Large-wing-span unmanned aerial vehicle carrier landing control method, electronic device and medium

Abstract

The application discloses a large-wing-span unmanned aerial vehicle (UAV) landing control method, an electronic device and a medium. The method can comprise: acquiring a ship motion state, and generating a UAV rudder surface control instruction; determining a plurality of stages of a UAV landing process; and determining a flight path control strategy for each stage. The application adopts an integrated design idea of combining a UAV, a ship and a ship wake, and does not simply rely on the UAV itself to forcibly land, so that the landing point dispersion can be effectively reduced, the landing control precision can be improved, the landing impact load can be reduced, and the safety of the UAV can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of aircraft flight control technology, and more particularly, to a large-wing-span unmanned aerial vehicle (UAV) carrier landing control method, an electronic device and a medium. BACKGROUND

[0002] New energy fixed-wing UAVs, typified by solar-powered UAVs and hydrogen-powered UAVs, have the characteristics of green environmental protection, high maneuverability, low use cost and easy maintenance, and can easily perform tasks such as environmental monitoring, weather and climate research, information relay, information support and countermeasures. In order to pursue higher cruising altitudes and longer endurance times, such UAVs often have the characteristics of large wingspans and high lift-drag ratios, which make such UAVs have the characteristics of low flight speed, difficult landing glide, poor disturbance resistance, and large landing point dispersion.

[0003] During the landing process of a carrier-based aircraft, the aircraft is affected by many adverse factors such as ship wake disturbance, ship deck movement, atmospheric turbulence, single reference frame for pilot and coupling of control, time delay of an optical-electric system, and the like. The seemingly cool and amazing carrier landing process is full of thrilling moments. The pilot usually makes 200-300 adjustment operations on the flight attitude in the last 18s of a carrier landing, and still has many situations such as coupling of control channels, low carrier landing accuracy, and the like. A large-wing-span carrier-based UAV is prone to have large altitude and track deviations after encountering external disturbances, especially under the action of ship wake disturbance, low-altitude complex weather environment, and ship heaving and rolling movements, which may reduce flight quality or cause unsuccessful carrier landing, or even endanger carrier landing safety. Under the background of the development of automatic carrier landing guidance systems, ship deck movement compensation technologies, and ship wake suppression technologies, carrier-based aircraft carrier landing failure events still occur from time to time, and carrier-based UAV carrier landing also faces great challenges, and needs to adapt to safe carrier landing within multiple constraint boundaries, especially for new large-wing-span low-speed UAVs, safe carrier landing control technologies under strong disturbances still need to be solved urgently.

[0004] At present, a large-wing-span UAV carrier landing control method still needs to be developed.

[0005] The information disclosed in the background section of this application is only intended to deepen the understanding of the general background of the application, and should not be regarded as acknowledging or implying in any form that this information constitutes prior art known to those skilled in the art. SUMMARY

[0006] The present application provides a large-wing-span UAV carrier landing control method, an electronic device and a medium, which sequentially reduces altitude according to a segmented carrier landing control strategy, and then enters an altitude holding segment, and quickly lands after flying into a ship wake wash area.

[0007] In a first aspect, the embodiments of the present disclosure provide a large-wing-span unmanned aerial vehicle (UAV) carrier landing control method, comprising:

[0008] acquiring a ship motion state to generate a UAV rudder control instruction;

[0009] determining a plurality of stages of a UAV carrier landing process;

[0010] determining a flight path control strategy for each stage.

[0011] Preferably, the plurality of stages of the carrier landing process include a height descent stage, a height maintenance stage, a fast landing stage, a brake deceleration stage, and a go-around stage.

[0012] Preferably, the flight path control strategy of the height descent stage includes:

[0013] The UAV flies horizontally at a preset height H2 in alignment with the direction of the ship runway, and the UAV reduces the height according to the relative position of the UAV and the ship after capturing a glide trajectory line.

[0014] The UAV uses the ship heading as a real-time heading instruction of the UAV, and the carrier landing center line uses the ship runway center line as the UAV landing center line for flight path control.

[0015] Preferably, the flight path control strategy of the height maintenance stage includes:

[0016] The UAV flies horizontally after gliding to the height maintenance stage, the height control loop introduces the ship heave speed to reduce the influence of the ship heave, the flight path control loop introduces the lateral speed to reduce the influence of the ship sway, the attitude control loop introduces the ship roll, pitch, and yaw angles to reduce the control deviation, and the UAV continues to fly for a distance L2.

[0017] Preferably, the flight path control strategy of the fast landing stage includes:

[0018] The UAV flies to the fast landing stage, reduces the thrust for fast landing, the pitch angle control loop introduces the pitch angle integral, the UAV power is turned off when the height distance is set to a distance from the deck, and the nose is pulled up for deceleration landing.

[0019] Preferably, the flight path control strategy of the brake deceleration stage includes:

[0020] The UAV enters the brake deceleration stage after landing, differential braking is performed to make the UAV quickly decelerate and stop and effectively control the lateral speed, the brake correction control structure is consistent with the UAV side slip-rudder control structure, and the flight path control roll angle instruction is softened to transition to zero.

[0021] Preferably, the flight path control strategy of the go-around stage includes:

[0022] If the UAV suffers from the ship wake flow and atmospheric disturbance when flying in the height maintaining segment, and the fast landing condition is not met, the UAV flies according to the take-off direction and then lands again.

[0023] In a second aspect, the embodiments of the present disclosure further provide an electronic device, which comprises:

[0024] a memory, which stores executable instructions;

[0025] a processor, which runs the executable instructions in the memory to implement the large-wing-span UAV landing control method.

[0026] In a third aspect, the embodiments of the present disclosure further provide a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the large-wing-span UAV landing control method.

[0027] The beneficial effects are as follows:

[0028] The present application adopts the segmented landing control method, fully considers the motion characteristics of the large-wing-span low-speed UAV, the ship oscillation motion characteristics and the influence area of the ship wake flow, is suitable for different types of ships and shipborne UAV landing control, and can select the height of the height maintaining segment and the fast landing point according to the influence of the ship wake flow.

[0029] The method and apparatus have other characteristics and advantages that will be apparent from, or elaborated on in, the accompanying drawings and the following detailed description, which together serve to explain certain principles of the application. BRIEF DESCRIPTION OF DRAWINGS

[0030] The above and other objects, features and advantages of the present application will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings in which like reference characters refer to like parts throughout and in which:

[0031] Figure 1 A flow chart showing the steps of the large-wing-span UAV landing control method according to one embodiment of the present application is shown.

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

[0033] Figure 3 A schematic diagram of the large-wing-span UAV landing control judgment flow according to one embodiment of the present application is shown. DETAILED DESCRIPTION

[0034] Preferred embodiments of the present application will be described in more detail below. Although the following describes preferred embodiments of the present application, it is to be understood that the present application can be implemented in various forms and should not be limited by the embodiments set forth herein.

[0035] Figure 1 A flow chart showing steps of a large-wing-span UAV carrier landing control method according to an embodiment of the present application is shown.

[0036] As shown in Figure 1 The large-wing-span UAV carrier landing control method includes:

[0037] Step 101, acquiring a ship motion state to generate a UAV rudder control instruction;

[0038] Step 102, determining a plurality of stages of a UAV landing process;

[0039] Step 103, determining a flight path control strategy for each stage.

[0040] In one example, the plurality of stages of the landing process includes a height descent segment, a height maintenance segment, a rapid landing segment, a brake braking segment, and a go-around segment.

[0041] In one example, the flight path control strategy of the height descent segment includes:

[0042] The UAV flies horizontally at a preset height H2 aligned with the ship runway direction, and the UAV descends after capturing a glide trajectory line according to the relative position of the UAV and the ship;

[0043] The UAV takes the ship heading as a real-time heading instruction of the UAV, and the landing center line takes the ship runway center line as the UAV landing center line for flight path control.

[0044] In one example, the flight path control strategy of the height maintenance segment includes:

[0045] The UAV flies horizontally after descending to the height maintenance segment, the height control loop introduces the ship heave speed to reduce the impact of the ship heave, the flight path control loop introduces the lateral speed to reduce the impact of the ship sway, the attitude control loop introduces the ship roll, pitch, and yaw angles to reduce control deviation, and the UAV continues to fly for a distance L2.

[0046] In one example, the flight path control strategy of the rapid landing segment includes:

[0047] The UAV flies to the rapid landing segment, reduces the thrust for rapid landing, the pitch angle control loop introduces pitch angle integration, the UAV power is turned off when the height distance is set to a distance from the deck, and the nose is pulled up for deceleration landing.

[0048] In one example, the flight path control strategy of the brake braking segment includes:

[0049] After the UAV lands on the carrier, it enters the brake braking section, and differential braking is performed to make the UAV quickly decelerate and stop and effectively control the lateral speed. The brake correction control structure is consistent with the UAV side deflection-rudder control structure, and the roll angle command of the flight path control softens and transitions to zero.

[0050] In one example, the flight path control strategy of the go-around section includes:

[0051] If the UAV is affected by the carrier wake flow and atmospheric disturbance while flying in the height holding section, and the fast landing condition is not met, the UAV flies according to the go-around heading and then lands again.

[0052] Specifically, the ship is configured with a motion state monitoring sensor and an uplink. The ship motion state includes position, height, horizontal speed, vertical speed, three-axis angular rate, and three-axis attitude angle, which can accurately depict the ship's heave, pitch, and roll motion, the position, height, and position change rate of the landing point, and upload the ship's motion state to the UAV through the uplink. The UAV generates rudder control commands according to the motion state to control the UAV's attitude and landing trajectory. The CGCS2000 Chinese Geodetic Navigation Coordinate System is used, with the ship's longitude as lon0, latitude as lat0, height as h0, north-east-sky three-directional velocities as v n0 , v e0 , v s0 , roll angular rate as ω x0 , yaw angular rate as ω y0 , pitch angular rate as ω y0 , roll angle as γ0, pitch angle as θ0, and heading angle as ψ0.

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

[0054] As shown in Figure 2 , the UAV landing process is divided into a height descent section, a height holding section, a fast landing section, a brake braking section, and a go-around section. The preset glide trajectory angle of the UAV fast landing section is θ1, the preset height of the height holding section is H1, and the selection basis is that the downwash airflow generated in the carrier wake flow influence area is small, and the UAV can maintain a high altitude in this height area. The preset horizontal distance of the height holding section is L2; the preset glide trajectory angle of the height descent section is θ2, the preset height of the height descent section is H2, and the preset horizontal distance of the UAV relative to the landing point is L0, and the calculation formula is:

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

[0056] The unmanned aerial vehicle flies at a preset height H2 in the direction of the heading of the ship runway. According to the relative position of the unmanned aerial vehicle and the ship, the unmanned aerial vehicle captures the glide trajectory line, and then the unmanned aerial vehicle is lowered, so that the longitude of the unmanned aerial vehicle is lon, the latitude is lat, the relative position L is calculated according to the longitude and latitude information of the unmanned aerial vehicle and the ship, and the relative position is referred to as the distance to be flown. When it is judged that L≤L0, the unmanned aerial vehicle starts to be lowered, wherein 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 unmanned aerial vehicle pointing to the ship point be ψ Z , and the calculation formula is:

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

[0060] And further convert the value range of the heading angle pointing to the ship point from (-180, 180] to [0, 360).

[0061] In the height descent segment, the unmanned aerial vehicle takes the ship heading as the real-time heading instruction of the unmanned aerial vehicle, and the landing center line takes the ship runway center line as the landing center line of the unmanned aerial vehicle to control the flight path.

[0062] After the unmanned aerial vehicle glides to the height maintaining segment, the unmanned aerial vehicle changes the control structure, the height control loop introduces the ship lifting speed to reduce the influence of the ship heave, the flight path control loop introduces the lateral velocity to reduce the influence of the ship sway, and the attitude control loop introduces the ship roll, pitch and yaw angles to reduce the control deviation, so as to maximize the reduction of the unmanned aerial vehicle control deviation caused by the ship movement.

[0063] The longitudinal control loop of the unmanned aerial vehicle utilizes the pitch angle rate ω z and the pitch angle θ double-loop feedback, the pitch angle instruction is the pitch attitude of the ship, the unmanned aerial vehicle changes with the ship pitch angle in real time, and the control law is in the form of:

[0064]

[0065] Wherein, δ z is the elevator deflection, 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 heave motion, the ship heave speed is introduced into the height control loop of the unmanned aerial vehicle for height loop control, and an integral element is also introduced to ensure the control accuracy of the height loop, and the control law is in the form of:

[0066]

[0067] wherein, is the height rate control gain, is the UAV height rate, is the ship heave rate, is the height control gain, h is the UAV height, is the height integral control gain.

[0068] Due to the limited width of the ship deck runway, the accuracy requirement of the track control is higher, and the influence of the ship roll and sway is considered, the roll angle and sway speed are introduced into the track control loop, so as to reduce the influence on the landing track control accuracy of the UAV. Its control law is shown in the following formula:

[0069]

[0070] wherein, δ a is the aileron 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 angle rate control gain, ω x is the roll angle rate, ω x0 is the ship roll angle 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 side deflection aileron control gain, z is the lateral deflection of the UAV relative to the ship runway center line, is the lateral velocity aileron control gain, is the lateral deflection speed of the UAV relative to the ship runway center line, is the lateral deflection integral control gain, δ r is the rudder deflection, is the yaw angle rate control gain, ω y is the yaw angle rate, is the yaw angle rudder control gain, is the side deflection rudder control gain.

[0071] Wherein the lateral deflection of the UAV relative to the ship runway center line is calculated according to the latitude and longitude of the UAV, and the specific calculation formula is:

[0072] z=L*sin(ψ z -ψ0).

[0073] The UAV continues to fly for a distance L2 according to the height holding segment control law.

[0074] The UAV flies to the rapid landing section, the UAV reduces the thrust for rapid landing, the rapid landing point is selected in the range of the ship deck and the area where the downwash airflow is obvious, and the UAV can use the downwash airflow of the ship stern to land rapidly. The UAV flight path control loop maintains the height holding section control structure, the pitch angle control loop introduces pitch angle integration, improves the pitch angle control accuracy, makes the UAV landing attitude closer to the ship pitch angle and retains a safety margin, and can minimize the longitudinal overload during landing.

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

[0076]

[0077] Where θ c is the UAV glide pitch angle command in the rapid landing section, when the height distance from the deck is 2m, the UAV power is turned off, the nose is pulled up to slow down and land.

[0078] When the low-speed UAV flies in the height holding section, it is disturbed by the ship stern flow and the atmosphere. If the rapid landing condition is not met, the UAV selects to fly according to the take-off direction and lands again. The judgment condition for giving up landing and taking off is: a) the UAV relative to the deck runway centerline side deviation exceeds 1 / 2 of the deck runway width and the difference between 1 / 2 of the UAV landing gear spacing, i.e. the UAV cannot accurately land on the ship; b) due to encountering strong upward airflow or adverse wind shear in the height holding section, the UAV rapid landing section height exceeds the landing decision height, and the forward distance of the ship is not matched with the UAV deceleration stop. That is, h≥K L L1tan(θ1), where K L The UAV landing decision height safety factor.

[0079] After the UAV lands, the brake system is started and differential braking is performed to make the UAV stop rapidly and effectively control the lateral speed. The brake correction control structure is consistent with the UAV side deviation-rudder control structure, and the flight path control roll angle command softens to zero.

[0080] The scheme of sharing the ship motion state with the unmanned aerial vehicle adopted by the present application is not only applicable to the unmanned aerial vehicle, but also can use the manned automatic driving system of the unmanned aerial vehicle on the ship, so that the final attitude adjustment of landing on the ship can be reduced to a certain extent, and the operation load of the pilot can be reduced. The segmented landing control method adopted by the present application fully considers the motion characteristics of the large-wing-span low-speed unmanned aerial vehicle, the ship oscillation motion characteristics and the influence area of the ship wake, is applicable to different types of ships and shipborne unmanned aerial vehicles landing control, and can select the height of the height maintaining section and the rapid landing point according to the influence of the ship wake. The control method based on the ship attitude and position adopted by the present application not only considers the relative position change of the unmanned aerial vehicle and the ship, but also considers the relative attitude change of the unmanned aerial vehicle and the ship, so that the attitude deviation of the unmanned aerial vehicle at the landing time and the ship can be effectively reduced, the relative attitude asymmetry can be reduced, and the landing impact overload can be effectively reduced. The rapid landing scheme using the ship wake downwash air flow adopted by the present application can reduce the time and distance of the unmanned aerial vehicle flying in the air above the deck, so as to reduce the influence time of the violent disturbance of low-altitude atmosphere, and further reduce the landing point scattering of the unmanned aerial vehicle, and the landing position control precision of the unmanned aerial vehicle can be improved.

[0081] The present application also provides an electronic device, which comprises a memory storing executable instructions, and a processor running the executable instructions in the memory to realize the large-wing-span unmanned aerial vehicle landing control method.

[0082] The present application also provides a computer readable storage medium storing a computer program, which is executed by a processor to realize the large-wing-span unmanned aerial vehicle landing control method.

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

[0084] Example 1

[0085] In the present application, after the large-wing-span low-speed unmanned aerial vehicle completes the flight task according to the preset task or the ship instruction, the unmanned aerial vehicle performs landing flight according to the route, and then sequentially reduces the height according to the segmented landing control strategy, and then enters the height maintaining section, flies into the ship wake downwash area, and then rapidly lands. The differences in the ship wake area and the characteristics of the ship oscillation are fully utilized, the attitude adjustment frequency is reduced, and the landing control precision and safety level are effectively improved.

[0086] Figure 3 A large-wing-span unmanned aerial vehicle landing control judgment flowchart according to an embodiment of the present application is shown.

[0087] As Figure 3As shown, this invention first clearly stipulates that both large-wingspan UAVs and ships must be equipped with motion state monitoring sensors and information transmission links. The attitude information, position, speed and altitude information of the ship are uploaded to the UAV through the uplink and downlink links. The UAV's onboard computer calculates the landing control law and generates UAV control surface control commands to control the UAV's attitude and landing trajectory.

[0088] Based on the UAV's lift-to-drag ratio, trim status, and matching power status, the UAV's glide path angle is determined to be θ2. Based on the ship's wake flow field distribution, the preset altitude H2 and preset horizontal distance L2 for the UAV's altitude holding phase are selected. Based on the UAV's glide capability and the downwash airflow from the ship's wake, the glide path angle for the rapid landing phase is selected as θ. `1 The landing route of the drone is determined and saved to the drone's onboard terminal.

[0089] The motion states of the UAV and the ship are measured based on sensor information. The relative position L of the UAV and the ship is calculated based on their latitude and longitude information, and the heading angle of the UAV pointing towards the landing point is ψ. 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] Furthermore, the range of the heading angle of the ship's pointing point is changed from (-180, 180] to [0, 360].

[0093] Based on the relative position L and the heading angle of the UAV pointing towards the landing point as ψ Z And the relative sideslip of the UAV for calculating the ship's motion and heading:

[0094] z = L*sin(ψ) z -ψ0)

[0095] It also performs routine pitch loop control, altitude control, and trajectory control for the UAV.

[0096] The UAV flies along the flight path, and after completing its mission, it levels off at a preset altitude H2, aligning itself with the ship's runway. Its position is determined by the distance L to be flown. If L ≤ L0, the UAV begins to descend; if L > L0, the UAV continues to level off towards the ship. In actual flight, it is difficult for the UAV to maintain perfect alignment with the command H2; therefore, L0 is calculated using real-time relative altitude.

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

[0098] After the glide height of the UAV is lower than H1, the UAV is converted from glide to flat flight, the pitch angle of the ship is introduced into the pitch angle control loop, the sink rate is introduced into the height control loop, the roll angle is introduced into the roll angle attitude control loop, and the sway velocity is introduced into the velocity control loop. The UAV continues to fly a distance L2 according to the height maintaining segment control law. The flight control law structure of this flight segment is as follows:

[0099]

[0100] According to the real-time distance of the UAV from the landing point and the rapid landing glide angle θ `1 , if L > (h - H0) / tanθ1, the UAV continues to point to the landing point and flies flat, and adjusts the position and attitude in real time with the ship movement; if L≤(h-H0) / tanθ1, the UAV further judges whether the landing condition is met.

[0101] According to the relative height and relative side deviation of the UAV and the center line of the ship runway, it is judged whether the UAV meets the landing condition. If the landing condition is met, the UAV lands rapidly; if the landing condition is not met, the UAV increases the thrust and takes off again.

[0102] The judgment condition of the UAV taking off again is: a) the side deviation of the UAV relative to the center line of the deck runway exceeds the difference between 1 / 2 deck runway width and 1 / 2 UAV landing gear spacing; b) the height of the UAV in the rapid landing segment exceeds the landing decision height, that is, h≥K L L1tan(θ1), wherein K L is the landing decision height safety factor of the UAV.

[0103] If the determined condition does not meet the UAV landing, the UAV rapidly climbs to take off again, the control loop no longer considers the influence of the ship movement, the UAV enters the take-off flight path, and performs the landing flight again. When the UAV is 2m away from the deck, the UAV power is turned off, the nose is appropriately pulled up, and the UAV uses differential brakes to correct deviation and brake to slow down and stop after landing.

[0104] Example 2

[0105] The electronic device provided by the present disclosure includes a memory storing executable instructions and a processor running the executable instructions in the memory to implement the above-mentioned large-wing-span UAV landing control method.

[0106] The electronic device according to the embodiments of the present disclosure includes a memory and a processor.

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

[0108] The processor can be a central processing unit (CPU) or other form of processing unit that has data processing and / or instruction execution capabilities, and can control other components in the electronic device to perform desired functions. In one embodiment of the present disclosure, the processor is configured to execute the computer readable instructions stored in the memory.

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

[0110] Detailed descriptions of the embodiments can refer to the corresponding descriptions in the foregoing embodiments, which will not be repeated here.

[0111] Example 3

[0112] The embodiment of the present disclosure provides a computer readable storage medium, which stores a computer program. The computer program is executed by a processor to implement the large-wing-span UAV landing control method.

[0113] The computer readable storage medium according to the embodiment of the present disclosure has non-transitory computer readable instructions stored thereon. When the non-transitory computer readable instructions are executed by a processor, all or part of the steps of the method of the embodiments of the present disclosure are executed.

[0114] The computer readable storage medium described above includes, but is not limited to, optical storage media (for example, CD-ROM and DVD), magneto-optical storage media (for example, MO), magnetic storage media (for example, magnetic tape or mobile hard disk), media with built-in rewritable non-volatile memory (for example, memory card), and media with built-in ROM (for example, ROM cartridge).

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

[0116] Having described various embodiments of the application, it is to be understood that the above description is meant to be illustrative only, and that many modifications and variations of the embodiments are possible without departing from the scope and spirit of the described embodiments. Many modifications and variations of the described embodiments are possible in light of the above teachings. It is, therefore, to be understood that within the scope of the appended claims and their equivalents, the described embodiments can be practiced otherwise than as specifically described.

Claims

1. A method for controlling the landing of unmanned aerial vehicles (UAVs) on a ship, characterized in that, include: Acquire the ship's motion status and generate control commands for the UAV's control surfaces; Determine the multiple stages of the drone's landing process on the ship; Determine the trajectory control strategy for each stage; The landing process includes multiple stages: altitude descent, altitude maintenance, rapid landing, braking, and go-around. The ship's heave speed is incorporated into the altitude control loop for altitude control, and the control law is as follows: in, For high rate of change control gain, For the drone's altitude change rate, For the ship's buoyancy, To achieve highly controlled gain, For the drone's altitude, For high integral control gain, For pitch angle, The preset height for the height-maintaining section, For pitch rate, The pitch angle, For elevator deflection, The gain is used to control the pitch angle.

2. The unmanned aerial vehicle (UAV) carrier landing control method according to claim 1, wherein, The trajectory control strategy during the descent phase includes: The drone at a preset altitude The drone flies horizontally towards the direction of the ship's runway. Based on the relative position of the drone and the ship, it captures the glide path and then descends. The drone uses the ship's heading as its real-time heading command, and the landing centerline uses the ship's runway centerline as the drone's landing centerline for trajectory control.

3. The unmanned aerial vehicle (UAV) carrier landing control method according to claim 1, wherein, The trajectory control strategy for the altitude-maintaining segment includes: After the UAV descends to the aforementioned altitude holding phase, it transitions to level flight. The altitude control loop incorporates the ship's climb and fall rates to mitigate the effects of ship heave. The trajectory control loop incorporates lateral velocity to reduce the effects of ship roll. The attitude control loop incorporates the ship's roll, pitch, and yaw angles to reduce control deviations and extend the continuous flight distance. .

4. The unmanned aerial vehicle (UAV) carrier landing control method according to claim 1, wherein, The trajectory control strategy for the rapid landing phase includes: The UAV flies to the rapid landing section, reduces thrust for rapid landing, introduces pitch angle integral into the pitch angle control loop, and shuts off the UAV's power when it is at a set distance from the deck at altitude, and pulls up the nose to decelerate and land on the ship.

5. The unmanned aerial vehicle (UAV) carrier landing control method according to claim 1, wherein, The trajectory control strategy for the braking phase includes: After landing on the ship, the UAV enters the braking phase and performs differential braking to quickly decelerate and stop the UAV and effectively control its lateral speed. The braking correction control structure is consistent with the UAV's yaw-rudder control structure, and the trajectory control roll angle command is softened and transitioned to zero.

6. The unmanned aerial vehicle (UAV) carrier landing control method according to claim 1, wherein, The trajectory control strategy for the go-around segment includes: If the UAV is subjected to ship wake and atmospheric disturbances during the altitude-holding phase and does not meet the conditions for rapid landing, it will fly in the go-around heading and land again.

7. An electronic device, characterized in that, The electronic device includes: Memory, which stores executable instructions; A processor that executes the executable instructions in the memory to implement the unmanned aerial vehicle (UAV) landing control method according to any one of claims 1-6.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the unmanned aerial vehicle (UAV) landing control method according to any one of claims 1-6.

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