Unmanned aerial vehicle rope collision recovery method adapting to wind direction change

Abstract

The invention discloses an unmanned aerial vehicle collision rope recovery method adapting to wind direction changes, and belongs to the technical field of fixed-wing unmanned aerial vehicle recovery. According to the method, a first rope collision position is determined based on an unmanned aerial vehicle ejection position before an unmanned aerial vehicle takes off, and a first rope collision recovery route is generated through the first rope collision position. Whether the first rope collision recovery route meets the recovery requirement or not is judged again before unmanned aerial vehicle rope collision recovery, if the requirement is met, the first rope collision recovery route is adopted for unmanned aerial vehicle recovery, and if the requirement is not met, the recovery vehicle launching direction is adjusted to the second horizontal direction, and the second rope collision position is obtained; and a second rope collision recovery route is generated through the second rope collision position to recover the unmanned aerial vehicle. The method ensures the accuracy of obtaining the rope collision position of the unmanned aerial vehicle, and solves the problems of low recovery accuracy and success rate caused by the influence of wind direction change on the existing unmanned aerial vehicle rope recovery.

Description

Technical Field

[0001] The present invention relates to the technical field of fixed-wing UAV recovery, and particularly relates to a UAV rope-collision recovery method adaptable to wind direction changes. Background Art

[0002] The recovery of UAVs is a more complex and fault-prone stage, and whether it can be safely recovered has become an important indicator for evaluating the performance of UAVs. With the development of UAV recovery technology, in addition to traditional recovery methods such as parachute recovery, net-collision recovery, airbag recovery, and runway recovery, the rope-collision recovery method has also gradually emerged. Compared with traditional recovery methods, the rope-collision recovery method has lower requirements for the site and less damage to the UAV structure.

[0003] Rope-collision recovery is a method in which a self-locking hook is set on the UAV fuselage (wing), and during recovery, the UAV is guided to impact the arrest rope of the ground recovery device with the self-locking hook for locking and recovery. The ground recovery device mainly includes a ground recovery vehicle, on which a launch rack is provided, and the arrest rope is vertically arranged on the launch rack. However, since the flight path of rope-collision recovery is generated based on the rope-collision position (i.e., the position where the UAV fuselage impacts the arrest rope), the calculation of the rope-collision position is particularly important. Currently, a relatively easy-to-operate measurement method of "rope-collision recovery simulation" is adopted for the rope-collision position, that is, before takeoff, the UAV is placed directly below the arrest rope (simulating the attitude during impact), and the current UAV position information (longitude, latitude, altitude, and heading) is obtained through the UAV's on-board positioning device. Since the longitude and latitude data are not affected by altitude, the rope-collision position is the current UAV position plus the vertical distance (the height difference between the UAV and the impact point of the arrest rope). Since the UAV rope-collision position is greatly affected by the wind direction, if the wind direction changes, the ground launch and recovery device needs to be rotated along with the wind direction, and accordingly, the rope-collision position (including the direction) on the arrest rope will also change. Only relying on the "rope-collision recovery simulation" method cannot guarantee the safe recovery of the UAV after the wind direction changes. Before the UAV conducts rope-collision recovery, if the wind direction changes, in order to track the recovery route, the UAV flies laterally, resulting in an offset of the impact position of the fuselage, and it may not be able to hit the arrest rope, leading to the failure of UAV recovery. In order to ensure the safe recovery of the UAV, the recovery is carried out when the wind direction is close to the wind direction before takeoff. Therefore, the wind direction has a great impact on the safe recovery of the UAV.

[0004] It can be seen that during the UAV cable recovery process, affected by the wind direction change, it will affect the accuracy and success rate of the UAV rope-collision recovery. Therefore, it is necessary to provide a UAV rope-collision recovery method adaptable to wind direction changes to solve the above problems. Summary of the Invention

[0005] Technical Problems to be Solved: To avoid the deficiencies of the prior art, the present invention provides a method for the rope-collision recovery of an unmanned aerial vehicle (UAV) adaptable to wind direction changes. The rope-collision position of the UAV is calculated based on the wind direction, the UAV ejection position information, and the data acquisition point information of the launch and recovery vehicle. A rope-collision recovery route is generated based on the rope-collision position to guide the recovery of the UAV. This method ensures the accuracy of obtaining the rope-collision position of the UAV and solves the problems of low recovery accuracy and success rate caused by the influence of wind direction changes on the cable recovery of existing UAVs.

[0006] The technical solution of the present invention is: A method for the rope-collision recovery of an unmanned aerial vehicle adaptable to wind direction changes, characterized by comprising the following steps: Step 1: Collect the first current wind direction, obtain the first horizontal direction of the launch and recovery vehicle, and make the angle between the first current wind direction and the first horizontal direction meet the set angle requirement; Based on the lateral distance and longitudinal distance on the same horizontal plane from the UAV ejection position to the rope-collision position, the longitude and latitude coordinates, heading, and altitude of the UAV ejection position, and the vertical distance from the UAV ejection position to the rope-collision position, obtain the first rope-collision position; Generate a first rope-collision recovery route through the first rope-collision position; Step 2: Before the rope-collision recovery of the UAV, re-determine whether the first rope-collision recovery route meets the recovery requirements; if it meets, use the first rope-collision recovery route to recover the UAV; if it does not meet, adjust the direction of the launch and recovery vehicle to the second horizontal direction, obtain the second rope-collision position, and generate a second rope-collision recovery route through the second rope-collision position to recover the UAV.

[0007] A further technical solution of the present invention is: The set angle requirement is that the angle between the first current wind direction and the first horizontal direction of the launch and recovery vehicle is 90° ± 5°. If the angle requirement is not met, adjust the direction of the launch and recovery vehicle until the angle requirement is met.

[0008] A further technical solution of the present invention is: The method for obtaining the first horizontal direction of the launch and recovery vehicle is: Mark data acquisition point Ⅰ and data acquisition point Ⅱ on the crossbeam of the ground launch and recovery vehicle, obtain the first longitude and latitude coordinates of data acquisition point Ⅰ and the first longitude and latitude coordinates of data acquisition point Ⅱ, and convert them into the first rectangular coordinates corresponding to data acquisition point Ⅰ and data acquisition point Ⅱ. Calculate the first horizontal direction of the ground launch and recovery vehicle based on the first rectangular coordinates of data acquisition point Ⅰ and the first rectangular coordinates of data acquisition point Ⅱ.

[0009] A further technical solution of the present invention is: The calculation method for the first horizontal direction of the ground launch and recovery vehicle is:

[0010] In the formula, is the first horizontal direction of the ground launch and recovery vehicle; is the first rectangular coordinate of data acquisition point Ⅰ; is the first rectangular coordinate of data acquisition point Ⅱ.

[0011] A further technical solution of the present invention is that: the first rope hitting position includes the longitude and latitude coordinates of the first rope hitting position, the direction of the first rope hitting position, and the altitude of the first rope hitting position. The method for obtaining the first rope hitting position is as follows: Calculate the longitude and latitude coordinates of the first rope hitting position according to the transverse distance, longitudinal distance, longitude and latitude coordinates, and heading of the UAV ejection position; Calculate the altitude of the first rope hitting position according to the altitude of the UAV ejection position and the vertical distance from the UAV ejection position to the rope hitting position; Among them, the direction of the first rope hitting position is the same as the heading of the UAV ejection position.

[0012] A further technical solution of the present invention is that: the calculation method of the longitude and latitude coordinates of the first rope hitting position is as follows: calculate the deviation data between the UAV ejection position and the rope hitting position in the rectangular coordinate system according to the transverse distance, longitudinal distance, and heading of the UAV ejection position, convert the longitude and latitude coordinates of the UAV ejection position into rectangular coordinates, calculate the rectangular coordinates of the rope hitting position according to the deviation data and the rectangular coordinates of the UAV ejection position, and convert the rectangular coordinates of the rope hitting position into the longitude and latitude coordinates of the first rope hitting position.

[0013] A further technical solution of the present invention is that: the method for re-determining whether the first rope hitting recovery route meets the recovery requirements is to obtain the second current wind direction data, compare whether the difference between the second current wind direction and the first current wind direction is less than 5°. If it is less than 5°, it is determined that the first rope hitting recovery route meets the recovery requirements. If it is greater than or equal to 5°, it is determined that the first rope hitting recovery route does not meet the recovery requirements.

[0014] A further technical solution of the present invention is that: the included angle between the second horizontal direction and the second current wind direction is 90°±5°. The method for obtaining the second horizontal direction is as follows: adjust the direction of the launch and recovery vehicle, collect the second longitude and latitude coordinates of data acquisition point Ⅰ and the second longitude and latitude coordinates of data acquisition point Ⅱ, and convert them into the second rectangular coordinates corresponding to data acquisition point Ⅰ and data acquisition point Ⅱ. Calculate the second horizontal direction of the ground launch and recovery vehicle according to the second rectangular coordinates of data acquisition point Ⅰ and the second rectangular coordinates of data acquisition point Ⅱ.

[0015] A further technical solution of the present invention is that: the second rope hitting position includes the longitude and latitude coordinates of the second rope hitting position, the direction of the second rope hitting position, and the altitude of the second rope hitting position; the method for determining the second rope hitting position is as follows: When the launch and recovery vehicle is in the second horizontal direction, collect the altitude of data acquisition point Ⅰ, the vertical distance from data acquisition point Ⅰ to the rope hitting position, and the horizontal distance from data acquisition point Ⅰ to the rope hitting position; Calculate the rectangular coordinates of the second rope hitting position based on the second rectangular coordinates of data collection point I, the second rectangular coordinates of data collection point II, and the horizontal distance from data collection point I to the rope hitting position, and convert them into the longitude and latitude coordinates of the second rope hitting position; calculate the direction of the second rope hitting position based on the second rectangular coordinates of data collection point I and the second rectangular coordinates of data collection point II; calculate the altitude of the second rope hitting position based on the altitude of data collection point I and the vertical distance from data collection point I to the rope hitting position.

[0016] A further technical solution of the present invention is: the rectangular coordinates of the second rope hitting position The calculation method is:

[0017]

[0018] In the formula, is the second rectangular coordinate of data collection point I; is the second rectangular coordinate of data collection point II; is the horizontal distance from data collection point I to the rope hitting position.

[0019] The beneficial effect of the present invention is: A method for recovering a drone by hitting a rope adaptable to wind direction changes. Before the drone takes off (at this time, the drone is at the drone ejection position on the launch and recovery vehicle), by marking two data collection points on the crossbar of the launch rack on the launch and recovery vehicle, determine the direction of the launch and recovery vehicle. When the first current wind direction and the direction of the launch and recovery vehicle satisfy 90° ± 5°, obtain the drone rope hitting position based on the drone ejection position, and generate a recovery route for the drone according to the drone rope hitting position. Before the drone is recovered by hitting the rope (at this time, the drone is in the state of flying out and waiting to be recovered), re-determine whether the rope hitting recovery route meets the recovery requirements. When collecting the second current wind direction during the determination, if the included angle between the second current wind direction and the first current wind direction is less than 5°, then use the already generated rope hitting recovery route to recover the drone; if the included angle between the second current wind direction and the first current wind direction is greater than or equal to 5°, then adjust the direction of the launch and recovery vehicle, re-obtain the rope hitting position based on the data collection points on the launch and recovery vehicle, and generate a rope hitting recovery route again through the re-obtained rope hitting position to recover the drone.

[0020] Through this method, multiple flight tests of catapult takeoff and cable recovery for fixed-wing UAVs are carried out. The UAVs take off normally by catapult in the field. Before takeoff, the cable recovery position is calculated according to the position of the UAV, and then the corresponding cable recovery route is automatically generated. If the wind direction changes during the recovery process, after the direction of the ground mobile launch and recovery vehicle is adjusted, the cable hitting position is recalculated, and a new cable recovery route is generated. The UAV adopts the new cable recovery route and completes the recovery of the UAV with extremely high accuracy, ensuring the recovery safety of the UAV. The test proves that through this method, it can meet the requirement of the fixed-wing UAV to complete the safe recovery of the UAV even after the wind direction changes, and can also meet the requirement of off-site recovery in the catapult takeoff and cable recovery mode. This method has strong reliability and solves the problem that the accuracy and success rate of the existing cable recovery method are reduced due to the influence of wind direction changes. This method has broad application prospects under the conditions without a flight runway (such as application scenarios in deserts, gobi, and the sea). BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0022] Figure 1 It is a flowchart for obtaining the first cable hitting position before the catapult takeoff of the UAV in the method of the present invention; Figure 2 It is a flowchart for determining whether the first cable recovery route generated according to the first cable hitting position is applicable before the cable recovery of the UAV in the method of the present invention, and for obtaining the second cable hitting position; Figure 3 It is a schematic diagram for obtaining the cable hitting position based on the catapult position of the UAV before the UAV takes off in the present invention; Figure 4 It is a schematic diagram for obtaining the cable hitting position based on the Beidou handheld device before the cable recovery of the UAV in the present invention; Figure 5 It is a schematic diagram for wind direction judgment in the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0023] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0024] An embodiment of a method for recovering a drone by hitting a rope adaptable to wind direction changes according to the present invention is as follows Figure 1 、 Figure 2 shown, and includes the following steps: Step 1: Before the drone takes off, determine the first rope-hitting position based on the catapult position of the drone, and generate a first rope-hitting recovery route through the first rope-hitting position.

[0025] Specifically, it includes: Step 1.1: Collect the first current wind direction, obtain the first horizontal direction of the launch and recovery vehicle, and make the angle between the first current wind direction and the first horizontal direction meet the set angle requirement.

[0026] Exemplarily, in one embodiment, Step 1.1 specifically includes: Step 1.1.1: Refer to Figures 3 - 5 , mark data collection point Ⅰ and data collection point Ⅱ on the crossbeam of the launch rack of the ground launch and recovery vehicle, where data collection point Ⅱ is close to the ground launch and recovery vehicle, and data collection point Ⅰ is close to the vertically arranged blocking rope. Place the handheld Beidou device at the positions of data collection point Ⅰ and data collection point Ⅱ for data collection, and parse the data collected by the handheld Beidou device through the ground Beidou device to obtain the longitude and latitude coordinates of data collection point Ⅰ and the longitude and latitude coordinates of data collection point Ⅱ, and then calculate the rectangular coordinates of data collection point Ⅰ and the rectangular coordinates of data collection point Ⅱ through coordinate conversion.

[0027] Step 1.1.2: Collect the current wind direction data through the meteorological collection device .

[0028] Step 1.1.3: Calculate the horizontal direction of the ground launch and recovery vehicle according to the rectangular coordinates of data collection point Ⅰ and the rectangular coordinates of data collection point Ⅱ.

[0029] The specific calculation method is:

[0030] In the formula, the horizontal direction of the ground launch and recovery vehicle; is the rectangular coordinate of data collection point Ⅰ; is the rectangular coordinate of data collection point Ⅱ.

[0031] And Step 1.1.4: Judge the angle between the current wind direction data and the horizontal direction of the ground launch and recovery vehicle. If the angle is within 90°±5°, record the current latest wind direction data as the first current wind direction , and at this time the horizontal direction of the ground launch and recovery vehicle is recorded as the first horizontal direction If the included angle exceeds 90° ± 5°, move the ground launch and recovery vehicle until the included angle between the current wind direction data and the horizontal direction of the ground launch and recovery vehicle is within 90° ± 5°, and record the current latest wind direction data as the first current wind direction. , and at this time, the horizontal direction of the ground launch and recovery vehicle is the first horizontal direction. .

[0032] Record the longitude and latitude coordinates of data collection point Ⅰ under the first horizontal direction of the ground launch and recovery vehicle as its first longitude and latitude coordinates. , and record the longitude and latitude coordinates of data collection point Ⅱ as its first longitude and latitude coordinates. , and after coordinate conversion, the rectangular coordinates of data collection point Ⅰ are its first rectangular coordinates. , and the rectangular coordinates of data collection point Ⅱ are its first rectangular coordinates. .

[0033] The first horizontal direction .

[0034] Step 1.2: Obtain the first rope-collision position based on the lateral distance, longitudinal distance in the same horizontal plane from the UAV ejection position to the rope-collision position, the position information of the UAV ejection position, which includes longitude and latitude coordinates, heading, and altitude, and the vertical distance from the UAV ejection position to the rope-collision position. Generate the first rope-collision recovery flight path according to the first rope-collision position.

[0035] It should be noted that, referring to Figure 3 , before the UAV takes off, it is located at the ejection position on the launch rack. There is a positioning device installed in the UAV, which can obtain the position information of the UAV, that is, the position information of the UAV ejection position, including longitude and latitude coordinates, heading, and altitude.

[0036] Exemplarily, in one embodiment, step 1.2 specifically includes: Step 1.2.1: Under the first horizontal direction of the ground launch and recovery vehicle: Collect the position information of the UAV ejection position, which includes longitude and latitude coordinates , heading and altitude data; collect the vertical distance from the UAV ejection position to the rope-collision position ; collect the lateral distance in the same horizontal plane from the UAV ejection position to the rope-collision position and longitudinal distance .

[0037] Step 1.2.2: According to the lateral distance , longitudinal distance and the longitude and latitude coordinates and heading Calculate the longitude and latitude coordinates of the first rope impact position ; The specific method is as follows: Step 1.2.2.1: Calculate the deviation data between the UAV ejection position and the rope impact position in the rectangular coordinate system through the lateral distance , longitudinal distance and heading , and the specific calculation method is as follows:

[0038]

[0039] Step 1.2.2.2: Convert the longitude and latitude coordinates of the UAV ejection position into rectangular coordinates .

[0040] Step 1.2.2.3: Calculate the rectangular coordinates of the first rope impact position through the rectangular coordinates of the UAV ejection position and the deviation data , and the calculation method is as follows:

[0041]

[0042] Step 1.2.2.4: Convert the rectangular coordinates of the first rope impact position into the longitude and latitude coordinates of the first rope impact position.

[0043] Step 1.2.3: Obtain the direction of the first rope impact position. The direction of the first rope impact position is the same as the heading of the UAV ejection position, and specifically:

[0044] Step 1.2.4: Calculate the altitude of the first rope impact position according to the altitude of the UAV ejection position and the vertical distance from the UAV ejection position to the rope impact position , and specifically:

[0045] Step 1.2.5: According to the above steps, the first rope impact position obtained is , and then the first rope recovery route can be generated according to the existing route calculation method based on the first rope impact position.

[0046] ​Step 2: Before the UAV is recovered by hitting the rope, re-determine whether the first rope-hitting recovery route meets the recovery requirements; if it meets the requirements, use the first rope-hitting recovery route to recover the UAV; if it does not meet the requirements, adjust the direction of the launch and recovery vehicle to the second horizontal direction, obtain the second rope-hitting position, and generate a second rope-hitting recovery route through the second rope-hitting position to recover the UAV.

[0047] Specifically: Step 2.1: Before the UAV is recovered by hitting the rope, re-determine whether the first rope-hitting recovery route meets the recovery requirements. The specific determination method is as follows: Collect the second current wind direction data before the rope-hitting recovery through the meteorological collection device , read the first current wind direction collected before the UAV is catapulted and take off , and judge and included angle . The calculation method is as follows

[0048] When °, it is determined that the first rope-hitting recovery route meets the recovery requirements, and the rope-hitting position adopts the first rope-hitting position , and use the first rope-hitting recovery route to recover the UAV by hitting the rope.

[0049] When °, it is determined that the first rope-hitting recovery route does not meet the recovery requirements, and the first rope-hitting position cannot be used as the rope-hitting position, nor can the first rope-hitting recovery route be used to recover the UAV by hitting the rope.

[0050] At this time, the following steps need to be entered to re-determine the rope-hitting position, that is, to determine the second rope-hitting position, and re-generate the UAV recovery route according to the second rope-hitting position, that is, the second rope-hitting recovery route.

[0051] Step 2.2: Adjust the direction of the launch and recovery vehicle to the second horizontal direction so that the included angle between the second horizontal direction and the second current wind direction is 90° ± 5°.

[0052] Exemplarily, in one embodiment, Step 2.2 specifically includes: Step 2.2.1: Adjust the position of the ground launch and recovery vehicle, then place the handheld Beidou device at the positions of data collection point Ⅰ and data collection point Ⅱ for data collection. After the data collection, perform data parsing through the ground Beidou device to obtain the second longitude and latitude coordinates of data collection point Ⅰ and the second longitude and latitude coordinates of data collection point Ⅱ , as well as the altitude of data collection point Ⅰ , and then use the second longitude and latitude coordinates of data collection point Ⅰ and the second longitude and latitude coordinates of data acquisition point II Calculate the second rectangular coordinates of data acquisition point I through coordinate transformation and the second rectangular coordinates of data acquisition point II .

[0053] Step 2.2.2: According to the second rectangular coordinates of data acquisition point I and the second rectangular coordinates of data acquisition point II calculate the second horizontal direction of the ground launch and recovery vehicle , and it is required that the included angle between the second horizontal direction and the second current wind direction is within 90°±5°.

[0054] The calculation method of the second horizontal direction is as follows:

[0055] If the included angle between the adjusted horizontal direction of the ground launch and recovery vehicle and the second current wind direction is not within 90°±5°, adjust the position of the ground launch and recovery vehicle again until the included angle with the second current wind direction is within 90°±5°. The second longitude and latitude coordinates of data acquisition point I , the second longitude and latitude coordinates of data acquisition point II and the altitude of data acquisition point I are the data collected and recorded under the condition that the included angle between the adjusted horizontal direction of the ground launch and recovery vehicle and the second current wind direction meets 90°±5°.

[0056] Step 2.3: Obtain the second rope hitting position, and generate a second rope hitting recovery route through the second rope hitting position for UAV recovery. The second rope hitting position includes the longitude and latitude coordinates of the second rope hitting position, the direction of the second rope hitting position, and the altitude of the second rope hitting position.

[0057] Exemplarily, in one embodiment, step 2.3 specifically includes: Step 2.3.1: Refer to Figure 4 , when the launch and recovery vehicle is in the second horizontal direction, use a measuring tool to collect the vertical distance from data acquisition point I to the rope hitting position and the horizontal distance from data acquisition point I to the rope hitting position

[0058] Step 2.3.2: According to the second rectangular coordinates of data acquisition point I , the second rectangular coordinates of data acquisition point II and the horizontal distance from data acquisition point I to the rope hitting position calculate the rectangular coordinates of the second rope hitting position , and convert it into the longitude and latitude coordinates of the second rope hitting position . The specific method is as follows: The rectangular coordinates of the second rope hitting position calculate:

[0059]

[0060] Then, the rectangular coordinates of the second collision position are converted to longitude and latitude coordinates by the Gaussian rectangular coordinate conversion formula Converted to the latitude and longitude coordinates of the second collision rope position .

[0061] Step 2.3.3: According to the second rectangular coordinate of data collection point I and the second rectangular coordinate of data collection point II Calculate the second collision position and direction , the specific calculation method is:

[0062] Step 2.3.4 Based on the altitude of data collection point I and the vertical distance from data collection point I to the rope collision position , calculate the altitude of the second rope collision position , the specific calculation method is:

[0063] Step 2.3.5: So far, the second collision position is obtained according to the above steps. , the existing route calculation method can be used to generate the second collision rope recovery route according to the second collision rope position, so as to realize the UAV collision rope recovery.

[0064] The present invention provides a calculation method for obtaining the collision rope position in two different ways: based on the ejection position of the drone on the launcher before the drone is launched, and based on a handheld Beidou device before the collision rope is recovered. After field testing, no matter how the wind direction changes, the collision rope position can be calculated, thereby generating a corresponding recovery route, ensuring the safety of the drone collision rope recovery. Tests have proved that this method can meet the needs of drone collision rope recovery under complex wind direction conditions. The drone collision rope position calculation method based on wind direction proposed by the present invention is easy to use and has high reliability, and has broad application prospects for drone collision rope recovery.

[0065] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for recovering a UAV by hitting a rope that can adapt to wind direction changes, characterized in that: The following steps are involved: Step 1: Collect the first current wind direction and obtain the first horizontal direction of the launch and recovery vehicle, so that the angle between the first current wind direction and the first horizontal direction meets the set angle requirement; The first collision rope position is obtained according to the lateral distance and longitudinal distance on the same horizontal plane from the ejection position of the drone to the collision rope position, the latitude and longitude coordinates, heading and altitude of the ejection position of the drone, and the vertical distance from the ejection position of the drone to the collision rope position; generating a first strike rope recovery route through a first strike rope position; Step 2: Before the UAV is recovered by the strike rope, it is re-determined whether the first strike rope recovery route meets the recovery requirements; if so, the first strike rope recovery route is used to recover the UAV; if not, the direction of the launch recovery vehicle is adjusted to the second horizontal direction, the second strike rope position is obtained, and the second strike rope recovery route is generated through the second strike rope position to recover the UAV.

2. A method for recovering a UAV collision rope that adapts to wind direction changes according to claim 1, characterized in that: The set angle requirement is: the angle between the first current wind direction and the first horizontal direction of the launch and recovery vehicle is 90°±5°. If the angle requirement is not met, the direction of the launch and recovery vehicle is adjusted until the angle requirement is met.

3. The method for recovering a UAV collision rope that adapts to wind direction changes according to claim 1 is characterized in that: The method for obtaining the first horizontal direction of the launch and recovery vehicle is as follows: marking data collection point I and data collection point II on the crossbeam of the ground launch and recovery vehicle, obtaining the first longitude and latitude coordinates of data collection point I and the first longitude and latitude coordinates of data collection point II, and converting them into the first rectangular coordinates corresponding to data collection point I and data collection point II, and calculating the first horizontal direction of the ground launch and recovery vehicle according to the first rectangular coordinates of data collection point I and the first rectangular coordinates of data collection point II.

4. The method for recovering a UAV collision rope that adapts to wind direction changes according to claim 3 is characterized in that: The calculation method of the first horizontal direction of the ground launch recovery vehicle is: In the formula, The first horizontal direction for the ground launch recovery vehicle; is the first rectangular coordinate of data collection point Ⅰ; is the first rectangular coordinate of data collection point II.

5. The method for recovering a UAV collision rope that adapts to wind direction changes according to claim 3 is characterized in that: The first rope striking position includes the longitude and latitude coordinates of the first rope striking position, the direction of the first rope striking position and the altitude of the first rope striking position. The method for obtaining the first rope striking position is: Calculate the longitude and latitude coordinates of the first collision rope position according to the lateral distance, the longitudinal distance, the longitude and latitude coordinates of the ejection position of the UAV, and the heading; The altitude of the first strike rope position is calculated according to the altitude of the UAV ejection position and the vertical distance from the UAV ejection position to the strike rope position; Among them, the direction of the first collision rope position is the same as the heading of the drone ejection position.

6. The method for recovering a UAV by hitting a rope and adapting to wind direction changes according to claim 5 is characterized in that: The calculation method of the latitude and longitude coordinates of the first collision rope position is: The deviation data of the ejection position of the UAV and the collision rope position in the rectangular coordinate system are calculated according to the lateral distance, longitudinal distance and heading of the ejection position of the UAV, the longitude and latitude coordinates of the ejection position of the UAV are converted into rectangular coordinates, the rectangular coordinates of the collision rope position are calculated according to the deviation data and the rectangular coordinates of the ejection position of the UAV, and the rectangular coordinates of the collision rope position are converted into the longitude and latitude coordinates of the first collision rope position.

7. The method for recovering a UAV collision rope that adapts to wind direction changes according to claim 5 is characterized in that: The method for re-determining whether the first collision rope recovery route meets the recovery requirements is to obtain the second current wind direction data, compare whether the difference between the second current wind direction and the first current wind direction is less than 5°, if it is less than 5°, determine that the first collision rope recovery route meets the recovery requirements, if it is greater than or equal to 5°, determine that the first collision rope recovery route does not meet the recovery requirements.

8. The method for recovering a UAV by hitting a rope and adapting to wind direction changes according to claim 7 is characterized in that: The angle between the second horizontal direction and the second current wind direction is 90°±5°. The method for obtaining the second horizontal direction is: adjust the direction of the launch and recovery vehicle, collect the second longitude and latitude coordinates of data collection point I and the second longitude and latitude coordinates of data collection point II, and convert them into second rectangular coordinates corresponding to data collection point I and data collection point II, and calculate the second horizontal direction of the ground launch and recovery vehicle according to the second rectangular coordinates of data collection point I and the second rectangular coordinates of data collection point II.

9. The method for recovering a UAV by hitting a rope and adapting to wind direction changes according to claim 8, characterized in that: The second rope striking position includes the latitude and longitude coordinates of the second rope striking position, the direction of the second rope striking position, and the altitude of the second rope striking position; the method for determining the second rope striking position is: When the launch recovery vehicle is in the second horizontal direction, collect the altitude of data collection point I, the vertical distance from data collection point I to the collision rope position, and the horizontal distance from data collection point I to the collision rope position; The rectangular coordinates of the second rope-collision position are calculated according to the second rectangular coordinates of data collection point I, the second rectangular coordinates of data collection point II, and the horizontal distance from data collection point I to the rope-collision position, and converted into the latitude and longitude coordinates of the second rope-collision position; the direction of the second rope-collision position is calculated according to the second rectangular coordinates of data collection point I and the second rectangular coordinates of data collection point II; the altitude of the second rope-collision position is calculated according to the altitude of data collection point I and the vertical distance from data collection point I to the rope-collision position.

10. The method for recovering a UAV by hitting a rope and adapting to wind direction changes according to claim 9, characterized in that: The rectangular coordinates of the second collision rope position The calculation method is: In the formula, is the second rectangular coordinate of data collection point Ⅰ; is the second rectangular coordinate of data collection point II; is the horizontal distance from data collection point I to the rope collision position.

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