Method and device for calculating autonomous landing performance of unmanned aerial vehicle

Abstract

The invention provides a method and a device for calculating autonomous landing performance of an unmanned aerial vehicle. The method comprises the following steps of: 1, respectively determining a guiding process landing performance index of guiding process safety and a ship touching safety landing performance index of ship touching safety; 2, according to an unmanned aerial vehicle performance calculation starting point Dis0, a stable glide starting point Dis1, a ship wake flow disturbance starting point Dis2 and a ship tail point Dis3, stages of the guiding process are divided, and guiding process ship landing performance indexes of different stages of the guiding process are determined respectively; step 3, determining a safe carrier landing performance index of carrier touch; 4, evaluating the guide process according to the carrier landing performance index of the guide process to obtain a carrier landing performance calculation result of the guide process; evaluating the ship touch safety according to the ship touch safety landing performance index to obtain a ship touch safety performance calculation result; and 5, calculating the autonomous landing performance of the unmanned aerial vehicle through weight setting according to the landing performance calculation result of the guiding process and the landing safety performance calculation result.

Description

Technical Field

[0001] The present invention belongs to the field of unmanned aerial vehicles (UAVs), and in particular relates to a method and device for calculating the autonomous landing performance of a UAV. Background Art

[0002] The landing process of a drone is one of the most difficult subjects in current flight, and is known as "dancing on the edge of a knife". Taking a 3.5° glide as an example, through analysis, when the longitudinal height deviation is one meter, the longitudinal dispersion deviation of the touchdown point is about 16m, so accurate glide trajectory control is crucial to the success of landing. For manned aircraft, the driver frequently manipulates the joystick and throttle to correct the deviation during the glide process to ensure that the aircraft does not deviate too much from the expected glide trajectory. For drones, the entire process achieves the above goals through automatic control algorithms, which poses a huge challenge to the flight control system.

[0003] How to reasonably and systematically quantify the landing performance is crucial for the test flight training of carrier-based aircraft, the optimal design of control, and the index requirements of related supporting equipment, but there is no practical and feasible research plan and implementation. Therefore, solving the above problems is of milestone significance for the subsequent technology advancement and system construction. Summary of the invention

[0004] The present invention provides a method and device for calculating the autonomous landing performance of a UAV. In the landing process under complex environment, the landing control performance is quantitatively calculated by reasonably dividing sections and selecting reasonable evaluation indicators, so as to provide a reference basis for subsequent flight manipulation, go-around logic and control optimization.

[0005] In a first aspect, the present application provides a method for calculating autonomous landing performance of a UAV, the method comprising:

[0006] Step 1: respectively determine the guidance process landing performance index of guidance process safety and the touch-and-go safety landing performance index of touch-and-go safety;

[0007] Step 2: According to the performance calculation of the UAV, the starting point Di s0, the stable glide starting point Di s1, the ship wake disturbance starting point Di s2, and the ship tail point Di s3, the stages of the guidance process are divided, and the guidance process landing performance indicators of different stages of the guidance process are determined respectively;

[0008] Step 3: Determine the performance index of safe touch-and-go landing;

[0009] Step 4: Evaluate the guidance process according to the guidance process landing performance index to obtain the guidance process landing performance calculation result; evaluate the touchdown safety according to the touchdown safety landing performance index to obtain the touchdown safety performance calculation result;

[0010] Step 5: According to the calculation results of the landing performance during the guidance process and the safety performance of touching the ship, the autonomous landing performance of the UAV is calculated by setting weights.

[0011] Furthermore, the calculation methods of the UAV performance calculation starting point Di s0, the stable glide starting point Di s1, the ship wake disturbance starting point Di s2, and the ship tail point Di s3 are as follows:

[0012] According to the fixed-wing UAV starting height H and the glide slope FPA, the formula Di s0 = H / tan(FPA) + 300 is used to calculate the starting point Di s0 of the UAV performance calculation;

[0013] According to the fixed-wing UAV starting height H and the glide slope FPA, the formula Di s1 = H / tan (FPA) * 0.7 is used to calculate the stable glide starting point Di s1;

[0014] According to the fixed-wing UAV starting height H and the glide slope FPA, the starting point Di s2 of the ship wake disturbance is calculated using the formula Di s2 = H / tan(FPA)*0.4;

[0015] According to the fixed-wing UAV starting height H and the glide slope FPA, the stern point Di s3 is calculated using the formula Di s3 = H / tan(FPA)*0.05.

[0016] Furthermore, according to the performance calculation starting point Di s0 of the UAV, the stable glide starting point Di s1, the ship wake disturbance starting point Di s2, and the ship stern point Di s3, the guidance process is divided into the starting stage, the stable stage, the approach stage and the ship stern stage, where:

[0017] The initial stage is the stage when the UAV flies from Dis0 to Dis1; the stable stage is the stage when the UAV flies from Dis1 to Dis2; the approach stage is the stage when the UAV flies from Dis2 to Dis3; the stern stage is the stage from Dis3 to the touchdown point.

[0018] Furthermore, the guidance process landing performance indicators at different stages of the guidance process are:

[0019] The landing performance indicators of the guidance process in the initial stage are overshoot, sinking rate, angle of attack, speed, pitch angle, roll angle, and yaw angle;

[0020] The landing performance indicators of the guidance process in the stable phase are longitudinal deviation, lateral deviation, sinking rate, angle of attack, speed, pitch angle, roll angle, and yaw angle;

[0021] The landing performance indicators of the guidance process during the approach phase are longitudinal deviation, lateral deviation, sinking rate, angle of attack, speed, pitch angle, roll angle, and yaw angle;

[0022] The landing performance indicators of the guidance process at the stern stage are longitudinal deviation, lateral deviation, sinking rate, angle of attack, speed, pitch angle, roll angle, and yaw angle.

[0023] Furthermore, the performance indicators of safe touch-and-go landing include: longitudinal landing point deviation, lateral landing point deviation, hook slope distance, landing sinking rate, angle of attack, airspeed, pitch angle, roll angle, and yaw angle.

[0024] Furthermore, step 4 includes:

[0025] Step 41: presetting an indicator model, wherein the indicator model includes an increasing indicator model, a decreasing indicator model and a boundary indicator model;

[0026] Step 42: Set the index models that match the guidance process landing performance index and the touch-and-go safety landing performance index respectively:

[0027] Step 43: According to the index model matching the guidance process landing performance index and the touch-and-carry safety landing performance index, the guidance process landing performance calculation results and the touch-and-carry safety performance calculation results are obtained.

[0028] Further, the incremental indicator model:

[0029]

[0030] Decreasing indicator model:

[0031]

[0032] Boundary indicator mode:

[0033]

[0034] Among them, a is the lower boundary of the indicator, b is the upper boundary of the indicator, and x i is the index value, p i (x i ) is the index x i Calculation results under the corresponding model.

[0035] Furthermore, step 5 includes:

[0036] Step 51: weighting the calculation results of the landing performance and the safety performance of the touchdown during the guidance process;

[0037] Step 52: Calculate the autonomous landing performance of the UAV according to the weight setting of the landing performance calculation results of the guidance process and the safety performance calculation results of the touchdown process.

[0038] In a second aspect, the present application provides a device for calculating the autonomous landing performance of an unmanned aerial vehicle, and the device is applied to the above-mentioned method for calculating the autonomous landing performance of an unmanned aerial vehicle.

[0039] The beneficial effects of the present invention are as follows: a method and device for calculating the autonomous landing performance of a UAV are provided, which respectively provide quantitative indicators of the control performance and the safety of touching down the carrier from two aspects: the landing process and the result of touching down the carrier, and provide an important basis for the optimization of the subsequent control algorithm. At the same time, it is of great help for daily training and go-around safety protection, and improves the landing success rate while ensuring safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 Schematic diagram of the landing process and phases. DETAILED DESCRIPTION

[0041] The present application provides a method for calculating the autonomous landing performance of a UAV, the method comprising:

[0042] Step 1: respectively determine the guidance process landing performance index of guidance process safety and the touch-and-go safety landing performance index of touch-and-go safety;

[0043] Step 2: According to the performance calculation of the UAV, the starting point Di s0, the stable glide starting point Di s1, the ship wake disturbance starting point Di s2, and the ship tail point Di s3, the stages of the guidance process are divided, and the guidance process landing performance indicators of different stages of the guidance process are determined respectively;

[0044] Specifically, Figure 1 As shown in the figure, the calculation method of the starting point Di s0 of the UAV performance calculation, the starting point Di s1 of the stable glide, the starting point Di s2 of the ship wake disturbance, and the calculation method of the ship tail point Di s3 are as follows:

[0045] According to the fixed-wing UAV starting height H and the glide slope FPA, the formula Di s0 = H / tan(FPA) + 300 is used to calculate the starting point Di s0 of the UAV performance calculation;

[0046] According to the fixed-wing UAV starting height H and the glide slope FPA, the formula Di s1 = H / tan (FPA) * 0.7 is used to calculate the stable glide starting point Di s1;

[0047] According to the fixed-wing UAV starting height H and the glide slope FPA, the starting point Di s2 of the ship wake disturbance is calculated using the formula Di s2 = H / tan(FPA)*0.4;

[0048] According to the fixed-wing UAV starting height H and the glide slope FPA, the stern point Di s3 is calculated using the formula Di s3 = H / tan(FPA)*0.05.

[0049] Specifically, step 2 includes:

[0050] Step 21: According to the performance of the UAV, the starting point Di s0, the stable glide starting point Di s1, the ship wake disturbance starting point Di s2, and the ship stern point Di s3 are calculated to divide the guidance process into the starting stage, the stable stage, the approach stage, and the ship stern stage, where:

[0051] The initial stage is when the UAV flies from Di s0 to Di s1. The UAV first tracks the glide path by level flight at a fixed altitude. The glide path moves with the movement of the vehicle. After entering the glide path, it switches to tracking the 3° glide path.

[0052] The stable stage is the stage when the UAV flies from Di s 1 to Di s 2. The expected glide path is generated according to the expected touchdown point and the glide angle. This glide path is far away from the ship, so it is less affected by the wake and the control is relatively stable, which can be well used to calculate the stable tracking capability of each control mode.

[0053] The approach phase is when the drone flies from Di s2 to Di s3. This phase is mainly affected by the wake of the ship, making flight control difficult and causing severe vibrations. The degree of vibrations varies greatly with the size and speed of the ship and the drone. The main analysis is on the control effect under disturbance, with an emphasis on the estimation and compensation of the wake and the motion compensation capability of the deck.

[0054] Stern stage: from Di s3 to the touchdown point. This stage is closer to the stern, the flight time is shorter, and after entering the stern, the flight control will stabilize at the state at the time of entry. During this process, the flight state of the aircraft will be relatively stable, and it is directly related to the performance of the touchdown index.

[0055] Step 22: The guidance process landing performance indicators at different stages of the guidance process are:

[0056] The landing performance indicators of the guidance process in the initial stage are overshoot, sinking rate, angle of attack, speed, pitch angle, roll angle, and yaw angle;

[0057] The landing performance indicators of the guidance process in the stable phase are longitudinal deviation, lateral deviation, sinking rate, angle of attack, speed, pitch angle, roll angle, and yaw angle;

[0058] The landing performance indicators of the guidance process during the approach phase are longitudinal deviation, lateral deviation, sinking rate, angle of attack, speed, pitch angle, roll angle, and yaw angle;

[0059] The landing performance indicators of the guidance process at the stern stage are longitudinal deviation, lateral deviation, sinking rate, angle of attack, speed, pitch angle, roll angle, and yaw angle.

[0060] It should be noted that the landing performance indicators during the guidance process include the sinking rate, angle of attack, speed, pitch angle, roll angle and yaw angle directly obtained through sensor data; as well as the overshoot, longitudinal and lateral deviations that need to be calculated accordingly. The calculation formula is as follows:

[0061] Overshoot calculation

[0062] In the initial stage, the UAV first flies toward the starting glide point at a fixed altitude. After reaching the starting glide point, it tracks the expected glide line of the FPA degree. The trajectory at this time is represented by a dotted line, and the overshoot is the CH length.

[0063] The relative position of the tail hook relative to the expected contact point can be obtained by the sensor P1 = [xd, yd, zd] T , a schematic diagram of the relative flight trajectory can be drawn.

[0064] Starting from the point of entry, the expected decline line can be described as:

[0065] x*tan(FPA)+z=0

[0066] Where x is the distance to be flown, and z is the longitudinal distance. According to the relative position P1 of the tail hook relative to the expected contact point, the longitudinal distance from the expected glide path is calculated as:

[0067]

[0068] Then the first extreme value of H1 from the sliding point is the overshoot CH.

[0069] Calculation of longitudinal and lateral deviation

[0070] The relative position of the tail hook relative to the expected contact point can be obtained by the sensor P1 = [xd, yd, zd] T , based on the distance to be flown xd and the FPA glide path, calculate the longitudinal height:

[0071] H d =|xd|*tan(FPA)

[0072] Then the longitudinal deviation of the current position of the drone is

[0073] dh=Hd-|zd|

[0074] The lateral deviation is

[0075] dy=yd

[0076] The original physical quantities of the above indicators are averaged within the stage to obtain the evaluation benchmark value of the indicator.

[0077] Step 3: Determine the performance index of safe touch-and-go landing;

[0078] Specifically, the performance indicators of safe touch-and-go landing include: longitudinal landing point deviation, lateral landing point deviation, hook slope distance, landing sinking rate, angle of attack, airspeed, pitch angle, roll angle, and yaw angle.

[0079] It should be noted that the touch-and-go safety landing performance indicators include indicators such as landing sinking rate, angle of attack, airspeed, pitch angle, roll angle, and yaw angle directly obtained through sensor data;

[0080] And the indicators that need to be calculated accordingly: longitudinal landing point deviation, transverse landing point deviation, hook slope distance, the calculation formula is as follows:

[0081] Calculation of longitudinal and transverse landing point deviation

[0082] The calculation method of the longitudinal landing point deviation and the transverse landing point deviation is the same as the calculation method of the longitudinal and transverse deviations in step 23;

[0083] Hook slope distance calculation

[0084] The hook height is defined as the vertical height of the aircraft relative to the stern of the ship.

[0085] The coordinates of the intersection of the oblique deck centerline and the stern can be obtained through the built-in parameters of the ship as [x1, y1, z1] T , then the hook slope distance is calculated as follows:

[0086]

[0087] The above indicators are the benchmark values ​​for subsequent evaluations.

[0088] Step 4: Evaluate the guidance process according to the guidance process landing performance index to obtain the guidance process landing performance calculation result; evaluate the touch-down safety according to the touch-down safety landing performance index to obtain the touch-down safety performance calculation result.

[0089] It should be noted that the guidance process landing performance indicators and the touch-and-go safety landing performance indicators need to be normalized based on the indicator model, which involves the indicator model design and indicator model matching settings.

[0090] Specifically, step 4 includes:

[0091] Step 41: pre-set an indicator model, wherein the indicator model includes an increasing indicator model, a decreasing indicator model and a boundary indicator model, wherein:

[0092] Incremental indicator model:

[0093]

[0094] Decreasing indicator model:

[0095]

[0096] Boundary indicator mode:

[0097]

[0098] Among them, a is the lower boundary of the indicator, b is the upper boundary of the indicator, and x i is the index value, p i (x i ) is the index x i Calculation results under the corresponding model.

[0099] Step 42: Set the index models that match the guidance process landing performance index and the touch-and-go safety landing performance index respectively:

[0100] Table 1 Index model

[0101]

[0102]

[0103] Step 43: According to the index model matching the guidance process landing performance index and the touch-and-go safety landing performance index, the guidance process landing performance calculation result and the touch-and-go safety performance calculation result are obtained; wherein:

[0104] The landing performance calculation results of the guidance process in the initial stage are overshoot P 11 , sinking rate P 12 , angle of attack P 13 , speed P 14 , pitch angle P 15 , roll angle P 16 , yaw angle P 17 ;

[0105] The landing performance calculation results of the guidance process in the stable stage are longitudinal deviation P 21 , lateral deviation P 22 , sinking rate P 23 , angle of attack P 24 , speed P 25 , pitch angle P 26 , roll angle P 27 , yaw angle P 28 ;

[0106] The landing performance calculation results of the guidance process during the approach phase are as follows: longitudinal deviation P 31 , lateral deviation P 32 , sinking rate P 33 , angle of attack P 34, speed P 35 , pitch angle P 36 , roll angle P 37 , yaw angle P 38 ;

[0107] The landing performance calculation results of the guidance process at the stern stage are as follows: 41 , lateral deviation P 42 , sinking rate P 43 , angle of attack P 44 , speed P 45 , pitch angle P 46 , roll angle P 47 , yaw angle P 48 ;

[0108] The calculation result of the safety performance of ship contact is the longitudinal landing point deviation P 01 , lateral landing point deviation P 02 , hook slope distance P 03 , landing sinking rate P 04 , angle of attack P 05 , airspeed P 06 , pitch angle P 07 , roll angle P 08 , yaw angle P 09 .

[0109] Step 5: According to the calculation results of the landing performance during the guidance process and the safety performance of touching the ship, the autonomous landing performance of the UAV is calculated by setting weights.

[0110] Specifically, step 5 includes:

[0111] Step 51: weighting the calculation results of the landing performance and the safety performance of the touchdown during the guidance process;

[0112] Specifically, the weights of the seven indicators in the initial stage are designed to be overshoot Sinking rate Angle of attack speed Pitch Angle Roll Angle Yaw angle satisfy

[0113] The weights of the eight indicators in the stable stage are designed as vertical deviations Lateral deviation Sinking rate Angle of attack speed Pitch Angle Roll Angle Yaw angle satisfy

[0114] The weights of the 8 indicators in the approaching stage are designed as vertical deviations Lateral deviation Sinking rate Angle of attack speed Pitch Angle Roll Angle Yaw angle satisfy

[0115] The weights of the eight indicators in the stern phase are designed as longitudinal deviation Lateral deviation Sinking rate Angle of attack speed Pitch Angle Roll Angle Yaw angle satisfy

[0116] The comprehensive weight designs for the initial stage, stable stage, approach stage, and stern stage are as follows: satisfy

[0117] Specifically, the weights of the nine indicators of ship-touching safety are: longitudinal landing point deviation Horizontal drop point deviation Hook slope distance Landing sinking rate Angle of attack airspeed Pitch Angle Roll Angle Yaw angle satisfy

[0118] The comprehensive weight designs of the guidance process and the safety of touching down the ship are and satisfy

[0119]

[0120] Step 52: Calculate the autonomous landing performance of the UAV according to the weight setting of the landing performance calculation results of the guidance process and the safety performance calculation results of the touchdown process.

[0121] Specifically, the comprehensive performance calculation values ​​of the indicators in the initial stage are:

[0122]

[0123] Calculation value of comprehensive performance indicators in the stable stage:

[0124]

[0125] Calculation value of comprehensive performance of indicators in the approaching stage:

[0126]

[0127] Calculation value of comprehensive performance indicators at the stern stage:

[0128]

[0129] Then, the comprehensive performance calculation value of the guidance process safety index is:

[0130]

[0131] The comprehensive performance calculation value of the ship-touching safety index is:

[0132]

[0133] The autonomous landing performance of the UAV is calculated as:

[0134]

[0135] The beneficial effects of the present invention are as follows: a method and device for calculating the autonomous landing performance of a UAV are provided, which respectively provide quantitative indicators of the control performance and the safety of touching down the carrier from two aspects: the landing process and the result of touching down the carrier, and provide an important basis for the optimization of the subsequent control algorithm. At the same time, it is of great help for daily training and go-around safety protection, and improves the landing success rate while ensuring safety.

[0136] The following is an example analysis of the performance calculation application method in two application scenarios for the above technologies:

[0137] Embodiment 1

[0138] The embodiment of the present application is described by taking a sliding speed of 15 m / s, a starting sliding height of 25 m, and an expected sliding angle of 3° as an example.

[0139] Step 1: Landing phase division:

[0140] The distance between the starting glide path point and the ideal touchdown point is: Dtg0 = 25 / tan(3°) = 477 meters.

[0141] Initial phase range: 333m~777m; stable phase: 190m~333m; approach phase 24m~190m; stern phase: 0m~24m.

[0142] Step 2: The selected indicators are shown in Table 1, and the corresponding model parameters are as follows:

[0143] Table 2 Landing index calculation model parameters (V = 15m / s, H_start = 25m, FPA = 3°)

[0144]

[0145]

[0146]

[0147] Step 3: The weights of the above indicators are designed as follows:

[0148] Table 3 Guidance process indicator weight design

[0149]

[0150]

[0151] Table 4 Design of weights of ship-touching safety indicators

[0152]

[0153] Step 4: Based on sensor data collection and related calculations, the following benchmark values ​​are obtained by averaging the values ​​in each stage:

[0154] Table 5 Evaluation benchmark values ​​of landing process indicators

[0155]

[0156]

[0157] Table 6 Evaluation benchmark values ​​of ship-touching safety indicators

[0158]

[0159] Step 5: Calculate indicators based on the model

[0160] Table 7 Calculation results of various indicators during landing process

[0161]

[0162]

[0163] Table 8 Calculation results of various indicators of the ship touchdown results

[0164]

[0165] Step 6: Perform comprehensive calculation of indicators

[0166] Table 9 Landing performance calculation

[0167]

[0168]

[0169] Embodiment 2

[0170] The embodiment of the present application is described by taking a sliding speed of 25 m / s, a starting sliding height of 50 m, and an expected sliding angle of 3.5° as an example.

[0171] Step 1: Landing phase division:

[0172] The distance between the starting glide path point and the ideal touchdown point is: Dtg0 = 50 / tan(3.5°) = 817 meters.

[0173] Initial phase range: 572m~1117m; stable phase: 327m~572m; approach phase 41m~327m; stern phase: 0m~41m.

[0174] Step 2: The selected indicators are shown in Table 1, and the corresponding model parameters are as follows:

[0175] Table 10 Landing index calculation model parameters (V = 25m / s, H_start = 50m, FPA = 3.5°)

[0176]

[0177]

[0178]

[0179] Step 3: The weights of the above indicators are designed as follows:

[0180] Table 11 Guidance process indicator weight design

[0181]

[0182]

[0183] Table 12 Design of weights of ship-touching safety indicators

[0184]

[0185] Step 4: Based on sensor data collection and related calculations, the following benchmark values ​​are obtained by averaging the values ​​in each stage:

[0186] Table 13 Evaluation benchmark values ​​of landing process indicators

[0187]

[0188]

[0189] Table 14: Base values ​​for assessment of ship-touching safety indicators

[0190]

[0191] Step 5: Calculate indicators based on the model

[0192] Table 15 Calculation results of various indicators during landing process

[0193]

[0194]

[0195] Table 16 Calculation results of various indicators of the ship touchdown results

[0196]

[0197] Step 6: Perform comprehensive calculation of indicators

[0198] Table 17 Landing performance calculation

[0199]

[0200]

[0201] The beneficial effects of the present invention are as follows: a method and device for calculating the autonomous landing performance of a UAV are provided, which respectively provide quantitative indicators of the control performance and the safety of touching down the carrier from two aspects: the landing process and the result of touching down the carrier, and provide an important basis for the optimization of the subsequent control algorithm. At the same time, it is of great help for daily training and go-around safety protection, and improves the landing success rate while ensuring safety.

Claims

1. A method for calculating the autonomous landing performance of a UAV, characterized in that: Methods include: Step 1: respectively determine the guidance process landing performance index of guidance process safety and the touch-and-go safety landing performance index of touch-and-go safety; Step 2: According to the UAV performance calculation starting point Dis0, the stable glide starting point Dis1, the ship wake disturbance starting point Dis2, and the ship tail point Dis3, the stages of the guidance process are divided, and the guidance process landing performance indicators at different stages of the guidance process are determined respectively; Step 3: Determine the performance index of safe touch-and-go landing; Step 4: Evaluate the guidance process according to the landing performance index of the guidance process to obtain the landing performance calculation result of the guidance process; According to the touch-and-go safety landing performance index, the touch-and-go safety is evaluated to obtain the touch-and-go safety performance calculation result; Step 5: According to the calculation results of the landing performance during the guidance process and the safety performance of touching the ship, the autonomous landing performance of the UAV is calculated by setting weights.

2. The calculation method according to claim 1, characterized in that: The calculation method of the UAV performance calculation starting point Dis0, the stable glide starting point Dis1, the ship wake disturbance starting point Dis2, and the ship tail point Di s3 is as follows: According to the fixed-wing UAV starting height H and the glide slope FPA, the UAV performance calculation starting point Dis0 is calculated using the formula Dis0 = H / tan(FPA) + 300; According to the fixed-wing UAV starting height H and the glide slope FPA, the stable glide starting point Dis1 is calculated using the formula Dis1 = H / tan(FPA)*0.7; According to the fixed-wing UAV starting height H and the glide slope FPA, the starting point Dis2 of the ship wake disturbance is calculated using the formula Dis2 = H / tan(FPA)*0.4; According to the fixed-wing UAV starting height H and the glide slope FPA, the stern point Dis3 is calculated using the formula Dis3 = H / tan(FPA)*0.

05.

3. The calculation method according to claim 1, characterized in that: According to the UAV performance calculation starting point Dis0, the stable glide starting point Dis1, the ship wake disturbance starting point Dis2, and the ship stern point Di s3, the guidance process is divided into the starting stage, the stable stage, the approach stage and the ship stern stage, where: The initial phase is when the UAV flies from Dis0 to Dis1; the stable phase is when the UAV flies from Dis 1 to Dis2; the approach phase is when the UAV flies from Dis2 to Dis3; the stern phase is from Dis3 to the touchdown point.

4. The calculation method according to claim 3, characterized in that: The guidance process landing performance indicators at different stages of the guidance process are: The landing performance indicators of the guidance process in the initial stage are overshoot, sinking rate, angle of attack, speed, pitch angle, roll angle, and yaw angle; The landing performance indicators of the guidance process in the stable phase are longitudinal deviation, lateral deviation, sinking rate, angle of attack, speed, pitch angle, roll angle, and yaw angle; The landing performance indicators of the guidance process during the approach phase are longitudinal deviation, lateral deviation, sinking rate, angle of attack, speed, pitch angle, roll angle, and yaw angle; The landing performance indicators of the guidance process at the stern stage are longitudinal deviation, lateral deviation, sinking rate, angle of attack, speed, pitch angle, roll angle, and yaw angle.

5. The calculation method according to claim 3, characterized in that: The performance indicators of safe touch-and-go landing include: longitudinal landing point deviation, lateral landing point deviation, hook slope distance, landing sinking rate, angle of attack, airspeed, pitch angle, roll angle, and yaw angle.

6. The calculation method according to claim 1, characterized in that: Step 4 includes: Step 41: pre-setting an indicator model, wherein the indicator model includes an increasing indicator model, a decreasing indicator model and a boundary indicator model; Step 42: Set the index models that match the guidance process landing performance index and the touch-and-go safety landing performance index respectively: Step 43: According to the index model matching the guidance process landing performance index and the touch-and-carry safety landing performance index, the guidance process landing performance calculation results and the touch-and-carry safety performance calculation results are obtained.

7. The calculation method according to claim 1, characterized in that: Incremental indicator model: Decreasing indicator model: Boundary indicator mode: Among them, a is the lower boundary of the indicator, b is the upper boundary of the indicator, and x i is the index value, p i (x i ) is the index x i Calculation results under the corresponding model.

8. The calculation method according to claim 1, characterized in that: Step 5 includes: Step 51: weighting the calculation results of the landing performance and the safety performance of the touchdown during the guidance process; Step 52: Calculate the autonomous landing performance of the UAV according to the weight setting of the landing performance calculation results of the guidance process and the safety performance calculation results of the touchdown process.

9. A device for calculating the autonomous landing performance of a UAV, characterized in that: The device is applied to the method for calculating the autonomous landing performance of the UAV described in claim 1.

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