAV lands, the braking system is activated and differential braking is performed to quickly decelerate and stop the UAV and effectively control the lateral speed. The brake correction control structure is consistent with the UAV's lateral deviation-rudder control structure, and the track control roll angle command softens the transition to zero.

[0080] The scheme of sharing the ship motion state with the UAV adopted in the present invention is not only applicable to the UAV, but also can use the UAV ship-borne manned aircraft automatic driving system, which can reduce the attitude adjustment at the end of landing to a certain extent and reduce the pilot's operating load. The present invention adopts a segmented landing control method that fully considers the motion characteristics of large-wingspan low-speed UAVs, the characteristics of ship swaying motion, and the influence area of ​​the ship wake, and is suitable for different types of ships and ship-borne UAV landing control. The height of the height holding section and the selection of the rapid landing point can be carried out according to the influence of the ship wake for specific ships. The control method based on the ship's attitude and position adopted in the present invention not only considers the relative position change between the UAV and the ship, but also considers the relative attitude change between the UAV and the ship, which can effectively reduce the attitude deviation between the UAV landing moment and the ship, reduce the asymmetry of the relative attitude, and effectively reduce the landing impact overload. The present invention adopts a rapid landing scheme using the downwash airflow of the ship wake, which can reduce the time and distance of the UAV flying over the deck, thereby reducing the impact time of the severe low-altitude atmospheric disturbance, and then reducing the landing point of the UAV. The landing position control accuracy of the UAV can be improved.

[0081] The present invention also provides an electronic device, which includes: a memory storing executable instructions; and a processor running the executable instructions in the memory to implement the above-mentioned large-wingspan UAV landing control method.

[0082] The present invention also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the above-mentioned large-wingspan UAV landing control method is implemented.

[0083] To facilitate understanding of the solutions and effects of the embodiments of the present invention, three specific application examples are given below. Those skilled in the art should understand that the examples are only for facilitating understanding of the present invention, and any specific details thereof are not intended to limit the present invention in any way.

[0084] Example 1

[0085] After completing the flight mission according to the preset mission or the shipboard instruction, the large-wingspan low-speed UAV in the present invention performs the landing flight according to the route. The UAV lowers the altitude in sequence according to the segmented landing control strategy and then enters the altitude holding stage. It flies horizontally into the downwash area of ​​the ship wake and then lands quickly. The differences in the wake area of ​​the ship and the characteristics of the ship's swaying are fully utilized to reduce the frequency of attitude adjustment and effectively improve the landing control accuracy and safety level.

[0086] Figure 3 A schematic diagram of a large-wingspan UAV landing control judgment process according to an embodiment of the present invention is shown.

[0087] like Figure 3As shown, the present invention first clearly stipulates that both large-wingspan UAVs and ships need to be equipped with motion status monitoring sensors and information transmission links, and the ship's attitude information and position, speed and altitude information are uploaded to the UAV through the uplink and downlinks. The UAV's onboard computer solves the landing control law, generates UAV rudder control instructions, and controls the UAV's attitude and landing trajectory.

[0088] The glide path angle of the UAV is set as θ2 according to the lift-to-drag ratio, trim state and matching power state of the UAV. The preset height H2 and the preset horizontal distance L2 of the UAV altitude holding section are selected according to the flow field distribution of the ship wake. The glide path angle of the rapid landing section is selected as θ based on the downwash airflow of the ship wake and the glide path angle of the UAV glide path. `1 , formulate the landing route of the UAV and save it to the UAV onboard terminal.

[0089] The motion state of the UAV and the ship is measured according to the sensor information, and the relative position L and the heading angle of the UAV pointing to the landing point are calculated according to the latitude and longitude information of the UAV and the ship. Z :

[0090] L=R×arccos(sin(lon0)sin(lon)cos(lon0-lon)+cos(lat0)cos(lat))×π / 180

[0091] ψ Z =arctan2(sin(lon-lon0)cos(lat),cos(lat0)sin(lat)-sin(lat0)cos(lat)cos(lon-lon0))

[0092] The value range of the heading angle pointing to the landing point is further changed from (-180,180] to [0,360].

[0093] According to the relative position L, the heading angle of the UAV pointing to the landing point is ψ Z And the ship's motion heading is used to calculate the relative lateral deviation of the drone:

[0094] z=L*sin(ψ z -ψ0)

[0095] And perform conventional pitch loop control, altitude control and track control of the UAV.

[0096] The drone flies along the route according to the route. After completing the mission, it flies horizontally at the preset altitude H2 and in the direction of the ship runway. The position is determined according to the distance to be flown L. If L≤L0, the drone starts to descend. If L>L0, the drone continues to fly horizontally towards the ship. In actual flight, it is difficult for the drone to keep completely consistent with the instruction H2. L0 is calculated using real-time relative altitude:

[0097] L0=(H1-H0) / tan(θ1)+L2+(h-H1) / tan(θ2)

[0098] After the UAV's descent height is lower than H1, the UAV switches from descent to level flight, and introduces the ship's pitch angle into the pitch angle control loop, the sinking and floating rate into the altitude control loop, the roll angle into the roll angle attitude control loop, and the sway speed into the speed control loop. The UAV continues to fly a distance of L2 according to the altitude holding segment control law. The UAV flight control law structure for this flight segment is:

[0099]

[0100] According to the real-time distance between the UAV and the landing point and the fast landing glide angle θ `1 If L>(h-H0) / tanθ1, the UAV continues to fly levelly toward the landing point and adjusts its position and attitude in real time with the movement of the ship; if L≤(h-H0) / tanθ1, the UAV further determines whether the landing conditions are met.

[0101] Whether the UAV meets the landing conditions is determined based on the relative height and relative lateral deviation between the UAV and the centerline of the ship's runway. If the landing conditions are met, the UAV lands quickly. If the landing conditions are not met, the UAV increases thrust for a go-around.

[0102] The judgment conditions for the UAV to take off are: a) the UAV's deviation from the centerline of the deck runway exceeds the difference between 1 / 2 of the deck runway width and 1 / 2 of the UAV landing gear spacing; b) the UAV's rapid landing stage height exceeds the landing decision height, that is, h ≥ K L L1tan(θ1), where K L Determine the height safety factor for drone landing.

[0103] If the conditions are not met for the drone to land, the drone will quickly climb and turn to a go-around. The control loop will no longer consider the impact of the ship's motion. The drone will enter the go-around route and perform landing flight again. During the drone's rapid landing process, when it is 2m above the deck, the drone's power is turned off, the nose is properly pulled up, and after the drone touches the ground, it uses differential braking to correct deviation and brake to slow down and stop.

[0104] Example 2

[0105] The present disclosure provides an electronic device, which includes: a memory storing executable instructions; and a processor running the executable instructions in the memory to implement the above-mentioned large-wingspan UAV landing control method.

[0106] An electronic device according to an embodiment of the present disclosure includes a memory and a processor.

[0107] The memory is used to store non-temporary computer-readable instructions. Specifically, the memory may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may, for example, include random access memory (RAM) and / or cache memory (cache), etc. The non-volatile memory may, for example, include read-only memory (ROM), hard disk, flash memory, etc.

[0108] The processor may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device to perform desired functions. In one embodiment of the present disclosure, the processor is used to run the computer-readable instructions stored in the memory.

[0109] Those skilled in the art should be able to understand that in order to solve the technical problem of how to obtain a good user experience, the present embodiment may also include well-known structures such as a communication bus and an interface, and these well-known structures should also be included in the protection scope of the present disclosure.

[0110] For detailed description of this embodiment, reference may be made to the corresponding descriptions in the aforementioned embodiments, which will not be repeated here.

[0111] Example 3

[0112] An embodiment of the present disclosure provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the large-wingspan UAV landing control method is implemented.

[0113] According to the computer-readable storage medium of the embodiment of the present disclosure, non-transitory computer-readable instructions are stored thereon. When the non-transitory computer-readable instructions are executed by a processor, all or part of the steps of the above-mentioned methods of each embodiment of the present disclosure are executed.

[0114] The above-mentioned computer-readable storage media include, but are not limited to: optical storage media (e.g., CD-ROM and DVD), magneto-optical storage media (e.g., MO), magnetic storage media (e.g., magnetic tape or mobile hard disk), media with built-in rewritable non-volatile memory (e.g., memory card) and media with built-in ROM (e.g., ROM box).

[0115] Those skilled in the art should understand that the purpose of the above description of the embodiments of the present invention is only to exemplarily illustrate the beneficial effects of the embodiments of the present invention, and is not intended to limit the embodiments of the present invention to any given examples.

[0116] The embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments.

Claims

1. A large wingspan UAV landing control method, characterized in that: include: Obtain the ship's motion status and generate UAV rudder control instructions; Identify the multiple stages of the drone landing process; Determine the trajectory control strategy for each stage.

2. The large wingspan UAV landing control method according to claim 1, wherein: The multiple stages of the landing process include altitude descent, altitude maintenance, rapid landing, braking and go-around.

3. The large wingspan UAV landing control method according to claim 2, wherein: The track control strategy of the altitude descent phase includes: The UAV flies horizontally at a preset altitude H2 toward the ship's runway. According to the relative position of the UAV and the ship, the UAV lowers after capturing the glide path. The UAV uses the ship's heading as the UAV's real-time heading instruction, and the landing centerline uses the ship's runway centerline as the UAV's landing centerline for track control.

4. The large wingspan UAV landing control method according to claim 2, wherein: The track control strategy of the altitude holding segment includes: After the UAV descends to the altitude holding section, it turns to level flight. The altitude control loop introduces the ship's lifting and lowering speed to reduce the impact of the ship's vertical swing. The track control loop introduces the lateral speed to slow down the impact of the ship's sway. The attitude control loop introduces the ship's roll, pitch, and yaw angles to reduce the control deviation, and the continuous flight distance is L2.

5. The large wingspan UAV landing control method according to claim 2, wherein: The track control strategy of the rapid landing phase includes: The UAV flies to the rapid landing section, reduces thrust for rapid landing, and introduces pitch angle integral into the pitch angle control loop. When the altitude is at a set distance from the deck, the UAV power is shut off, and the nose is pulled up for deceleration landing.

6. The large wingspan UAV landing control method according to claim 2, wherein: The track control strategy of the braking section includes: After landing, the UAV enters the braking section and performs differential braking to quickly decelerate and stop the UAV and effectively control the lateral speed. The brake correction control structure is consistent with the UAV lateral deviation-rudder control structure, and the track control roll angle command softens and transitions to zero.

7. The large-wingspan UAV landing control method according to claim 2, wherein: The track control strategy of the missed approach segment includes: If the UAV is subject to ship wake and atmospheric disturbances while flying in the altitude hold phase and does not meet the conditions for rapid landing, it will fly according to the missed approach heading and land again.

8. An electronic device, characterized in that: The electronic device comprises: A memory storing executable instructions; A processor, wherein the processor runs the executable instructions in the memory to implement the large-wingspan UAV landing control method according to any one of claims 1 to 7.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the large-wingspan UAV landing control method described in any one of claims 1-7.

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