Dynamic compensation method and system for take-off and landing platform during take-off and landing of offshore unmanned aerial vehicle

Abstract

The invention discloses a dynamic compensation method and system for a take-off and landing platform during take-off and landing of a marine unmanned aerial vehicle, and the method comprises the steps: obtaining the operation information of the take-off and landing platform, and enabling the operation information to comprise a roll angle of the take-off and landing platform, a target pitch angle of the take-off and landing platform, and a target roll angle of the take-off and landing platform; setting an attitude detection function of the take-off and landing platform, and calculating a pitch angle of the take-off and landing platform at the time t according to the operation information; respectively setting a horizontal displacement correction function of the take-off and landing platform and a vertical displacement correction function of the take-off and landing platform, calculating the horizontal displacement of the take-off and landing platform and the vertical displacement of the take-off and landing platform at the time t according to the operation information and the pitch angle of the take-off and landing platform, and adjusting the horizontal position and the vertical displacement of the take-off and landing platform; and setting a feedback function of the control force of the take-off and landing platform and a feedback function of the control torque of the take-off and landing platform, calculating the force and the torque which need to be applied to the take-off and landing platform at the time t according to the operation information and the pitch angle of the take-off and landing platform, and adjusting the take-off and landing platform.

Description

Technical Field

[0001] The present invention belongs to the technical field of control of sea takeoff and landing platforms, and more specifically, relates to a dynamic compensation method and system for a takeoff and landing platform during the takeoff and landing of a sea drone. Background Art

[0002] With the rapid development of the marine economy, the applications of sea drones and eVTOL (electric vertical takeoff and landing) are becoming increasingly widespread. However, the marine environment is complex and changeable, and ships are easily affected by waves, resulting in large swings and undulations, which bring great risks to the takeoff and landing of drones and eVTOL. Existing sea takeoff and landing platforms are difficult to ensure stability under dynamic sea conditions, affecting the takeoff and landing efficiency and safety.

[0003] Therefore, there is an urgent need for a technical solution that can keep the takeoff and landing platform stable. Summary of the Invention

[0004] To solve the above technical problems, the present invention proposes a dynamic compensation method for a takeoff and landing platform during the takeoff and landing of a sea drone, including:

[0005] Obtaining the operation information of the takeoff and landing platform, where the operation information includes: the acceleration of the takeoff and landing platform relative to the sea surface, the roll angle of the takeoff and landing platform, the target pitch angle of the takeoff and landing platform, and the target roll angle of the takeoff and landing platform;

[0006] Setting an attitude detection function of the takeoff and landing platform, and calculating the pitch angle of the takeoff and landing platform at time t according to the operation information;

[0007] Respectively setting a horizontal displacement correction function and a vertical displacement correction function of the takeoff and landing platform, and calculating the horizontal displacement and the vertical displacement of the takeoff and landing platform at time t according to the operation information and the pitch angle of the takeoff and landing platform, and adjusting the horizontal position and the vertical displacement of the takeoff and landing platform;

[0008] Setting a feedback function of the control force of the takeoff and landing platform and a feedback function of the control torque of the takeoff and landing platform, and calculating the force and torque that need to be applied to the takeoff and landing platform at time t according to the operation information and the pitch angle of the takeoff and landing platform, and adjusting the takeoff and landing platform.

[0009] Further, the attitude detection function of the takeoff and landing platform includes:

[0010]

[0011] where θ(t) is the pitch angle of the takeoff and landing platform at time t, used to describe the inclination of the takeoff and landing platform, c1 is the first adjustment factor of the attitude detection function of the takeoff and landing platform, α(t) is the acceleration of the takeoff and landing platform relative to the sea surface at time t, c2 is the second adjustment factor of the attitude detection function of the takeoff and landing platform, θ prev(t - 1) is the pitch angle of the takeoff and landing platform at time t - 1, c3 is the third adjustment factor of the attitude detection function of the takeoff and landing platform, φ prev (t - 1) is the roll angle of the takeoff and landing platform at time t - 1, λ is the fourth adjustment factor of the attitude detection function of the takeoff and landing platform, and α(τ) is the acceleration of the takeoff and landing platform relative to the sea surface at time τ.

[0012] Furthermore, the horizontal displacement correction function of the takeoff and landing platform includes:

[0013]

[0014] where x(t) is the horizontal displacement of the takeoff and landing platform at time t, x(t - 1) is the horizontal displacement of the takeoff and landing platform at time t - 1, c4 is the first adjustment factor of the horizontal displacement correction function of the takeoff and landing platform, c5 is the second adjustment factor of the horizontal displacement correction function of the takeoff and landing platform, c6 is the third adjustment factor of the horizontal displacement correction function of the takeoff and landing platform, c7 is the fourth adjustment factor of the horizontal displacement correction function of the takeoff and landing platform, c8 is the fifth adjustment factor of the horizontal displacement correction function of the takeoff and landing platform, θ(τ) is the pitch angle of the takeoff and landing platform at time τ, φ prev (τ) is the roll angle of the takeoff and landing platform at time τ.

[0015] Furthermore, the vertical displacement correction function of the takeoff and landing platform includes:

[0016]

[0017] where z(t) is the vertical displacement of the takeoff and landing platform at time t, z(t - 1) is the vertical displacement of the takeoff and landing platform at time t - 1, and β is the adjustment factor of the vertical displacement correction function of the takeoff and landing platform.

[0018] Furthermore, the feedback function of the control force of the takeoff and landing platform includes:

[0019]

[0020] where F(t) is the force that needs to be applied to the takeoff and landing platform at time t to adjust the inclination of the takeoff and landing platform, k1 is the first adjustment factor of the feedback function of the control force of the takeoff and landing platform, α target is the target acceleration of the takeoff and landing platform, n is the second adjustment factor of the feedback function of the control force of the takeoff and landing platform, k2 is the third adjustment factor of the feedback function of the control force of the takeoff and landing platform, θ target is the target pitch angle of the takeoff and landing platform, m is the fourth adjustment factor of the feedback function of the control force of the takeoff and landing platform, c9 is the fifth adjustment factor of the feedback function of the control force of the takeoff and landing platform, k3 is the sixth adjustment factor of the feedback function of the control force of the takeoff and landing platform, φ targetis the target roll angle of the takeoff and landing platform, p is the seventh adjustment factor of the feedback function of the control force of the takeoff and landing platform, and φ prev (t) is the roll angle of the takeoff and landing platform at time t.

[0021] Furthermore, the feedback function of the control torque of the takeoff and landing platform includes:

[0022]

[0023] Among them, T(t) is the torque that needs to be applied to the takeoff and landing platform at time t, k4 is the first adjustment factor of the feedback function of the control torque of the takeoff and landing platform, q is the second adjustment factor of the feedback function of the control torque of the takeoff and landing platform, k5 is the third adjustment factor of the feedback function of the control torque of the takeoff and landing platform, r′ is the fourth adjustment factor of the feedback function of the control torque of the takeoff and landing platform, and c 10 is the fifth adjustment factor of the feedback function of the control torque of the takeoff and landing platform.

[0024] Furthermore, obtain the historical adjustment information of the takeoff and landing platform, and fit all weights and adjustment factors.

[0025] The present invention also proposes a dynamic compensation system for a takeoff and landing platform during the takeoff and landing of a maritime unmanned aerial vehicle, including:

[0026] An information acquisition module, configured to acquire the operation information of the takeoff and landing platform, where the operation information includes: the acceleration of the takeoff and landing platform relative to the sea surface, the roll angle of the takeoff and landing platform, the target pitch angle of the takeoff and landing platform, and the target roll angle of the takeoff and landing platform;

[0027] An attitude detection module, configured to set an attitude detection function of the takeoff and landing platform, and calculate the pitch angle of the takeoff and landing platform at time t according to the operation information;

[0028] A displacement adjustment module, configured to respectively set a horizontal displacement correction function of the takeoff and landing platform and a vertical displacement correction function of the takeoff and landing platform, and calculate the horizontal displacement and the vertical displacement of the takeoff and landing platform at time t according to the operation information and the pitch angle of the takeoff and landing platform, and adjust the horizontal position and the vertical displacement of the takeoff and landing platform;

[0029] A force and torque adjustment module, configured to set a feedback function of the control force of the takeoff and landing platform and a feedback function of the control torque of the takeoff and landing platform, calculate the force and torque that need to be applied to the takeoff and landing platform at time t according to the operation information and the pitch angle of the takeoff and landing platform, and adjust the takeoff and landing platform.

[0030] Furthermore, the attitude detection function of the takeoff and landing platform includes:

[0031]

[0032] Among them, θ(t) is the pitch angle of the takeoff and landing platform at time t, which is used to describe the inclination of the takeoff and landing platform. c1 is the first adjustment factor of the attitude detection function of the takeoff and landing platform. α(t) is the acceleration of the takeoff and landing platform relative to the sea surface at time t. c2 is the second adjustment factor of the attitude detection function of the takeoff and landing platform. θ prev (t - 1) is the pitch angle of the takeoff and landing platform at time t - 1. c3 is the third adjustment factor of the attitude detection function of the takeoff and landing platform. φ prev (t - 1) is the roll angle of the takeoff and landing platform at time t - 1. λ is the fourth adjustment factor of the attitude detection function of the takeoff and landing platform. α(τ) is the acceleration of the takeoff and landing platform relative to the sea surface at time τ.

[0033] Furthermore, the horizontal displacement correction function of the takeoff and landing platform includes:

[0034]

[0035] Among them, x(t) is the horizontal displacement of the takeoff and landing platform at time t. x(t - 1) is the horizontal displacement of the takeoff and landing platform at time t - 1. c4 is the first adjustment factor of the horizontal displacement correction function of the takeoff and landing platform. c5 is the second adjustment factor of the horizontal displacement correction function of the takeoff and landing platform. c6 is the third adjustment factor of the horizontal displacement correction function of the takeoff and landing platform. c7 is the fourth adjustment factor of the horizontal displacement correction function of the takeoff and landing platform. c8 is the fifth adjustment factor of the horizontal displacement correction function of the takeoff and landing platform. θ(τ) is the pitch angle of the takeoff and landing platform at time τ. φ prev (τ) is the roll angle of the takeoff and landing platform at time τ.

[0036] Generally speaking, compared with the prior art by the above technical solutions conceived by the present invention, the following beneficial effects are obtained:

[0037] By setting a variety of control functions, the present invention can enable the takeoff and landing platform to perform dynamic compensation, so that the unmanned aerial vehicle can perform a stable descent on the sea. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 is the flowchart of the method of Embodiment 1 of the present invention;

[0039] Figure 2 is the system structure diagram of Embodiment 2 of the present invention;

[0040] Figure 3 is the structural schematic diagram of the takeoff and landing platform of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0041] In order to better understand the above technical solutions, the following will describe the above technical solutions in detail in conjunction with the accompanying drawings of the specification and specific embodiments.

[0042] The method provided by the present invention can be implemented in the following terminal environment. The terminal may include one or more of the following components: a processor, a storage medium, and a display screen. Among them, at least one instruction is stored in the storage medium, and the instruction is loaded and executed by the processor to implement the method described in the following embodiments.

[0043] The processor may include one or more processing cores. The processor uses various interfaces and circuits to connect various parts within the entire terminal, and by running or executing instructions, programs, code sets, or instruction sets stored in the storage medium, and by calling data stored in the storage medium, it executes various functions of the terminal and processes data.

[0044] The storage medium may include a random access memory (RAM), and may also include a read-only memory (ROM). The storage medium can be used to store instructions, programs, code, code sets, or instructions.

[0045] The display screen is used to display the user interfaces of various application programs.

[0046] In addition, those skilled in the art can understand that the structure of the above terminal does not constitute a limitation on the terminal. The terminal may include more or fewer components, or combine certain components, or have different component arrangements. For example, the terminal may also include components such as a radio frequency circuit, an input unit, a sensor, an audio circuit, and a power supply, which will not be elaborated here.

[0047] Embodiment 1

[0048] As Figure 1 shown, an embodiment of the present invention proposes a dynamic compensation method for a takeoff and landing platform when a maritime unmanned aerial vehicle takes off and lands, including:

[0049] Step 101, obtain the operation information of the takeoff and landing platform (as Figure 3 shown), where the operation information includes: the acceleration of the takeoff and landing platform relative to the sea surface, the roll angle of the takeoff and landing platform, the target pitch angle of the takeoff and landing platform, and the target roll angle of the takeoff and landing platform;

[0050] Step 102, set an attitude detection function for the takeoff and landing platform, and calculate the pitch angle of the takeoff and landing platform at time t according to the operation information;

[0051] Specifically, the attitude detection function of the takeoff and landing platform includes:

[0052]

[0053] Among them, θ(t) is the pitch angle of the takeoff and landing platform at time t, which is used to describe the inclination of the takeoff and landing platform. c1 is the first adjustment factor of the attitude detection function of the takeoff and landing platform. α(t) is the acceleration of the takeoff and landing platform relative to the sea surface at time t. c2 is the second adjustment factor of the attitude detection function of the takeoff and landing platform. θ prev (t - 1) is the pitch angle of the takeoff and landing platform at time t - 1. c3 is the third adjustment factor of the attitude detection function of the takeoff and landing platform. φ prev (t - 1) is the roll angle of the takeoff and landing platform at time t - 1. λ is the fourth adjustment factor of the attitude detection function of the takeoff and landing platform. α(τ) is the acceleration of the takeoff and landing platform relative to the sea surface at time τ.

[0054] Step 103: Set the horizontal displacement correction function and the vertical displacement correction function of the takeoff and landing platform respectively. According to the operation information and the pitch angle of the takeoff and landing platform, calculate the horizontal displacement and the vertical displacement of the takeoff and landing platform at time t, and adjust the horizontal position and the vertical displacement of the takeoff and landing platform.

[0055] Specifically, the horizontal displacement correction function of the takeoff and landing platform includes:

[0056]

[0057] Among them, x(t) is the horizontal displacement of the takeoff and landing platform at time t. x(t - 1) is the horizontal displacement of the takeoff and landing platform at time t - 1. c4 is the first adjustment factor of the horizontal displacement correction function of the takeoff and landing platform. c5 is the second adjustment factor of the horizontal displacement correction function of the takeoff and landing platform. c6 is the third adjustment factor of the horizontal displacement correction function of the takeoff and landing platform. c7 is the fourth adjustment factor of the horizontal displacement correction function of the takeoff and landing platform. c8 is the fifth adjustment factor of the horizontal displacement correction function of the takeoff and landing platform. θ(τ) is the pitch angle of the takeoff and landing platform at time τ. φ prev (τ) is the roll angle of the takeoff and landing platform at time τ.

[0058] Specifically, the vertical displacement correction function of the takeoff and landing platform includes:

[0059]

[0060] Among them, z(t) is the vertical displacement of the takeoff and landing platform at time t. z(t - 1) is the vertical displacement of the takeoff and landing platform at time t - 1. β is the adjustment factor of the vertical displacement correction function of the takeoff and landing platform.

[0061] Step 104: Set the feedback function of the control force of the takeoff and landing platform and the feedback function of the control torque of the takeoff and landing platform. According to the operation information and the pitch angle of the takeoff and landing platform, calculate the force and torque that need to be applied to the takeoff and landing platform at time t, and adjust the takeoff and landing platform.

[0062] Specifically, the feedback function of the takeoff and landing platform control force includes:

[0063]

[0064] Among them, F(t) is the force that needs to be applied to the takeoff and landing platform at time t, which is used to adjust the tilt of the takeoff and landing platform. k1 is the first adjustment factor of the feedback function of the takeoff and landing platform control force, α target is the target acceleration of the takeoff and landing platform, n is the second adjustment factor of the feedback function of the takeoff and landing platform control force, k2 is the third adjustment factor of the feedback function of the takeoff and landing platform control force, θ target is the target pitch angle of the takeoff and landing platform, m is the fourth adjustment factor of the feedback function of the takeoff and landing platform control force, c9 is the fifth adjustment factor of the feedback function of the takeoff and landing platform control force, k3 is the sixth adjustment factor of the feedback function of the takeoff and landing platform control force, φ target is the target roll angle of the takeoff and landing platform, p is the seventh adjustment factor of the feedback function of the takeoff and landing platform control force, φ prev (t) is the roll angle of the takeoff and landing platform at time t.

[0065] Specifically, the feedback function of the takeoff and landing platform control torque includes:

[0066]

[0067] Among them, T(t) is the torque that needs to be applied to the takeoff and landing platform at time t. k4 is the first adjustment factor of the feedback function of the takeoff and landing platform control torque, q is the second adjustment factor of the feedback function of the takeoff and landing platform control torque, k5 is the third adjustment factor of the feedback function of the takeoff and landing platform control torque, r′ is the fourth adjustment factor of the feedback function of the takeoff and landing platform control torque, c 10 is the fifth adjustment factor of the feedback function of the takeoff and landing platform control torque.

[0068] Specifically, the historical adjustment information of the takeoff and landing platform is obtained, and all weights and adjustment factors are fitted. For example, the historical adjustment information includes: the historical pitch angle of the takeoff and landing platform, the historical horizontal displacement of the takeoff and landing platform, the historical vertical displacement of the takeoff and landing platform, the historical force that needs to be applied to the takeoff and landing platform, and the historical torque that needs to be applied to the takeoff and landing platform.

[0069] Embodiment 2

[0070] As Figure 2 shown, the embodiment of the present invention further provides a dynamic compensation system for a takeoff and landing platform during the takeoff and landing of a marine UAV, including:

[0071] An information acquisition module for acquiring the operating information of the takeoff and landing platform, where the operating information includes: the acceleration of the takeoff and landing platform relative to the sea surface, the roll angle of the takeoff and landing platform, the target pitch angle of the takeoff and landing platform, and the target roll angle of the takeoff and landing platform;

[0072] An attitude detection module for setting an attitude detection function of the takeoff and landing platform and calculating the pitch angle of the takeoff and landing platform at time t according to the operating information;

[0073] Specifically, the attitude detection function of the takeoff and landing platform includes:

[0074]

[0075] where θ(t) is the pitch angle of the takeoff and landing platform at time t, used to describe the inclination of the takeoff and landing platform, c1 is the first adjustment factor of the attitude detection function of the takeoff and landing platform, α(t) is the acceleration of the takeoff and landing platform relative to the sea surface at time t, c2 is the second adjustment factor of the attitude detection function of the takeoff and landing platform, θ prev (t - 1) is the pitch angle of the takeoff and landing platform at time t - 1, c3 is the third adjustment factor of the attitude detection function of the takeoff and landing platform, φ prev (t - 1) is the roll angle of the takeoff and landing platform at time t - 1, λ is the fourth adjustment factor of the attitude detection function of the takeoff and landing platform, and α(τ) is the acceleration of the takeoff and landing platform relative to the sea surface at time τ.

[0076] A displacement adjustment module for respectively setting a horizontal displacement correction function and a vertical displacement correction function of the takeoff and landing platform, and calculating the horizontal displacement and the vertical displacement of the takeoff and landing platform at time t according to the operating information and the pitch angle of the takeoff and landing platform, and adjusting the horizontal position and the vertical displacement of the takeoff and landing platform;

[0077] Specifically, the horizontal displacement correction function of the takeoff and landing platform includes:

[0078]

[0079] where x(t) is the horizontal displacement of the takeoff and landing platform at time t, x(t - 1) is the horizontal displacement of the takeoff and landing platform at time t - 1, c4 is the first adjustment factor of the horizontal displacement correction function of the takeoff and landing platform, c5 is the second adjustment factor of the horizontal displacement correction function of the takeoff and landing platform, c6 is the third adjustment factor of the horizontal displacement correction function of the takeoff and landing platform, c7 is the fourth adjustment factor of the horizontal displacement correction function of the takeoff and landing platform, c8 is the fifth adjustment factor of the horizontal displacement correction function of the takeoff and landing platform, θ(τ) is the pitch angle of the takeoff and landing platform at time τ, and φ prev (τ) is the roll angle of the takeoff and landing platform at time τ.

[0080] Specifically, the vertical displacement correction function of the takeoff and landing platform includes:

[0081]

[0082] Among them, z(t) is the vertical displacement of the takeoff and landing platform at time t, z(t - 1) is the vertical displacement of the takeoff and landing platform at time t - 1, and β is the adjustment factor of the vertical displacement correction function of the takeoff and landing platform.

[0083] A force and torque adjustment module, configured to set a feedback function of the control force of the takeoff and landing platform and a feedback function of the control torque of the takeoff and landing platform, calculate the force and torque that need to be applied to the takeoff and landing platform at time t according to the operation information and the pitch angle of the takeoff and landing platform, and adjust the takeoff and landing platform.

[0084] Specifically, the feedback function of the control force of the takeoff and landing platform includes:

[0085]

[0086] Among them, F(t) is the force that needs to be applied to the takeoff and landing platform at time t, used to adjust the inclination of the takeoff and landing platform, k1 is the first adjustment factor of the feedback function of the control force of the takeoff and landing platform, α target is the target acceleration of the takeoff and landing platform, n is the second adjustment factor of the feedback function of the control force of the takeoff and landing platform, k2 is the third adjustment factor of the feedback function of the control force of the takeoff and landing platform, θ target is the target pitch angle of the takeoff and landing platform, m is the fourth adjustment factor of the feedback function of the control force of the takeoff and landing platform, c9 is the fifth adjustment factor of the feedback function of the control force of the takeoff and landing platform, k3 is the sixth adjustment factor of the feedback function of the control force of the takeoff and landing platform, φ target is the target roll angle of the takeoff and landing platform, p is the seventh adjustment factor of the feedback function of the control force of the takeoff and landing platform, φ prev (t) is the roll angle of the takeoff and landing platform at time t.

[0087] Specifically, the feedback function of the control torque of the takeoff and landing platform includes:

[0088]

[0089] Among them, T(t) is the torque that needs to be applied to the takeoff and landing platform at time t, k4 is the first adjustment factor of the feedback function of the control torque of the takeoff and landing platform, q is the second adjustment factor of the feedback function of the control torque of the takeoff and landing platform, k5 is the third adjustment factor of the feedback function of the control torque of the takeoff and landing platform, r′ is the fourth adjustment factor of the feedback function of the control torque of the takeoff and landing platform, c 10 is the fifth adjustment factor of the feedback function of the control torque of the takeoff and landing platform.

[0090] Specifically, obtain the historical adjustment information of the takeoff and landing platform, and fit all the weights and adjustment factors. For example, the historical adjustment information includes: the historical pitch angle of the takeoff and landing platform, the historical horizontal displacement of the takeoff and landing platform, the historical vertical displacement of the takeoff and landing platform, the historical force to be applied to the takeoff and landing platform, and the historical torque to be applied to the takeoff and landing platform.

[0091] Embodiment 3

[0092] An embodiment of the present invention also provides a storage medium storing multiple instructions for implementing the dynamic compensation method for the takeoff and landing platform during the takeoff and landing of a maritime unmanned aerial vehicle.

[0093] Optionally, in this embodiment, the above storage medium may be located in any computer terminal in a computer terminal group in a computer network or in any mobile terminal in a mobile terminal group.

[0094] Optionally, in this embodiment, the storage medium is configured to store program code for performing the following steps: Step 101, obtain the operation information of the takeoff and landing platform, where the operation information includes: the acceleration of the takeoff and landing platform relative to the sea surface, the roll angle of the takeoff and landing platform, the target pitch angle of the takeoff and landing platform, and the target roll angle of the takeoff and landing platform;

[0095] Step 102, set the attitude detection function of the takeoff and landing platform, and calculate the pitch angle of the takeoff and landing platform at time t according to the operation information.

[0096] Specifically, the attitude detection function of the takeoff and landing platform includes:

[0097]

[0098] where θ(t) is the pitch angle of the takeoff and landing platform at time t, used to describe the inclination of the takeoff and landing platform, c1 is the first adjustment factor of the attitude detection function of the takeoff and landing platform, α(t) is the acceleration of the takeoff and landing platform relative to the sea surface at time t, c2 is the second adjustment factor of the attitude detection function of the takeoff and landing platform, θ prev (t - 1) is the pitch angle of the takeoff and landing platform at time t - 1, c3 is the third adjustment factor of the attitude detection function of the takeoff and landing platform, φ prev (t - 1) is the roll angle of the takeoff and landing platform at time t - 1, λ is the fourth adjustment factor of the attitude detection function of the takeoff and landing platform, and α(τ) is the acceleration of the takeoff and landing platform relative to the sea surface at time τ.

[0099] Step 103, respectively set the horizontal displacement correction function and the vertical displacement correction function of the takeoff and landing platform, and calculate the horizontal displacement and the vertical displacement of the takeoff and landing platform at time t according to the operation information and the pitch angle of the takeoff and landing platform, and adjust the horizontal position and the vertical displacement of the takeoff and landing platform.

[0100] Specifically, the horizontal displacement correction function of the takeoff and landing platform includes:

[0101]

[0102] where x(t) is the horizontal displacement of the takeoff and landing platform at time t, x(t - 1) is the horizontal displacement of the takeoff and landing platform at time t - 1, c4 is the first adjustment factor of the horizontal displacement correction function of the takeoff and landing platform, c5 is the second adjustment factor of the horizontal displacement correction function of the takeoff and landing platform, c6 is the third adjustment factor of the horizontal displacement correction function of the takeoff and landing platform, c7 is the fourth adjustment factor of the horizontal displacement correction function of the takeoff and landing platform, c8 is the fifth adjustment factor of the horizontal displacement correction function of the takeoff and landing platform, θ(τ) is the pitch angle of the takeoff and landing platform at time τ, and φ prev (τ) is the roll angle of the takeoff and landing platform at time τ.

[0103] Specifically, the vertical displacement correction function of the takeoff and landing platform includes:

[0104]

[0105] where z(t) is the vertical displacement of the takeoff and landing platform at time t, z(t - 1) is the vertical displacement of the takeoff and landing platform at time t - 1, and β is the adjustment factor of the vertical displacement correction function of the takeoff and landing platform.

[0106] Step 104, set the feedback function of the control force of the takeoff and landing platform and the feedback function of the control torque of the takeoff and landing platform. According to the operation information and the pitch angle of the takeoff and landing platform, calculate the force and torque that need to be applied to the takeoff and landing platform at time t, and adjust the takeoff and landing platform.

[0107] Specifically, the feedback function of the control force of the takeoff and landing platform includes:

[0108]

[0109] where F(t) is the force that needs to be applied to the takeoff and landing platform at time t, which is used to adjust the inclination of the takeoff and landing platform, k1 is the first adjustment factor of the feedback function of the control force of the takeoff and landing platform, α target is the target acceleration of the takeoff and landing platform, n is the second adjustment factor of the feedback function of the control force of the takeoff and landing platform, k2 is the third adjustment factor of the feedback function of the control force of the takeoff and landing platform, θ target is the target pitch angle of the takeoff and landing platform, m is the fourth adjustment factor of the feedback function of the control force of the takeoff and landing platform, c9 is the fifth adjustment factor of the feedback function of the control force of the takeoff and landing platform, k3 is the sixth adjustment factor of the feedback function of the control force of the takeoff and landing platform, φ target is the target roll angle of the takeoff and landing platform, and p is the seventh adjustment factor of the feedback function of the control force of the takeoff and landing platform, φprev (t) is the roll angle of the takeoff and landing platform at time t.

[0110] Specifically, the feedback function of the takeoff and landing platform control torque includes:

[0111]

[0112] Among them, T(t) is the torque that needs to be applied to the takeoff and landing platform at time t, k4 is the first adjustment factor of the feedback function of the takeoff and landing platform control torque, q is the second adjustment factor of the feedback function of the takeoff and landing platform control torque, k5 is the third adjustment factor of the feedback function of the takeoff and landing platform control torque, r′ is the fourth adjustment factor of the feedback function of the takeoff and landing platform control torque, and c 10 is the fifth adjustment factor of the feedback function of the takeoff and landing platform control torque.

[0113] Specifically, obtain the historical adjustment information of the takeoff and landing platform, and fit all weights and adjustment factors. For example, the historical adjustment information includes: the historical pitch angle of the takeoff and landing platform, the historical horizontal displacement of the takeoff and landing platform, the historical vertical displacement of the takeoff and landing platform, the historical force that needs to be applied to the takeoff and landing platform, and the historical torque that needs to be applied to the takeoff and landing platform.

[0114] Embodiment 4

[0115] The embodiment of the present invention also proposes an electronic device, including a processor and a storage medium connected to the processor. The storage medium stores multiple instructions, and the instructions can be loaded and executed by the processor so that the processor can execute the dynamic compensation method of the takeoff and landing platform during the takeoff and landing of an offshore unmanned aerial vehicle.

[0116] Specifically, the electronic equipment in this embodiment can be a computer terminal, and the computer terminal can include: one or more processors and a storage medium.

[0117] Among them, the storage medium can be used to store software programs and modules, such as the dynamic compensation method of the takeoff and landing platform during the takeoff and landing of an offshore unmanned aerial vehicle in the embodiment of the present invention, the corresponding program instructions / modules. The processor executes various functional applications and data processing by running the software programs and modules stored in the storage medium, that is, implements the above-mentioned dynamic compensation method of the takeoff and landing platform during the takeoff and landing of an offshore unmanned aerial vehicle. The storage medium can include a high-speed random storage medium, and can also include a non-volatile storage medium, such as one or more magnetic storage systems, flash memory, or other non-volatile solid-state storage media. In some instances, the storage medium can further include a storage medium remotely set relative to the processor, and these remote storage media can be connected to the terminal through a network. Examples of the above network include but are not limited to the Internet, enterprise intranet, local area network, mobile communication network, and their combinations.

[0118] The processor can store the information and application programs stored in the storage medium through the transmission system call to execute the following steps: Step 101, obtain the operation information of the takeoff and landing platform, where the operation information includes: the acceleration of the takeoff and landing platform relative to the sea surface, the roll angle of the takeoff and landing platform, the target pitch angle of the takeoff and landing platform, and the target roll angle of the takeoff and landing platform;

[0119] Step 102, set the attitude detection function of the takeoff and landing platform, and calculate the pitch angle of the takeoff and landing platform at time t according to the operation information;

[0120] Specifically, the attitude detection function of the takeoff and landing platform includes:

[0121]

[0122] Among them, θ(t) is the pitch angle of the takeoff and landing platform at time t, which is used to describe the inclination of the takeoff and landing platform, c1 is the first adjustment factor of the attitude detection function of the takeoff and landing platform, α(t) is the acceleration of the takeoff and landing platform relative to the sea surface at time t, c2 is the second adjustment factor of the attitude detection function of the takeoff and landing platform, θ prev (t - 1) is the pitch angle of the takeoff and landing platform at time t - 1, c3 is the third adjustment factor of the attitude detection function of the takeoff and landing platform, φ prev (t - 1) is the roll angle of the takeoff and landing platform at time t - 1, λ is the fourth adjustment factor of the attitude detection function of the takeoff and landing platform, and α(τ) is the acceleration of the takeoff and landing platform relative to the sea surface at time τ.

[0123] Step 103, respectively set the horizontal displacement correction function and the vertical displacement correction function of the takeoff and landing platform, and calculate the horizontal displacement and the vertical displacement of the takeoff and landing platform at time t according to the operation information and the pitch angle of the takeoff and landing platform, and adjust the horizontal position and the vertical displacement of the takeoff and landing platform;

[0124] Specifically, the horizontal displacement correction function of the takeoff and landing platform includes:

[0125]

[0126] Among them, x(t) is the horizontal displacement of the takeoff and landing platform at time t, x(t - 1) is the horizontal displacement of the takeoff and landing platform at time t - 1, c4 is the first adjustment factor of the horizontal displacement correction function of the takeoff and landing platform, c5 is the second adjustment factor of the horizontal displacement correction function of the takeoff and landing platform, c6 is the third adjustment factor of the horizontal displacement correction function of the takeoff and landing platform, c7 is the fourth adjustment factor of the horizontal displacement correction function of the takeoff and landing platform, c8 is the fifth adjustment factor of the horizontal displacement correction function of the takeoff and landing platform, θ(τ) is the pitch angle of the takeoff and landing platform at time τ, φ prev (τ) is the roll angle of the takeoff and landing platform at time τ.

[0127] Specifically, the vertical displacement correction function of the takeoff and landing platform includes:

[0128]

[0129] where z(t) is the vertical displacement of the takeoff and landing platform at time t, z(t - 1) is the vertical displacement of the takeoff and landing platform at time t - 1, and β is the adjustment factor of the vertical displacement correction function of the takeoff and landing platform.

[0130] Step 104, set the feedback function of the control force of the takeoff and landing platform and the feedback function of the control torque of the takeoff and landing platform. According to the operation information and the pitch angle of the takeoff and landing platform, calculate the force and torque that need to be applied to the takeoff and landing platform at time t, and adjust the takeoff and landing platform.

[0131] Specifically, the feedback function of the control force of the takeoff and landing platform includes:

[0132]

[0133] where F(t) is the force that needs to be applied to the takeoff and landing platform at time t, used to adjust the inclination of the takeoff and landing platform, k1 is the first adjustment factor of the feedback function of the control force of the takeoff and landing platform, α target is the target acceleration of the takeoff and landing platform, n is the second adjustment factor of the feedback function of the control force of the takeoff and landing platform, k2 is the third adjustment factor of the feedback function of the control force of the takeoff and landing platform, θ target is the target pitch angle of the takeoff and landing platform, m is the fourth adjustment factor of the feedback function of the control force of the takeoff and landing platform, c9 is the fifth adjustment factor of the feedback function of the control force of the takeoff and landing platform, k3 is the sixth adjustment factor of the feedback function of the control force of the takeoff and landing platform, φ target is the target roll angle of the takeoff and landing platform, p is the seventh adjustment factor of the feedback function of the control force of the takeoff and landing platform, φ prev (t) is the roll angle of the takeoff and landing platform at time t.

[0134] Specifically, the feedback function of the control torque of the takeoff and landing platform includes:

[0135]

[0136] where T(t) is the torque that needs to be applied to the takeoff and landing platform at time t, k4 is the first adjustment factor of the feedback function of the control torque of the takeoff and landing platform, q is the second adjustment factor of the feedback function of the control torque of the takeoff and landing platform, k5 is the third adjustment factor of the feedback function of the control torque of the takeoff and landing platform, r′ is the fourth adjustment factor of the feedback function of the control torque of the takeoff and landing platform, c 10 is the fifth adjustment factor of the feedback function of the control torque of the takeoff and landing platform.

[0137] Specifically, obtain the historical adjustment information of the takeoff and landing platform, and fit all the weights and adjustment factors. For example, the historical adjustment information includes: the historical pitch angle of the takeoff and landing platform, the historical horizontal displacement of the takeoff and landing platform, the historical vertical displacement of the takeoff and landing platform, the historical force required to be applied to the takeoff and landing platform, and the historical torque required to be applied to the takeoff and landing platform.

[0138] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0139] In the above embodiments of the present invention, the descriptions of the respective embodiments have their own emphases. For parts not detailed in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0140] In the several embodiments provided by the present invention, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the system embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections between each other can be through some interfaces. The indirect couplings or communication connections of the units or modules can be in electrical or other forms.

[0141] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0142] In addition, in each embodiment of the present invention, the functional units can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated units can be implemented in the form of hardware or in the form of software functional units.

[0143] When the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, read-only storage media (ROM, Read-Only Memory), random access storage media (RAM, Random Access Memory), mobile hard disks, magnetic disks, or optical discs.

[0144] Obviously, the above embodiments are merely examples given for clear illustration and are not limitations on the implementation manners. For those of ordinary skill in the art, other different forms of changes or variations can be made based on the above description. It is not necessary and impossible to enumerate all the implementation manners here. And the obvious changes or variations derived therefrom are still within the protection scope of the present invention.

Claims

1. A dynamic compensation method for a landing platform during take-off and landing of a marine UAV, characterized in that: include: Acquiring operation information of the take-off and landing platform, wherein the operation information includes: acceleration of the take-off and landing platform relative to the sea surface, roll angle of the take-off and landing platform, target pitch angle of the take-off and landing platform, and target roll angle of the take-off and landing platform; Setting a posture detection function of the take-off and landing platform to calculate the pitch angle of the take-off and landing platform at time t according to the operation information; respectively setting a horizontal displacement correction function of the take-off and landing platform and a vertical displacement correction function of the take-off and landing platform, and calculating the horizontal displacement of the take-off and landing platform and the vertical displacement of the take-off and landing platform at time t according to the operation information and the pitch angle of the take-off and landing platform, and adjusting the horizontal position and vertical displacement of the take-off and landing platform; A feedback function for the control force of the take-off and landing platform and a feedback function for the control torque of the take-off and landing platform are set. According to the operation information and the pitch angle of the take-off and landing platform, the force and torque that need to be applied to the take-off and landing platform at time t are calculated, and the take-off and landing platform is adjusted.

2. The method for dynamic compensation of a landing platform when a marine UAV takes off and lands as claimed in claim 1, characterized in that: The attitude detection functions of the take-off and landing platform include: Among them, θ(t) is the pitch angle of the take-off and landing platform at time t, which is used to describe the inclination of the take-off and landing platform, c1 is the first adjustment factor of the attitude detection function of the take-off and landing platform, α(t) is the acceleration of the take-off and landing platform relative to the sea surface at time t, c2 is the second adjustment factor of the attitude detection function of the take-off and landing platform, and θ prev (t-1) is the pitch angle of the take-off and landing platform at time t-1, c3 is the third adjustment factor of the attitude detection function of the take-off and landing platform, φ prev (t-1) is the roll angle of the take-off and landing platform at time t-1, λ is the fourth adjustment factor of the attitude detection function of the take-off and landing platform, and α(τ) is the acceleration of the take-off and landing platform relative to the sea surface at time τ.

3. The method for dynamic compensation of a landing platform when a marine UAV takes off and lands as claimed in claim 2, characterized in that: The horizontal displacement correction function of the take-off and landing platform includes: Wherein, x(t) is the horizontal displacement of the take-off and landing platform at time t, x(t-1) is the horizontal displacement of the take-off and landing platform at time t-1, c4 is the first adjustment factor of the horizontal displacement correction function of the take-off and landing platform, c5 is the second adjustment factor of the horizontal displacement correction function of the take-off and landing platform, c6 is the third adjustment factor of the horizontal displacement correction function of the take-off and landing platform, c7 is the fourth adjustment factor of the horizontal displacement correction function of the take-off and landing platform, c8 is the fifth adjustment factor of the horizontal displacement correction function of the take-off and landing platform, θ(τ) is the pitch angle of the take-off and landing platform at time τ, φ prev (τ) is the rolling angle of the take-off and landing platform at time τ.

4. The method for dynamic compensation of a landing platform when a marine UAV takes off and lands as claimed in claim 3, characterized in that: The vertical displacement correction function of the take-off and landing platform includes: Among them, z(t) is the vertical displacement of the take-off and landing platform at time t, z(t-1) is the vertical displacement of the take-off and landing platform at time t-1, and β is the adjustment factor of the vertical displacement correction function of the take-off and landing platform.

5. The method for dynamic compensation of a landing platform when a marine UAV takes off and lands as claimed in claim 4, characterized in that: The feedback function of the take-off and landing platform control force includes: Among them, F(t) is the force that needs to be applied to the take-off and landing platform at time t, which is used to adjust the inclination of the take-off and landing platform, k1 is the first adjustment factor of the feedback function of the take-off and landing platform control force, α target is the target acceleration of the take-off and landing platform, n is the second adjustment factor of the feedback function of the take-off and landing platform control force, k2 is the third adjustment factor of the feedback function of the take-off and landing platform control force, θ target is the target pitch angle of the take-off and landing platform, m is the fourth adjustment factor of the feedback function of the take-off and landing platform control force, c9 is the fifth adjustment factor of the feedback function of the take-off and landing platform control force, k3 is the sixth adjustment factor of the feedback function of the take-off and landing platform control force, φ target is the target roll angle of the take-off and landing platform, p is the seventh adjustment factor of the feedback function of the take-off and landing platform control force, φ prev (t) is the rolling angle of the take-off and landing platform at time t.

6. The method for dynamic compensation of a landing platform when a marine UAV takes off and lands as claimed in claim 5, characterized in that: The feedback function of the take-off and landing platform control torque includes: Wherein, T(t) is the torque that needs to be applied to the take-off and landing platform at time t, k4 is the first adjustment factor of the feedback function of the take-off and landing platform control torque, q is the second adjustment factor of the feedback function of the take-off and landing platform control torque, k5 is the third adjustment factor of the feedback function of the take-off and landing platform control torque, r′ is the fourth adjustment factor of the feedback function of the take-off and landing platform control torque, c 10 It is the fifth adjustment factor of the feedback function of the take-off and landing platform control torque.

7. The method for dynamic compensation of a landing platform when a marine UAV takes off and lands as claimed in claim 6, characterized in that: Get the historical adjustment information of the take-off and landing platform and fit all weights and adjustment factors.

8. A dynamic compensation system for a landing platform during take-off and landing of a marine UAV, characterized in that: include: An information acquisition module is used to acquire the operation information of the take-off and landing platform, wherein the operation information includes: the acceleration of the take-off and landing platform relative to the sea surface, the roll angle of the take-off and landing platform, the target pitch angle of the take-off and landing platform, and the target roll angle of the take-off and landing platform; An attitude detection module is used to set an attitude detection function of the take-off and landing platform, and calculate the pitch angle of the take-off and landing platform at time t according to the operation information; A displacement adjustment module, used to respectively set a horizontal displacement correction function of the take-off and landing platform and a vertical displacement correction function of the take-off and landing platform, and calculate the horizontal displacement of the take-off and landing platform and the vertical displacement of the take-off and landing platform at time t according to the operation information and the pitch angle of the take-off and landing platform, and adjust the horizontal position and vertical displacement of the take-off and landing platform; The force and torque adjustment module is used to set the feedback function of the take-off and landing platform control force and the feedback function of the take-off and landing platform control torque. According to the operation information and the pitch angle of the take-off and landing platform, the force and torque that need to be applied to the take-off and landing platform at time t are calculated, and the take-off and landing platform is adjusted.

9. A dynamic compensation system for a take-off and landing platform of a marine UAV as claimed in claim 8, characterized in that: The attitude detection functions of the take-off and landing platform include: Among them, θ(t) is the pitch angle of the take-off and landing platform at time t, which is used to describe the inclination of the take-off and landing platform, c1 is the first adjustment factor of the attitude detection function of the take-off and landing platform, α(t) is the acceleration of the take-off and landing platform relative to the sea surface at time t, c2 is the second adjustment factor of the attitude detection function of the take-off and landing platform, and θ prev (t-1) is the pitch angle of the take-off and landing platform at time t-1, c3 is the third adjustment factor of the attitude detection function of the take-off and landing platform, φ prev (t-1) is the roll angle of the take-off and landing platform at time t-1, λ is the fourth adjustment factor of the attitude detection function of the take-off and landing platform, and α(τ) is the acceleration of the take-off and landing platform relative to the sea surface at time τ.

10. A dynamic compensation system for a take-off and landing platform of a marine UAV as claimed in claim 9, characterized in that: The horizontal displacement correction function of the take-off and landing platform includes: Wherein, x(t) is the horizontal displacement of the take-off and landing platform at time t, x(t-1) is the horizontal displacement of the take-off and landing platform at time t-1, c4 is the first adjustment factor of the horizontal displacement correction function of the take-off and landing platform, c5 is the second adjustment factor of the horizontal displacement correction function of the take-off and landing platform, c6 is the third adjustment factor of the horizontal displacement correction function of the take-off and landing platform, c7 is the fourth adjustment factor of the horizontal displacement correction function of the take-off and landing platform, c8 is the fifth adjustment factor of the horizontal displacement correction function of the take-off and landing platform, θ(τ) is the pitch angle of the take-off and landing platform at time τ, φ prev (τ) is the rolling angle of the take-off and landing platform at time τ.

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