Laser-guided UAV landing method and system

Abstract

This invention relates to the field of unmanned aerial vehicle (UAV) technology and discloses a laser-guided UAV landing method and system. This method collects the initial flight maneuver information of the UAV to be landed relative to the UAV landing platform in real time, corrects the initial flight maneuver information based on environmental influence parameters, and determines the maneuver adjustment amount of the UAV to be landed based on the flight maneuver deviation information. The maneuver adjustment amount is used to generate a maneuver command, which is then sent to the UAV to be landed for execution until the flight maneuver deviation information meets a preset tolerance deviation threshold. This overcomes the measurement error of flight maneuvers caused by environmental influences, reduces UAV landing errors, improves UAV landing reliability, and enhances UAV landing safety.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a laser-guided UAV landing method and system. Background Technology

[0002] With the rapid development of drone technology, drones are increasingly widely used in fields such as power. However, safe and accurate landing of drones remains a key challenge in the industry. Traditional visual recognition-based landing methods are highly dependent on lighting conditions. In environments with strong light, weak light, or drastic changes in light, their recognition accuracy drops significantly, making it difficult to guarantee landing accuracy. Relying solely on GPS positioning for landing is severely limited by satellite signal accuracy and signal obstruction. In areas with poor signal coverage, such as urban high-rise areas and mountainous regions, landing deviations can reach several meters or even greater. This can easily lead to large landing errors, poor reliability, and a high risk of safety accidents. Summary of the Invention

[0003] In view of this, the present invention provides a laser-guided drone landing method and system, which solves the technical problems of large landing errors, poor reliability, and high risk of safety accidents caused by drones.

[0004] The first aspect of this invention provides a laser-guided drone landing method, applied to a drone landing platform, comprising:

[0005] The system collects the initial flight maneuver information of the UAV to be landed relative to the UAV landing platform in real time; the initial flight maneuver information includes initial laser positioning coordinates and initial flight attitude information.

[0006] The initial flight maneuver information is corrected based on environmental impact parameters to obtain the flight maneuver information;

[0007] Based on the flight maneuver information and the preset expected flight maneuver information, the flight maneuver deviation information is determined;

[0008] Based on the flight maneuver deviation information, determine the maneuver adjustment amount for the UAV to land;

[0009] Action commands are generated based on the motion adjustment amount of the drone to be landed, and the action commands are sent to the drone to be landed. The drone to be landed executes the action commands until the flight action deviation information meets the preset tolerance deviation threshold.

[0010] Preferably, the real-time acquisition of the initial flight maneuver information of the UAV to be landed relative to the UAV landing platform includes:

[0011] The drone landing platform performs laser ranging on the drone to be landed, and determines the initial laser positioning coordinates of the drone to be landed based on the laser ranging results and the laser ranging angle.

[0012] The acceleration and angular velocity of the drone to be landed are obtained by the built-in gyroscope of the drone.

[0013] Based on the acceleration and angular velocity of the UAV to be landed, the initial flight attitude information of the UAV landing platform is determined; wherein, the initial flight attitude information includes pitch angle, roll angle and heading angle.

[0014] Preferably, the environmental impact parameters include ambient light intensity and airflow;

[0015] The process of correcting the initial flight maneuver information based on environmental impact parameters to obtain flight maneuver information includes:

[0016] When the ambient light intensity exceeds a preset light intensity threshold, the three-dimensional laser positioning coordinate light intensity error of the initial laser positioning coordinates is determined using a light interference positioning error model; the light interference positioning error model is as follows:

[0017]

[0018] In the formula, , , These represent the laser positioning coordinate intensity errors in the x-axis, y-axis, and z-axis directions, respectively. These are the error coefficients in the x-axis, y-axis, and z-axis directions, respectively. For ambient light intensity, Light intensity threshold For time, These are the angular frequencies along the x-axis, y-axis, and z-axis, respectively. These are the initial phases in the x-axis, y-axis, and z-axis directions, respectively.

[0019] The three-dimensional laser positioning coordinate airflow error is determined based on the airflow disturbance offset model; the airflow disturbance offset model is as follows:

[0020]

[0021] In the formula, , These represent the airflow errors in laser positioning coordinates along the x-axis, y-axis, and z-axis, respectively. air density, For wind speed, The maximum cross-sectional area of ​​the drone. These are the aerodynamic coefficients in the x-axis and y-axis directions, respectively. The lift coefficient, This represents the maximum projected area of ​​the drone in the vertical direction. For wind direction, Let m be the angle between the airflow and the drone in the vertical direction, m be the mass of the drone, and g be the acceleration due to gravity. These represent the angles between the drone's horizontal velocity and the airflow direction. For time intervals, The flight speed of the drone;

[0022] The initial laser positioning coordinates are corrected based on the light intensity error and airflow error of the three-dimensional laser positioning coordinates to obtain the laser positioning coordinates.

[0023] Preferably, the environmental impact parameters include magnetic field strength;

[0024] The process of correcting the initial flight maneuver information based on environmental impact parameters to obtain flight maneuver information includes:

[0025] The error of the heading angle is determined based on the magnetic field interference offset model; the error of the heading angle is:

[0026]

[0027] In the formula, This represents the error in the heading angle. , These are the influence coefficients of magnetic field strength and magnetic field change rate on heading angle deviation, respectively. The magnetic field strength, The angular frequency of the magnetic field change. This is the initial phase;

[0028] The heading angle is corrected by the error of the heading angle to obtain the corrected heading angle, and the flight attitude information is determined based on the corrected heading angle, the pitch angle and the roll angle.

[0029] Preferably, the motion adjustment amount includes acceleration adjustment amount and attitude adjustment amount, and the attitude adjustment amount includes pitch angle adjustment amount, roll angle adjustment amount and yaw angle adjustment amount;

[0030] The step of determining the motion adjustment amount of the UAV to be landed based on the flight motion deviation information includes:

[0031] Based on the flight maneuver deviation information, the acceleration adjustment amount of the UAV to be landed is determined through an attitude and position coupling correction model; wherein, the attitude and position coupling correction model is:

[0032]

[0033] In the formula, , , These represent the acceleration adjustments in the x-axis, y-axis, and z-axis directions, respectively. , , These are all weighting coefficients for acceleration correction in the x-axis direction. , , These are all weighting coefficients for acceleration correction in the y-axis direction. , , These are all weighting coefficients for acceleration correction in the z-axis direction. , , These are the x-axis motion deviation, y-axis motion deviation, and z-axis motion deviation, respectively. For pitch angle error, For heading angle, This is the roll angle. This refers to the roll angle error;

[0034] The pitch angle is corrected using a pitch angle correction model to obtain the pitch angle adjustment amount; wherein, the pitch angle correction model is:

[0035]

[0036] In the formula, This is the pitch angle adjustment amount. The coefficient representing the influence of pitch angle on angular velocity. The initial angular velocity;

[0037] The current roll angle is corrected using a roll angle correction model to obtain the roll angle adjustment amount; wherein, the roll angle correction model is:

[0038]

[0039] In the formula, This is the roll angle adjustment amount. This is the coefficient representing the influence of roll angle on acceleration. This is the initial acceleration;

[0040] The current heading angle is corrected by the error in the heading angle to obtain the heading angle adjustment amount; wherein, the heading angle adjustment amount is:

[0041]

[0042] In the formula, This is the heading angle adjustment amount. This represents the error in the heading angle.

[0043] Preferably, the method further includes: establishing a bidirectional communication link between the drone to be landed and the drone landing platform; establishing the bidirectional communication link between the drone to be landed and the drone landing platform includes:

[0044] When the drone landing platform locks onto the drone to be landed via laser scanning, it sends a communication request signal to the drone to be landed; the communication request signal includes the drone landing platform's identification identifier.

[0045] The drone awaiting landing responds to the communication request signal, generates a communication reply signal, encrypts the communication reply signal, and then runs... The modulation method modulates the encrypted communication response signal and sends the modulated communication response signal to the UAV landing platform. The communication response signal includes identification and attitude information.

[0046] Preferably, the method further includes:

[0047] Based on the laser positioning coordinates and the preset platform landing positioning coordinates, multiple initial flight paths are obtained from the preset map data; each initial flight path includes laser positioning coordinates, preset platform landing positioning coordinates, and multiple node coordinates.

[0048] With the goal of minimizing the flight path and the energy required for flight, a heuristic search algorithm is used to optimize multiple initial flight paths to generate the flight path that best meets the objectives.

[0049] Preferably, the method further includes a process of charging the drone via the drone landing platform; the process of charging the drone via the drone landing platform includes:

[0050] The drone is charged using mains power.

[0051] The voltage of the mains power is monitored in real time. When the voltage of the mains power is less than a preset safe voltage threshold, the system switches to the backup battery to charge the drone.

[0052] Preferably, the method further includes:

[0053] The remaining battery power of the drone to be landed is monitored in real time during the landing process, and the rotor thrust coefficient of the drone to be landed is updated according to the remaining battery power; the rotor thrust coefficient is:

[0054]

[0055] In the formula, k is the rotor thrust coefficient. These are the initial control parameters. For control parameters, This refers to the remaining battery power of the drone. This is the maximum battery capacity;

[0056] The rotor thrust of the UAV to be landed is updated based on the rotor thrust coefficient.

[0057] Secondly, the present invention also provides a laser-guided unmanned aerial vehicle (UAV) landing system, comprising:

[0058] The flight information acquisition module is used to acquire the initial flight action information of the UAV to be landed relative to the UAV landing platform in real time; the initial flight action information includes initial laser positioning coordinates and initial flight attitude information;

[0059] The flight maneuver correction module is used to correct the initial flight maneuver information based on environmental impact parameters to obtain flight maneuver information;

[0060] The action deviation determination module is used to determine flight action deviation information based on the flight action information and the preset expected flight action information;

[0061] The motion adjustment module is used to determine the motion adjustment amount of the UAV to be landed based on the flight motion deviation information.

[0062] The motion execution module is used to generate motion commands based on the motion adjustment amount of the drone to be landed, and send the motion commands to the drone to be landed, and execute the motion commands through the drone to be landed until the flight motion deviation information meets the preset tolerance deviation threshold.

[0063] As can be seen from the above technical solution, the present invention collects the initial flight action information of the UAV to be landed relative to the UAV landing platform in real time, corrects the initial flight action information based on environmental influence parameters, and determines the action adjustment amount of the UAV to be landed based on the flight action deviation information. The action adjustment amount generates an action command and sends it to the UAV to be landed for execution until the flight action deviation information meets the preset tolerance deviation threshold. This overcomes the measurement error of flight action caused by environmental influence, reduces UAV landing error, improves UAV landing reliability, and improves UAV landing safety. Attached Figure Description

[0064] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0065] Figure 1 A flowchart illustrating a laser-guided drone landing method provided in an embodiment of the present invention;

[0066] Figure 2 This is a schematic diagram of a laser-guided drone landing system provided in an embodiment of the present invention. Detailed Implementation

[0067] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0068] This application provides a laser-guided drone landing method, which is applicable to situations involving controlling drone landing and can be executed by a drone landing platform.

[0069] In deploying drone landing platforms, the following points are crucial: 1. Open Site: When deploying in an open site, choose an area that is flat, has an unobstructed view, and is far away from tall buildings, metal structures, and sources of strong electromagnetic interference (such as substations). Before deployment, the site must be thoroughly cleared, removing any debris such as rocks and cables that may obstruct laser signal propagation or affect drone landing. Carefully measure the ground flatness using a level; the ground slope must be controlled within ±0.5°. If it does not meet this standard, leveling work must be carried out.

[0070] Rooftop: When deploying on the rooftop of a high-rise building in the city, the location should be near the edge of the roof, directly below the building's core load-bearing structure. For example, the edge area near the elevator machine room on the rooftop of an office building is suitable, as it is highly likely that the main load-bearing columns of the building are located below it. Before installation, the rooftop's waterproofing condition should be inspected, and protective mats should be laid to prevent damage to the waterproofing layer during installation. Furthermore, utilizing the existing lightning protection system on the rooftop, an independent grounding device should be installed on the platform, with a grounding resistance not exceeding 10Ω, to prevent damage to the equipment from lightning strikes.

[0071] Mountainous Areas: When deploying landing platforms for drones performing inspection and other tasks in mountainous areas, choose high-altitude platforms or flat mountainside locations with unobstructed views and no tall trees or mountainsides. For power line inspection missions in mountainous areas, high mountaintops near transmission lines are ideal. Before installation, the ground should be compacted, and a concrete foundation should be poured if necessary to ensure the platform is stable enough to withstand strong winds and other severe weather conditions in mountainous areas. Given the potential communication blind spots in mountainous areas, a satellite communication module is also required to ensure uninterrupted communication between the platform, the drones, and the control center.

[0072] Installation and commissioning of drone landing platform

[0073] Hardware Assembly: Strictly following the overall platform structural design, the laser emission and positioning module, signal processing unit, power management unit, and protective and stabilizing structure are assembled sequentially. For example, the aluminum alloy frame is first constructed, ensuring all connections are tight and secure, and screws are tightened to the specified torque using a torque wrench. Next, the laser emission and positioning module is installed, precisely fixing it in the designated position on the frame, ensuring the laser emission direction deviation does not exceed ±0.1°. Then, the cables for the signal processing unit and power management unit are connected, ensuring correct and secure connections, preventing loosening or short circuits.

[0074] Electrical Connection and Testing: With hardware assembly complete, proceed with electrical connections. Connect the external AC power supply, ensuring the voltage is stable at 220V±10%, and check if the AC power input indicator light on the power management unit is lit normally. Simultaneously connect the spare lithium battery and check its charge level; it should not be lower than 80%. Perform preliminary electrical tests by turning on the platform power and checking if the indicator lights for each module are displaying correctly. For example, the self-test indicator light for the laser emission and positioning module should flash rapidly after power-on and then remain constantly lit, indicating a successful self-test. Use a multimeter to check if the power supply voltage for each module is within the normal range; for example, the signal processing unit's operating voltage should be within the range of 5V±0.2V.

[0075] Software Configuration and Calibration: The platform is configured and calibrated using the accompanying control software. First, the parameters of the laser emission and positioning modules are set, such as setting the laser emission frequency to 500MHz to match the UAV's receiving frequency, and employing a specific DSSS encoding method to enhance signal anti-interference capabilities. Next, coordinate calibration is performed. Using the platform's built-in positioning system and laser ranging function, the platform's position coordinates relative to surrounding known landmarks (such as building corners or measurement control points) are measured and input into the control software for calibration. Simultaneously, the laser emission angle is calibrated by adjusting the horizontal and vertical angles of the laser emission device through the control software to ensure accurate coverage of the predetermined UAV landing area; the calibration error must not exceed ±0.05°.

[0076] like Figure 1As shown, this application provides a laser-guided drone landing method applied to a drone landing platform, including steps S1 to S5. Wherein:

[0077] Step S1: Real-time acquisition of the initial flight motion information of the UAV to be landed relative to the UAV landing platform; the initial flight motion information includes the initial laser positioning coordinates and the initial flight attitude information.

[0078] Specifically, the drone to be landed should be within the landing range of the drone landing platform, and the drone to be landed should be locked onto by the drone landing platform. For reliable communication, a two-way communication link should be established between the drone to be landed and the drone landing platform. Establishing this two-way communication link includes:

[0079] Step S11: When the drone landing platform locks onto the drone to be landed through laser scanning, it sends a communication request signal to the drone to be landed; the communication request signal includes the drone landing platform's identification.

[0080] The laser emitter on the drone landing platform, once activated, rapidly scans the surrounding airspace using a spiral scanning path. The scan range gradually expands from near to far, covering a large airspace in a short time. When the laser beam hits a reflective device on the drone's surface, the reflected light carries some of the drone's characteristic information back, allowing for rapid identification and lock-on of the target drone.

[0081] Let the scanning angular velocity of the laser emitting device be... The starting radius of the scan is Then in time The area A covered by the internal scan is:

[0082] .

[0083] After the drone landing platform locks onto the drone using laser, it sends a communication request signal to the drone waiting to land. Let the communication request signal be... Its expression is:

[0084]

[0085] In the formula, As a platform identity identifier, For communication frequency, For data transmission rate, For platform coordinates.

[0086] Step S12: The UAV to be landed responds to the communication request signal, generates a communication reply signal, encrypts the communication reply signal, and runs... The modulation method modulates the encrypted communication response signal and sends the modulated communication response signal to the UAV landing platform. The communication response signal includes identification and attitude information.

[0087] The confirmation response signal includes identity information and posture information, denoted as... .Right now:

[0088]

[0089] In the formula, For drone identification, Coordinates of the drone For the attitude angle, This represents the remaining battery power.

[0090] Specifically, the AES encryption algorithm is used to encrypt the communication reply signal. This involves dividing the original communication reply signal data D into fixed-length groups, with each group of data... Key Under the influence of multiple rounds of complex byte substitution, row shifting, column obfuscation, and key addition operations, it is transformed into encrypted ciphertext. Taking a single round of encryption as an example, let the input state matrix be... The key matrix is Then the output after one round of encryption for:

[0091]

[0092] in For byte replacement operations, For row shift operation, For column obfuscation operations, This indicates a bitwise XOR operation. Multiple rounds of this operation ensure secure data transmission and prevent malicious theft or tampering.

[0093] Next, use The modulation method modulates the encrypted data, mapping the digital signals "0" and "1" to different frequencies. and Let the modulated signal be ,but:

[0094]

[0095] In the formula, A is the signal amplitude. , This serves as the initial phase. In this way, the signal can be transmitted stably and efficiently in the wireless channel, improving anti-interference capabilities and transmission reliability.

[0096] In the process of acquiring initial flight maneuver information, specifically, step S1 involves real-time acquisition of the initial flight maneuver information of the UAV to be landed relative to the UAV landing platform, including:

[0097] Step S101: Perform laser ranging on the drone to be landed using the drone landing platform, and determine the initial laser positioning coordinates of the drone to be landed based on the laser ranging results and laser ranging angle.

[0098] Among them, the laser ranging formula is used. Where c is the speed of laser propagation in air, L is the horizontal distance from the laser emission point to the reflection point, and t is the round-trip time.

[0099] Combined with the launch angle and horizontal angle and vertical angle The initial laser positioning coordinates of the UAV relative to the UAV landing platform can be calculated using geometric relationships. .

[0100] Step S102: Obtain the acceleration and angular velocity of the drone to be landed using the built-in gyroscope of the drone.

[0101] Step S103: Determine the initial flight attitude information of the UAV landing platform based on the acceleration and angular velocity of the UAV to be landed; wherein, the initial flight attitude information includes pitch angle, roll angle and heading angle.

[0102] Among them, the acceleration of the drone to be landed is obtained through a gyroscope. and angular velocity The formula for calculating the speed of integral calculation is given. And displacement calculation formula: Acquire initial flight attitude information, including pitch angle. Roll angle and heading angle .

[0103] Step S2: Correct the initial flight maneuver information based on environmental impact parameters to obtain flight maneuver information.

[0104] The platform and drones are equipped with light intensity sensors, anemometers, and wind vanes to monitor ambient light intensity in real time. Wind speed ,wind direction By using environmental data and models to predict the environmental impact of flight maneuvers, the initial flight maneuver information is corrected based on the flight maneuver error, thereby reducing the error in the initial flight maneuver information.

[0105] Specifically, environmental impact parameters include ambient light intensity and airflow.

[0106] Step S2 involves correcting the initial flight maneuver information based on environmental impact parameters to obtain flight maneuver information, including:

[0107] Step S201: When the ambient light intensity exceeds a preset light intensity threshold, the three-dimensional laser positioning coordinate light intensity error of the initial laser positioning coordinates is determined using the light interference positioning error model. The light interference positioning error model is as follows:

[0108]

[0109] In the formula, , , These represent the laser positioning coordinate intensity errors in the x-axis, y-axis, and z-axis directions, respectively. These are the error coefficients in the x-axis, y-axis, and z-axis directions, respectively. Characterizes the degree to which light intensity affects positioning errors in each direction. For ambient light intensity, Light intensity threshold For time, These are the angular frequencies along the x-axis, y-axis, and z-axis, respectively. It reflects the fluctuation characteristics of error over time. These represent the initial phases along the x-axis, y-axis, and z-axis, respectively. Considering the different initial effects of light intensity changes on positioning errors at different times;

[0110] Step S202: Determine the three-dimensional laser positioning coordinate airflow error of the initial laser positioning coordinates based on the airflow disturbance offset model; the airflow disturbance offset model is:

[0111]

[0112] In the formula, , These represent the airflow errors in laser positioning coordinates along the x-axis, y-axis, and z-axis, respectively. air density, For wind speed, The maximum cross-sectional area of ​​the drone. These are the aerodynamic coefficients in the x-axis and y-axis directions, respectively. It is related to the shape and attitude of the drone. The lift coefficient, This represents the maximum projected area of ​​the drone in the vertical direction. For wind direction, Let m be the angle between the airflow and the drone in the vertical direction, m be the mass of the drone, and g be the acceleration due to gravity. These represent the angles between the drone's horizontal velocity and the airflow direction. For time intervals, Used to calculate the cumulative offset caused by airflow during this time period. This refers to the flight speed of the drone.

[0113] To address the differences in airflow characteristics at different altitudes, a correlation model between altitude and airflow parameters is established. Let the current altitude of the UAV be h, and the airflow velocity correction coefficients for different altitudes be... The wind speed actually used to calculate the offset for:

[0114]

[0115] This makes airflow disturbance compensation more accurate at different altitudes.

[0116] Among them, the airflow disturbance offset model is used to calculate the offset of the UAV in the horizontal and vertical directions by the airflow based on the principles of aerodynamics.

[0117] Step S203: Correct the initial laser positioning coordinates based on the light intensity error and airflow error of the three-dimensional laser positioning coordinates to obtain the laser positioning coordinates.

[0118] Specifically, by weighting the light intensity error and airflow error of the three-dimensional laser positioning coordinates, the initial laser positioning coordinates are corrected using the weighted result. The weights corresponding to the light intensity error and airflow error of the three-dimensional laser positioning coordinates can be set based on experience.

[0119] In some embodiments, environmental impact parameters include magnetic field strength. This takes into account potential magnetic field interference in the drone's flight environment, especially in specific areas such as near power facilities or metal mining areas. The ambient magnetic field strength is measured using a magnetic sensor. and its rate of change A model was established to investigate the impact of magnetic field interference on the gyroscope of a UAV, namely the magnetic field interference offset model.

[0120] Step S2 involves correcting the initial flight maneuver information based on environmental impact parameters to obtain flight maneuver information, including:

[0121] Step S211: Determine the error of the heading angle based on the magnetic field interference offset model; the error of the heading angle is:

[0122]

[0123] In the formula, This represents the error in the heading angle. , These are the influence coefficients of magnetic field strength and magnetic field change rate on heading angle deviation, respectively. The magnetic field strength, The angular frequency of the magnetic field change. This is the initial phase.

[0124] Step S212: Correct the heading angle by the error of the heading angle to obtain the corrected heading angle, and determine the flight attitude information based on the corrected heading angle, pitch angle and roll angle.

[0125] Step S3: Determine the flight maneuver deviation information based on the flight maneuver information and the preset expected flight maneuver information.

[0126] Specifically, for the calculation of coordinate position deviation: the laser positioning coordinates are... With respect to the preset desired platform landing coordinates The comparison yields the following positional error:

[0127]

[0128] For attitude deviation calculation: compare the current attitude with the planned landing attitude to calculate the attitude error, such as pitch angle error. ,in, The preset desired pitch angle and roll angle error , The preset desired roll angle and heading angle error , This is the preset desired heading angle.

[0129] Step S4: Determine the motion adjustment amount for the UAV to land based on the flight motion deviation information.

[0130] In some embodiments, the motion adjustment amount includes acceleration adjustment amount and attitude adjustment amount, and the attitude adjustment amount includes pitch angle adjustment amount, roll angle adjustment amount and yaw angle adjustment amount;

[0131] Step S4, which involves determining the motion adjustment amount for the UAV to land based on the flight motion deviation information, includes:

[0132] Step S401: Based on the flight maneuver deviation information, determine the acceleration adjustment amount of the UAV to be landed using the attitude and position coupling correction model; wherein, the attitude and position coupling correction model is:

[0133]

[0134] In the formula, , , These represent the acceleration adjustments in the x-axis, y-axis, and z-axis directions, respectively. , , These are all weighting coefficients for acceleration correction in the x-axis direction. , , These are all weighting coefficients for acceleration correction in the y-axis direction. , , These are all weighting coefficients for acceleration correction in the z-axis direction. , , These are the x-axis motion deviation, y-axis motion deviation, and z-axis motion deviation, respectively. For pitch angle error, For heading angle, This is the roll angle. This refers to the roll angle error;

[0135] Step S402: Correct the current pitch angle using the pitch angle correction model to obtain the pitch angle adjustment amount; wherein, the pitch angle correction model is:

[0136]

[0137] In the formula, This is the pitch angle adjustment amount. The coefficient representing the influence of pitch angle on angular velocity. The initial angular velocity;

[0138] Step S403: Correct the current roll angle using the roll angle correction model to obtain the roll angle adjustment amount; wherein, the roll angle correction model is:

[0139]

[0140] In the formula, This is the roll angle adjustment amount. This is the coefficient representing the influence of roll angle on acceleration. This is the initial acceleration;

[0141] Step S404: Correct the current heading angle based on the error of the heading angle to obtain the heading angle adjustment amount; wherein, the heading angle adjustment amount is:

[0142]

[0143] In the formula, This is the heading angle adjustment amount. This represents the error in the heading angle.

[0144] Step S5: Generate motion commands based on the motion adjustment amount of the drone to be landed, and send the motion commands to the drone to be landed. The drone to be landed executes the motion commands until the flight motion deviation information meets the preset tolerance deviation threshold.

[0145] Specifically, when the flight maneuver deviation information is less than the preset tolerance deviation threshold, it is determined that the UAV has landed completely on the platform and its attitude is accurate.

[0146] It should be noted that, in this embodiment, the initial flight motion information of the UAV to be landed relative to the UAV landing platform is collected in real time, the initial flight motion information is corrected based on environmental influence parameters, and the motion adjustment amount of the UAV to be landed is determined according to the flight motion deviation information. The motion adjustment amount is used to generate motion commands and send them to the UAV to be landed for execution until the flight motion deviation information meets the preset tolerance deviation threshold. This overcomes the measurement error of flight motion caused by environmental influence, reduces UAV landing error, improves UAV landing reliability, and improves UAV landing safety.

[0147] In some embodiments, the method further includes:

[0148] Step S61: Based on the laser positioning coordinates and the preset platform landing positioning coordinates, obtain multiple initial flight paths from the preset map data; each initial flight path includes laser positioning coordinates, preset platform landing positioning coordinates, and multiple node coordinates;

[0149] Step S62: With the goal of minimizing the flight path and the energy consumption required for flight, optimize multiple initial flight paths based on a heuristic search algorithm to generate the flight path that best meets the goal.

[0150] Among them, the evaluation function for the UAV is determined by aiming at the shortest flight path and the minimum energy consumption required for flight. ,in, This represents a node in the search process. Represents the distance from the starting point to the node. The actual cost, namely the combined cost of energy, time, etc., required for the drone to fly from its current location to that node; From node The estimated cost to the target point (platform location) is typically calculated by computing nodes. The distance to the target point is estimated using the Euclidean or Manhattan distance.

[0151] For example, the current position coordinates of the drone are The platform coordinates are For nodes in a two-dimensional plane , It can be calculated using the Euclidean distance formula. The algorithm starts with the initial node, adds it to the open list (the set of nodes to be explored), traverses the open list, and selects... Expand the node with the smallest value.

[0152] For newly discovered nodes, if they are not in the open or closed lists (the set of explored nodes), calculate their... and The value is added to the open list, and its parent node is recorded. If the new node is already in the open list, the path taken to reach that node is compared. Value and original If the new value is smaller, then update the node's... The search ends when the target node is expanded or the open list is empty. If the target node is found, the optimal path from the starting point to the target point can be obtained by backtracking the parent node path. In the drone scenario, the path planning algorithm comprehensively considers surrounding obstacle information (obtained through the drone's visual sensors or pre-stored map data) to generate a flight path from the current position to a height of 50 meters above the platform. During flight, the drone sends its own status information to the platform every second, and the platform monitors its flight status in real time.

[0153] In some embodiments, an external mains power supply is used as the main power source for the platform, while a high-capacity, high-energy-density lithium battery is provided as a backup power source to ensure stable operation of the platform under various power supply conditions.

[0154] The laser-guided drone landing method provided in this application embodiment also includes a process of charging the drone via a drone landing platform; the process of charging the drone via the drone landing platform includes:

[0155] Step S601: Charge the drone using mains power.

[0156] Step S602: Monitor the mains voltage in real time. When the mains voltage is less than the preset safe voltage threshold, switch to the backup battery to charge the drone.

[0157] Among them, when mains power is detected Below the preset safety threshold In certain situations, it can quickly and automatically switch to backup battery power within an extremely short time (e.g., within 10 milliseconds), achieving seamless power switching and ensuring uninterrupted platform operation. Regarding charging management, it features intelligent charging capabilities, precisely controlling power based on the lithium battery's characteristic curve and real-time status. It employs a constant current-constant voltage charging mode, using a constant current during the initial charging phase. The battery is fast-charged, and when the battery reaches a certain percentage (e.g., 80%), it switches to a constant voltage. In charging mode, the charging current gradually decreases to prevent overcharging and effectively extend battery life. The change in battery capacity can be approximated by the formula... It means that among them Let be the battery charge at time t. This is the initial charge level. The charging current varies over time. The time interval is specified. This intelligent charging management strategy fully leverages the performance advantages of lithium batteries, improving the platform's power reliability and stability.

[0158] In some embodiments, the UAV dynamically updates and corrects its strategy parameters based on real-time data and errors throughout the landing process. As the UAV approaches the platform, the tolerance values ​​for position and attitude errors are reduced. Simultaneously, the parameters of the environmental impact error prediction model are adjusted according to real-time environmental changes. Considering the impact of UAV battery power on flight performance, the laser-guided UAV landing method provided in this application embodiment further includes:

[0159] Step S701: Monitor the remaining battery power of the drone to be landed in real time during the landing process, and update the rotor thrust coefficient of the drone to be landed based on the remaining battery power; the rotor thrust coefficient is:

[0160]

[0161] In the formula, k is the rotor thrust coefficient. These are the initial control parameters. For control parameters, This refers to the remaining battery power of the drone. This is the maximum battery capacity;

[0162] Step S702: Update the rotor thrust of the UAV to be landed based on the rotor thrust coefficient.

[0163] The rotor thrust of the UAV to be landed is continuously updated by multiplying the rotor thrust coefficient with the initial rotor thrust. As the battery power decreases, the rotor thrust is adjusted reasonably to ensure the landing performance of the UAV.

[0164] In some embodiments, when the drone is within 5 meters of the platform, it enters the precision landing phase. At this point, the drone's position and attitude can be measured and adjusted more precisely. By recognizing specific markings (such as color and shape markings) on the platform surface, the drone can further calculate its relative position and attitude to the platform. Based on this high-precision data, the platform and drone control systems make final fine adjustments to the drone's flight status. For example, by fine-tuning the rotor speed, the drone descends slowly in the vertical direction at a speed of 0.1 meters per second while maintaining a stable horizontal position, with the deviation controlled within ±0.1 meters. During this process, the platform monitors all drone status data in real time. Once an anomaly is detected (such as low battery or sudden attitude changes), an alarm is immediately issued, and corresponding emergency measures are taken, such as controlling the drone to hover or guiding it to land in a backup landing area.

[0165] After the drone successfully lands on the platform, the platform records data such as landing time, location, attitude, and battery level, as well as environmental data (e.g., light intensity, wind speed, wind direction) and control parameters (e.g., rotor speed adjustment, attitude adjustment angle) throughout the landing process. This data is used for subsequent data analysis and performance evaluation, such as analyzing the drone's landing success rate and accuracy under different environmental conditions, thereby optimizing and improving the platform and drone's control system. Simultaneously, the platform sends a landing completion confirmation signal to the drone via a wireless communication module. Upon receiving the signal, the drone shuts down its power system and relevant sensors, successfully completing the entire landing process.

[0166] Based on the same inventive concept, this application also provides a laser-guided drone landing system for implementing the laser-guided drone landing method described above.

[0167] The solution provided by this system is similar to the solution described in the above method. Therefore, the specific limitations of one or more laser-guided UAV landing system embodiments provided below can be found in the limitations of the laser-guided UAV landing method described above, and will not be repeated here.

[0168] like Figure 2 As shown, this application provides a laser-guided drone landing system, including:

[0169] The flight information acquisition module 100 is used to acquire the initial flight action information of the UAV to be landed relative to the UAV landing platform in real time; the initial flight action information includes the initial laser positioning coordinates and the initial flight attitude information.

[0170] The flight maneuver correction module 200 is used to correct the initial flight maneuver information based on environmental influence parameters to obtain flight maneuver information;

[0171] The motion deviation determination module 300 is used to determine the flight motion deviation information based on the flight motion information and the preset expected flight motion information.

[0172] The motion adjustment module 400 is used to determine the motion adjustment amount of the UAV to be landed based on the flight motion deviation information.

[0173] The motion execution module 500 is used to generate motion commands based on the motion adjustment amount of the drone to be landed, and send the motion commands to the drone to be landed. The drone to be landed executes the motion commands until the flight motion deviation information meets the preset tolerance deviation threshold.

[0174] In some embodiments, the initial flight maneuver information of the drone to be landed relative to the drone landing platform is acquired in real time, including:

[0175] The drone landing platform performs laser ranging on the drone to be landed, and determines the initial laser positioning coordinates of the drone to be landed based on the laser ranging results and laser ranging angle.

[0176] The acceleration and angular velocity of the drone to be landed are obtained through the built-in gyroscope of the drone.

[0177] Based on the acceleration and angular velocity of the UAV to be landed, the initial flight attitude information of the UAV landing platform is determined; the initial flight attitude information includes pitch angle, roll angle and heading angle.

[0178] In some embodiments, environmental impact parameters include ambient light intensity and airflow.

[0179] The initial flight maneuver information is corrected based on environmental impact parameters to obtain flight maneuver information, including:

[0180] When the ambient light intensity exceeds a preset light intensity threshold, the three-dimensional laser positioning coordinate light intensity error of the initial laser positioning coordinates is determined using a light interference positioning error model. The light interference positioning error model is as follows:

[0181]

[0182] In the formula, , , These represent the laser positioning coordinate intensity errors in the x-axis, y-axis, and z-axis directions, respectively. These are the error coefficients in the x-axis, y-axis, and z-axis directions, respectively. For ambient light intensity, Light intensity threshold For time, These are the angular frequencies along the x-axis, y-axis, and z-axis, respectively. These are the initial phases in the x-axis, y-axis, and z-axis directions, respectively.

[0183] The airflow error of the three-dimensional laser positioning coordinates is determined based on the airflow disturbance offset model; the airflow disturbance offset model is as follows:

[0184]

[0185] In the formula, , These represent the airflow errors in laser positioning coordinates along the x-axis, y-axis, and z-axis, respectively. air density, For wind speed, The maximum cross-sectional area of ​​the drone. These are the aerodynamic coefficients in the x-axis and y-axis directions, respectively. The lift coefficient, This represents the maximum projected area of ​​the drone in the vertical direction. For wind direction, Let m be the angle between the airflow and the drone in the vertical direction, m be the mass of the drone, and g be the acceleration due to gravity. These represent the angles between the drone's horizontal velocity and the airflow direction. For time intervals, The flight speed of the drone;

[0186] The initial laser positioning coordinates are corrected based on the light intensity error and airflow error of the three-dimensional laser positioning coordinates to obtain the laser positioning coordinates.

[0187] In some embodiments, environmental impact parameters include magnetic field strength;

[0188] The initial flight maneuver information is corrected based on environmental impact parameters to obtain flight maneuver information, including:

[0189] The error in the heading angle is determined based on the magnetic field interference offset model; the error in the heading angle is:

[0190]

[0191] In the formula, This represents the error in the heading angle. , These are the influence coefficients of magnetic field strength and magnetic field change rate on heading angle deviation, respectively. The magnetic field strength, The angular frequency of the magnetic field change. This is the initial phase;

[0192] The heading angle is corrected by measuring the error in the heading angle to obtain the corrected heading angle. The flight attitude information is then determined based on the corrected heading angle, pitch angle, and roll angle.

[0193] In some embodiments, the motion adjustment amount includes acceleration adjustment amount and attitude adjustment amount, and the attitude adjustment amount includes pitch angle adjustment amount, roll angle adjustment amount and yaw angle adjustment amount;

[0194] Based on flight maneuver deviation information, determine the maneuver adjustments for the UAV to be landed, including:

[0195] Based on flight maneuver deviation information, the acceleration adjustment amount for the UAV to land is determined using an attitude and position coupled correction model; wherein, the attitude and position coupled correction model is:

[0196]

[0197] In the formula, , , These represent the acceleration adjustments in the x-axis, y-axis, and z-axis directions, respectively. , , These are all weighting coefficients for acceleration correction in the x-axis direction. , , These are all weighting coefficients for acceleration correction in the y-axis direction. , , These are all weighting coefficients for acceleration correction in the z-axis direction. , , These are the x-axis motion deviation, y-axis motion deviation, and z-axis motion deviation, respectively. For pitch angle error, For heading angle, This is the roll angle. This refers to the roll angle error;

[0198] The pitch angle is corrected using a pitch angle correction model to obtain the pitch angle adjustment amount; the pitch angle correction model is as follows:

[0199]

[0200] In the formula, This is the pitch angle adjustment amount. The coefficient representing the influence of pitch angle on angular velocity. The initial angular velocity;

[0201] The current roll angle is corrected using a roll angle correction model to obtain the roll angle adjustment amount; the roll angle correction model is as follows:

[0202]

[0203] In the formula, This is the roll angle adjustment amount. This is the coefficient representing the influence of roll angle on acceleration. This is the initial acceleration;

[0204] The current heading angle is corrected by the error in the heading angle to obtain the heading angle adjustment amount; where the heading angle adjustment amount is:

[0205]

[0206] In the formula, This is the heading angle adjustment amount. This represents the error in the heading angle.

[0207] In some embodiments, the system further includes: a communication construction module, used to establish a bidirectional communication link between the drone to be landed and the drone landing platform; establishing the bidirectional communication link between the drone to be landed and the drone landing platform includes:

[0208] When the drone landing platform locks onto the drone to be landed via laser scanning, it sends a communication request signal to the drone to be landed; the communication request signal includes the drone landing platform's identification.

[0209] The drone awaiting landing responds to the communication request signal, generates a communication reply signal, encrypts the reply signal, and then executes... The modulation method modulates the encrypted communication response signal and sends the modulated communication response signal to the UAV landing platform. The communication response signal includes identification and attitude information.

[0210] In some embodiments, the system further includes: a path optimization module, used to obtain multiple initial flight paths from preset map data based on laser positioning coordinates and preset platform landing positioning coordinates; each initial flight path includes laser positioning coordinates, preset platform landing positioning coordinates, and multiple node coordinates;

[0211] With the goal of minimizing the flight path and energy consumption, a heuristic search algorithm is used to optimize multiple initial flight paths and generate the flight path that best meets the objectives.

[0212] In some embodiments, the system further includes a charging module for charging the drone via the drone landing platform; the process of charging the drone via the drone landing platform includes:

[0213] Charge the drone using mains power;

[0214] The system monitors the mains voltage in real time. When the mains voltage is lower than the preset safe voltage threshold, it switches to the backup battery to charge the drone.

[0215] In some embodiments, the system further includes: a rotor thrust optimization module, used to monitor the change in the remaining battery power of the drone to be landed during the landing process in real time, and update the rotor thrust coefficient of the drone to be landed according to the remaining battery power of the drone to be landed; the rotor thrust coefficient is:

[0216]

[0217] In the formula, k is the rotor thrust coefficient. These are the initial control parameters. For control parameters, This refers to the remaining battery power of the drone. This is the maximum battery capacity;

[0218] Update the rotor thrust of the UAV to be landed based on the rotor thrust coefficient.

[0219] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the system described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0220] It should be noted that the terms "comprising" and "having" and any variations thereof in the specification, claims and accompanying drawings of this invention are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such processes, methods, products or devices.

[0221] In the several embodiments provided by this invention, it will be understood that each block in the flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those shown in the figures. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved.

[0222] In the several embodiments provided by this invention, it should be understood that the disclosed systems and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0223] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A laser-guided unmanned aerial vehicle (UAV) landing method, applied to a UAV landing platform, characterized in that, include: Real-time acquisition of the initial flight maneuver information of the drone to be landed relative to the drone landing platform; The initial flight maneuver information includes initial laser positioning coordinates and initial flight attitude information; The initial flight maneuver information is corrected based on environmental impact parameters to obtain the flight maneuver information; Based on the flight maneuver information and the preset expected flight maneuver information, the flight maneuver deviation information is determined; Based on the flight maneuver deviation information, determine the maneuver adjustment amount for the UAV to land; Based on the motion adjustment amount of the drone to be landed, a motion command is generated and sent to the drone to be landed. The drone to be landed executes the motion command until the flight motion deviation information meets the preset tolerance deviation threshold. The environmental impact parameters include magnetic field strength; The process of correcting the initial flight maneuver information based on environmental impact parameters to obtain flight maneuver information includes: The error of the heading angle is determined based on the magnetic field interference offset model; the error of the heading angle is: ； In the formula, This represents the error in the heading angle. , These are the influence coefficients of magnetic field strength and magnetic field change rate on heading angle deviation, respectively. The magnetic field strength, The angular frequency of the magnetic field change. This is the initial phase; The heading angle is corrected by the error of the heading angle to obtain the corrected heading angle, and the flight attitude information is determined based on the corrected heading angle, pitch angle and roll angle.

2. The laser-guided UAV landing method according to claim 1, characterized in that, The real-time acquisition of the initial flight maneuver information of the drone to be landed relative to the drone landing platform includes: The drone landing platform performs laser ranging on the drone to be landed, and determines the initial laser positioning coordinates of the drone to be landed based on the laser ranging results and the laser ranging angle. The acceleration and angular velocity of the drone to be landed are obtained by the built-in gyroscope of the drone. Based on the acceleration and angular velocity of the UAV to be landed, the initial flight attitude information of the UAV landing platform is determined; wherein, the initial flight attitude information includes pitch angle, roll angle and heading angle.

3. The laser-guided UAV landing method according to claim 2, characterized in that, The environmental impact parameters include ambient light intensity and airflow. The process of correcting the initial flight maneuver information based on environmental impact parameters to obtain flight maneuver information includes: When the ambient light intensity exceeds a preset light intensity threshold, the three-dimensional laser positioning coordinate light intensity error of the initial laser positioning coordinates is determined using a light interference positioning error model; the light interference positioning error model is as follows: ； In the formula, , , These represent the laser positioning coordinate intensity errors in the x-axis, y-axis, and z-axis directions, respectively. These are the error coefficients in the x-axis, y-axis, and z-axis directions, respectively. For ambient light intensity, Light intensity threshold For time, These are the angular frequencies along the x-axis, y-axis, and z-axis, respectively. These are the initial phases in the x-axis, y-axis, and z-axis directions, respectively. The three-dimensional laser positioning coordinate airflow error is determined based on the airflow disturbance offset model; the airflow disturbance offset model is as follows: ； In the formula, , These represent the airflow errors in laser positioning coordinates along the x-axis, y-axis, and z-axis, respectively. air density, For wind speed, The maximum cross-sectional area of ​​the drone. These are the aerodynamic coefficients in the x-axis and y-axis directions, respectively. The lift coefficient, This represents the maximum projected area of ​​the drone in the vertical direction. For wind direction, Let m be the angle between the airflow and the drone in the vertical direction, m be the mass of the drone, and g be the acceleration due to gravity. These represent the angles between the drone's horizontal velocity and the airflow direction. For time intervals, The flight speed of the drone; The initial laser positioning coordinates are corrected based on the light intensity error and airflow error of the three-dimensional laser positioning coordinates to obtain the laser positioning coordinates.

4. The laser-guided drone landing method according to claim 1, characterized in that, The motion adjustment amounts include acceleration adjustment amounts and attitude adjustment amounts, and the attitude adjustment amounts include pitch angle adjustment amounts, roll angle adjustment amounts, and yaw angle adjustment amounts; The step of determining the motion adjustment amount of the UAV to be landed based on the flight motion deviation information includes: Based on the flight maneuver deviation information, the acceleration adjustment amount of the UAV to be landed is determined through an attitude and position coupling correction model; wherein, the attitude and position coupling correction model is: ； In the formula, , , These represent the acceleration adjustments in the x-axis, y-axis, and z-axis directions, respectively. , , These are all weighting coefficients for acceleration correction in the x-axis direction. , , These are all weighting coefficients for acceleration correction in the y-axis direction. , , These are all weighting coefficients for acceleration correction in the z-axis direction. , , These are the x-axis motion deviation, y-axis motion deviation, and z-axis motion deviation, respectively. For pitch angle error, For heading angle, This is the roll angle. This refers to the roll angle error; The pitch angle is corrected using a pitch angle correction model to obtain the pitch angle adjustment amount; wherein, the pitch angle correction model is: ； In the formula, This is the pitch angle adjustment amount. The coefficient representing the influence of pitch angle on angular velocity. The initial angular velocity; The current roll angle is corrected using a roll angle correction model to obtain the roll angle adjustment amount; wherein, the roll angle correction model is: ； In the formula, This is the roll angle adjustment amount. This is the coefficient representing the influence of roll angle on acceleration. This is the initial acceleration; The current heading angle is corrected by the error in the heading angle to obtain the heading angle adjustment amount; wherein, the heading angle adjustment amount is: ； In the formula, This is the heading angle adjustment amount. This represents the error in the heading angle.

5. The laser-guided UAV landing method according to claim 1, characterized in that, Also includes: Establish a two-way communication link between the drone to be landed and the drone landing platform; Establishing a two-way communication link between the drone to be landed and the drone landing platform includes: When the drone landing platform locks onto the drone to be landed via laser scanning, it sends a communication request signal to the drone to be landed. The communication request signal includes the identification of the drone landing platform; The drone awaiting landing responds to the communication request signal, generates a communication reply signal, encrypts the communication reply signal, and then runs... The modulation method modulates the encrypted communication response signal and sends the modulated communication response signal to the UAV landing platform. The communication response signal includes identification and attitude information.

6. The laser-guided drone landing method according to claim 3, characterized in that, Also includes: Based on the laser positioning coordinates and the preset platform landing positioning coordinates, multiple initial flight paths are obtained from the preset map data; each initial flight path includes laser positioning coordinates, preset platform landing positioning coordinates, and multiple node coordinates. With the goal of minimizing the flight path and the energy required for flight, a heuristic search algorithm is used to optimize multiple initial flight paths to generate the flight path that best meets the objectives.

7. The laser-guided drone landing method according to claim 1, characterized in that, It also includes the process of charging the drone via the drone landing platform; The process of charging the drone via the drone landing platform includes: The drone is charged using mains power. The voltage of the mains power is monitored in real time. When the voltage of the mains power is less than a preset safe voltage threshold, the system switches to the backup battery to charge the drone.

8. The laser-guided drone landing method according to claim 1, characterized in that, Also includes: The remaining battery power of the drone to be landed is monitored in real time during the landing process, and the rotor thrust coefficient of the drone to be landed is updated according to the remaining battery power; the rotor thrust coefficient is: ； In the formula, k is the rotor thrust coefficient. These are the initial control parameters. For control parameters, This refers to the remaining battery power of the drone. This is the maximum battery capacity; The rotor thrust of the UAV to be landed is updated based on the rotor thrust coefficient.

9. A laser-guided unmanned aerial vehicle (UAV) landing system, characterized in that, include: The flight information acquisition module is used to acquire the initial flight action information of the UAV to be landed relative to the UAV landing platform in real time; the initial flight action information includes initial laser positioning coordinates and initial flight attitude information. The flight maneuver correction module is used to correct the initial flight maneuver information based on environmental impact parameters to obtain flight maneuver information; The action deviation determination module is used to determine flight action deviation information based on the flight action information and the preset expected flight action information; The motion adjustment module is used to determine the motion adjustment amount of the UAV to be landed based on the flight motion deviation information. The action execution module is used to generate action commands based on the action adjustment amount of the drone to be landed, and send the action commands to the drone to be landed, and execute the action commands through the drone to be landed until the flight action deviation information meets the preset tolerance deviation threshold. The environmental impact parameters include magnetic field strength; The initial flight maneuver information is corrected based on environmental impact parameters to obtain flight maneuver information, including: The error of the heading angle is determined based on the magnetic field interference offset model; the error of the heading angle is: ； In the formula, This represents the error in the heading angle. , These are the influence coefficients of magnetic field strength and magnetic field change rate on heading angle deviation, respectively. The magnetic field strength, The angular frequency of the magnetic field change. This is the initial phase; The heading angle is corrected by the error of the heading angle to obtain the corrected heading angle, and the flight attitude information is determined based on the corrected heading angle, pitch angle and roll angle.

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