Unmanned aerial vehicle path tracking control method, system, device and storage medium

Abstract

The application provides a UAV track tracking control method, system, device and storage medium, including: obtaining a turning radius of the UAV according to a ground speed of the UAV and a target lateral acceleration; obtaining an angle between a known flight path and a target flight path through route information, obtaining an early turning distance according to the turning radius and the angle, and constructing an inscribed circular arc path according to the turning radius and a center of the circle; the UAV switches to the target flight path according to the relationship between the distance to be flown and the early turning distance, and completes route updating; a track tracking control mathematical model is established based on the relative position relationship between the UAV and the circular arc path, a lateral acceleration command is obtained according to an improved variable gain guidance method, the lateral acceleration command is converted into a roll angle command, and the UAV body roll is controlled according to the roll angle command. The application can realize accurate track tracking control, and enhances the track tracking control capability and anti-interference capability of the UAV when turning.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of unmanned aerial vehicles, and particularly relates to an unmanned aerial vehicle track tracking control method, system, device and storage medium. BACKGROUND

[0002] The typical unmanned aerial vehicles at home and abroad at present are all equipped with satellite navigation positioning systems and flight control computers, and have basic autonomous route planning and track tracking flight capabilities. In the route planning and track tracking methods of most unmanned aerial vehicles, a certain scale of route points are often established through pre-task planning and real-time situation awareness, flight routes are constructed by connecting adjacent route points to each other, and route information is stored in the flight control computer.

[0003] In the route tracking stage, the current main method is a straight track tracking method. The navigation system provides the heading angle, speed and position information of the unmanned aerial vehicle. The flight control computer calculates the lateral offset distance and the heading deviation angle between the unmanned aerial vehicle and the current route according to the navigation information and the route information, generates a lateral acceleration control instruction, and since most unmanned aerial vehicles adopt BTT control, the lateral acceleration control instruction can be converted into a roll angle instruction and sent to the attitude control loop to control the deflection of the execution mechanism to make the unmanned aerial vehicle body roll to realize track correction.

[0004] In the turning stage, the current main method is to calculate the turning radius according to the flight speed of the unmanned aerial vehicle body and the lateral acceleration control instruction, construct an inscribed circular arc combined with the route included angle, calculate the advance turning distance through geometric relationship, and then convert the lateral acceleration control instruction into a fixed roll angle instruction to realize turning control. When the heading of the unmanned aerial vehicle and the heading deviation angle of the next route are less than a predetermined value, the turning is completed and the next route tracking is prepared to enter.

[0005] Since the attitude control loop has dynamic response hysteresis, the unmanned aerial vehicle inevitably introduces a certain control delay when generating a roll angle to realize turning control. Moreover, in the turning process, the lateral disturbance of the unmanned aerial vehicle body (roll interference torque, lateral wind) and the change of the flight speed will also affect the turning track, so that the open-loop control turning method based on the fixed roll angle instruction cannot accurately track the inscribed circular arc path, directly affecting the position control accuracy in the turning process, causing the position deviation between the unmanned aerial vehicle and the route to increase at the end of the turning, and in serious cases, the unmanned aerial vehicle may not be able to continue to fly according to the route, resulting in a task failure. SUMMARY

[0006] Therefore, the present application aims to provide an unmanned aerial vehicle track tracking control method, system, device and storage medium to solve the problem that the unmanned aerial vehicle cannot complete accurate turning, thereby causing the route flight task to fail.

[0007] To achieve the above object, the technical scheme of the present application is as follows:

[0008] In a first aspect, the present application provides a UAV track tracking control method, comprising:

[0009] obtaining a turning radius of the UAV according to the ground speed of the UAV and a target lateral acceleration during turning;

[0010] obtaining an angle between the known flight path and the target flight path through preset flight path information, obtaining an early turning distance according to the turning radius and the angle, and constructing an inscribed circular arc path according to the turning radius and the center of the circle;

[0011] switching to the target flight path according to the relationship between a distance to be flown and the early turning distance, and completing path update, wherein the distance to be flown is the distance between the current position of the UAV and the end position of the known flight path;

[0012] establishing a track tracking control mathematical model based on the relative position relationship between the UAV and the circular arc path, obtaining a lateral acceleration command according to an improved variable gain guidance method, and converting it into a roll angle command, controlling the body roll of the UAV according to the roll angle command to generate a lateral acceleration.

[0013] In a second aspect, based on the same inventive concept, the present application further provides a UAV track tracking control system, comprising:

[0014] a calculation module configured to obtain a turning radius of the UAV according to the ground speed of the UAV and a target lateral acceleration during turning;

[0015] a path construction module configured to obtain an angle between the known flight path and the target flight path through preset flight path information, obtain an early turning distance according to the turning radius and the angle, and construct an inscribed circular arc path according to the turning radius and the center of the circle;

[0016] a path update module configured to switch to the target flight path according to the relationship between a distance to be flown and the early turning distance, and complete path update, wherein the distance to be flown is the distance between the current position of the UAV and the end position of the known flight path;

[0017] an instruction conversion module configured to establish a track tracking control mathematical model based on the relative position relationship between the UAV and the circular arc path, obtain a lateral acceleration command according to an improved variable gain guidance method, and convert it into a roll angle command, control the body roll of the UAV according to the roll angle command to generate a lateral acceleration.

[0018] In a third aspect, based on the same inventive concept, the present application also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and capable of running on the processor, wherein the processor implements the method according to the first aspect when executing the program.

[0019] In a fourth aspect, based on the same inventive concept, the present application also provides a non-transitory computer readable storage medium, wherein the non-transitory computer readable storage medium stores computer instructions for causing the computer to execute the method according to the first aspect.

[0020] Compared with the prior art, the unmanned aerial vehicle path tracking control method, system, device and storage medium provided by the present application have the following beneficial effects:

[0021] The unmanned aerial vehicle path tracking control method, system, device and storage medium provided by the present application adopt the closed-loop control idea, combine the variable gain guidance method to form a time-varying roll angle command, and correct the heading and position error of the unmanned aerial vehicle and the circular path in real time. The method can not only realize accurate tracking of the circular path, but also resist the position deviation caused by the lateral disturbance (roll disturbance torque, lateral wind), and can adapt to the speed change of the unmanned aerial vehicle caused by various disturbances. The position control accuracy and anti-interference ability of the unmanned aerial vehicle during the turning process can be effectively improved, and the smooth switching of the route and the subsequent route tracking can be ensured. BRIEF DESCRIPTION OF DRAWINGS

[0022] The accompanying drawings, which form a part of this application, are included to provide a further understanding of the application and are incorporated in and constitute a part of this application. The embodiments of this application illustrated in the drawings and their description are used to explain the application and are not intended to limit the application. In the drawings:

[0023] Figure 1 A flow chart of an unmanned aerial vehicle path tracking control method according to an embodiment of the present application;

[0024] Figure 2 A schematic diagram of an unmanned aerial vehicle entering a turning path according to an embodiment of the present application;

[0025] Figure 3 A schematic diagram of an unmanned aerial vehicle flying according to a right turning path according to an embodiment of the present application;

[0026] Figure 4 A schematic diagram of an unmanned aerial vehicle flying according to a left turning path according to an embodiment of the present application;

[0027] Figure 5 A schematic diagram of an unmanned aerial vehicle path tracking control device according to an embodiment of the present application;

[0028] Figure 6 This is a schematic diagram of the hardware structure of the electronic device described in an embodiment of the present application. DETAILED DESCRIPTION

[0029] In order to make the objectives, technical solutions and advantages of this application more clear, this application is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0030] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present application should have the usual meanings understood by people with ordinary skills in the field to which this application belongs. The "first", "second" and similar words used in the embodiments of the present application do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0031] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0032] See also Figure 1 As shown, this embodiment provides a UAV track tracking control method, which specifically includes the following steps:

[0033] Step S101: Obtain the turning radius of the UAV according to the ground speed of the UAV and the target lateral acceleration during turning.

[0034] Specifically, in step S101 of this embodiment, the ground speed of the UAV is provided by the navigation system with an accuracy of 0.2 m / s, and the target lateral acceleration does not exceed 80% of the maximum lateral maneuverability of the UAV. Then, based on the known ground speed V of the UAV, m (the ground speed provided in this embodiment is 240 m / s) and the target lateral acceleration a during turning zc0 (The target lateral acceleration provided in this embodiment is 5.65m / s 2 ), calculate the turning radius r, the specific formula is:

[0035]

[0036] Step S102: Obtain the route angle between the known flight route and the target flight route through preset route information, obtain the advance turning distance based on the turning radius and the route angle, and construct an inscribed arc path based on the turning radius and the center of the circle.

[0037] Specifically, in step S102 of this embodiment, Figure 2 As shown in the figure, the UAV flies on a known flight route (i.e., AB route), and BC route is the next target flight route. The route angle dψ between AB route and BC route can be obtained through the route information. According to the turning radius r, an inscribed arc path is constructed between the routes with point O as the center. Calculate the advance turning distance L respectively turn and the coordinates of point O and record them.

[0038] The formula for the advance turning distance is:

[0039]

[0040] Where, L turn represents the advance turn distance, dψ represents the angle between the known flight path AB and the target flight path BC. dψ is positive when the path turns right and negative when the path turns left. In this embodiment, dψ = 135°;

[0041] Point B is the end point of route AB. Construct the inscribed arc path DE with point O as the center. Calculate the coordinates of point O. The specific formula is:

[0042]

[0043] Among them, the longitude and latitude coordinates of the arc path center point O are (λ O , L O ), the longitude and latitude coordinates of point B are (λ B , L B ), in one embodiment, take the coordinates of point B (λ B ,L B ) is (116.0°, 38°), the radius of the earth R is 6378km, and the OB course angle ψ OB is 90°, r is the radius of the arc path, ψ AB is the course angle of the AB route, in this embodiment, ψ AB =112.5°, north by east is positive, R is the radius of the earth, [x BOE ,y BON ] is the horizontal position coordinate of point O in the northeast celestial coordinate system with point B as the origin, [-L turn ,-r] is the horizontal position coordinate of point O in the route coordinate system with point B as the origin, and the two are connected by the route angle ψ AB Complete the coordinate transformation.

[0044] In this step, before the UAV starts turning, the advance turning distance calculation, arc path construction and turning timing judgment are completed to avoid introducing large initial errors into the arc track tracking process, so that the UAV can achieve arc track tracking control more quickly, thereby improving the position control accuracy of the UAV when turning.

[0045] Step S103: The UAV switches to the target flight route according to the relationship between the waiting distance and the advance turning distance, and completes the route update, wherein the waiting distance is the distance between the current position of the UAV and the end position of the known flight route.

[0046] Specifically, in step S103 of this embodiment, the UAV flies on the AB route, and based on its own navigation information and the AB route information, it periodically calculates the distance dL from the current position to the point B and records it, and periodically determines the difference between the distance dL to be flown and the advance turning distance L. turn When dL is satisfied <L turn When , the UAV starts to turn, switches to route BC, and completes the route update.

[0047] Furthermore, the longitude and latitude coordinates of the UAV (λ M ,L M ) is provided by the navigation system, and the distance to be flown dL is calculated as follows:

[0048]

[0049] dL=-sin(ψ AB )·x BME -cos(ψ AB )·y BMN

[0050] The influence of the earth's curvature is ignored during the calculation, where [x BME ,y BMN ] is the horizontal position coordinate of the UAV in the northeast celestial coordinate system with point B as the origin, combined with the course angle ψ AB , through coordinate transformation [x BME ,y BMN ] projected onto the AB route, and the distance to be flown dL is calculated periodically. When dL is satisfied <L turn When , the UAV starts to turn, switches to route BC, and completes the route update.

[0051] Step S104: A track tracking control mathematical model is established based on the relative positional relationship between the UAV and the arc path. A lateral acceleration command is obtained according to the improved variable gain guidance method and converted into a roll angle command. The UAV body is controlled to roll according to the roll angle command to generate lateral acceleration.

[0052] Specifically, in step S104 of the embodiment, a precise circular arc track tracking control mathematical model is established based on the relative position relationship between the unmanned aerial vehicle and the circular arc path.

[0053] Further, the specific steps of establishing the precise circular arc track tracking control mathematical model are as follows:

[0054] Step S401, calculate the distance Z between the current position of the unmanned aerial vehicle (i.e. point M) and the center O of the circle. First, the horizontal position coordinates [x OME ,y OMN ] of the unmanned aerial vehicle in the north-east coordinate system with O as the origin are calculated, wherein E represents east and N represents north, and the specific formula is as follows:

[0055]

[0056] Secondly, the course angle ψ OM of the line connecting the unmanned aerial vehicle M point and the O point is calculated, and the specific formula is as follows:

[0057]

[0058] The conversion of the horizontal coordinates [x OME ,y OMN ] is completed by ψ OM to obtain the distance Z, and the specific formula is as follows:

[0059] Z = sin(ψ OM ) · x OME + cos(ψ OM ) · y OMN

[0060] Step S402, calculate the lateral distance dZ of the current position of the unmanned aerial vehicle and the circular arc path. Define dZ as negative when the unmanned aerial vehicle position is on the left side of the circular arc path DE, and dZ as positive when the unmanned aerial vehicle position is on the right side of the circular arc path DE. The specific formula of the lateral distance dZ is as follows:

[0061]

[0062] Step S403, calculate the deviation angle dPsi of the current track angle of the unmanned aerial vehicle and the circular arc path. As shown in Figure 3 、 Figure 4 , given that the current track angle of the unmanned aerial vehicle is ψ V (north deviation east is positive), define ψ V relative to the circular arc path , dPsi is negative when the course is left, and dPsi is positive when the course is right. In an embodiment, ψ V is 160°, and the specific formula of the deviation angle dPsi is as follows:

[0063]

[0064] Step S404: Define the intersection of the arc path between the UAV point M and the center of the circle O at point F (i.e., the UAV-arc close distance point), calculate the distance L1 of the GF segment, and point G is the end point of the arc path. First, calculate the angle between OF and OG. The specific formula is:

[0065]

[0066] Step S405: According to the obtained Calculate the distance L1. The specific formula is:

[0067]

[0068] Calculate the lateral acceleration command a based on the improved variable gain guidance method zL1 , which is further converted into the roll angle command γ L1 , and sent to the attitude control loop to achieve the roll of the UAV body, generate lateral acceleration to achieve trajectory tracking control of the precise arc path. The details are as follows:

[0069] Considering that when the UAV generates lateral acceleration through the BTT control method, the attitude loop has a certain dynamic hysteresis. The lateral acceleration generated by the UAV body has a certain delay compared to the command. According to the classical guidance method, it is often impossible to meet the high-precision position control during the turning process. Therefore, an improved variable gain guidance method mathematical model is established. The specific formula is:

[0070]

[0071] in,

[0072] Wherein, K is the variable gain coefficient, K>2, and can be selected according to the dynamic characteristics of the attitude loop. K should not be too large, otherwise it will reduce the stability of the track tracking control loop. In this embodiment, the gain K value is 3.

[0073] During a UAV's turn, the error in its relative position relative to the arc path, including the sideways deviation distance and deviation angle, is calculated in real time. This error is then used as feedback input for the variable-gain guidance method, enabling real-time control of the error and precise tracking of the arc path. Furthermore, considering the hysteresis of the attitude control loop, the guidance loop is combined with the control loop. This hysteresis is compensated for by the improved variable-gain guidance method, effectively improving position control accuracy during turns.

[0074] The lateral acceleration command a zL1 Converted into roll angle command γ L1, considering that the UAV maintains a level flight mode during the turn, the longitudinal acceleration command is 1g, that is, 9.8m / s 2 , the roll angle command γ can be calculated comprehensively L1 , specifically:

[0075]

[0076] The roll angle command γ L1 The signal is sent to the attitude control loop to realize the rolling of the UAV body. The lateral acceleration generated by the UAV body can realize the trajectory tracking control of the precise circular path.

[0077] This embodiment generates dynamic roll angle commands based on a variable-gain guidance method, enabling the UAV to resist positional deviations caused by random lateral disturbances (roll torque, crosswind, etc.) during turns. The command calculation also considers the UAV's flight speed, providing robustness to speed variations caused by disturbances. Furthermore, this method is applicable to pre-bound and real-time updated trajectory planning results for the UAV, ensuring that immediate trajectory changes do not affect the method's effectiveness, demonstrating high applicability and robustness.

[0078] The unmanned aerial vehicle track tracking control method described in this embodiment adopts a closed-loop control concept, combined with a variable gain guidance method to form a time-varying roll angle instruction, and corrects the heading and position errors of the unmanned aerial vehicle and the circular path in real time. It can not only achieve accurate tracking of the circular arc track, but also resist the position deviation caused by lateral heading disturbances (rolling interference torque, side wind), and can adapt to the speed changes of the unmanned aerial vehicle caused by various disturbances. It can effectively improve the position control accuracy and anti-interference ability of the unmanned aerial vehicle during the turning process, and ensure the smooth switching of the route and subsequent route tracking.

[0079] It should be noted that the above description is limited to some embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in an order different from that described in the above embodiments and still achieve the desired results. Furthermore, the processes depicted in the accompanying drawings do not necessarily require the specific order or sequential order shown to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0080] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, an embodiment of the present application further provides an unmanned aerial vehicle trajectory tracking control system.

[0081] like Figure 5 As shown, the unmanned aerial vehicle trajectory tracking control system includes:

[0082] a calculation module 11, configured to obtain a turning radius of the UAV based on the ground speed of the UAV and a target lateral acceleration during turning;

[0083] a path construction module 12 configured to obtain a route angle between a known flight route and a target flight route using preset route information, obtain an advance turning distance based on the turning radius and the route angle, and construct an inscribed arc path based on the turning radius and the center of the circle;

[0084] The route updating module 13 is configured to switch the UAV to the target flight route based on the relationship between the waiting distance to be flown and the advance turning distance, and complete the route update, wherein the waiting distance to be flown is the distance between the UAV's current position and the end position of the known flight route;

[0085] The instruction conversion module 14 is configured to establish a track tracking control mathematical model based on the relative position relationship between the UAV and the arc path, obtain a lateral acceleration instruction according to the improved variable gain guidance method, and convert it into a roll angle instruction. According to the roll angle instruction, the UAV body is controlled to roll to generate lateral acceleration.

[0086] For the convenience of description, the above system is described as being divided into various modules according to their functions. Of course, when implementing the embodiments of the present application, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0087] The system of the above embodiment is used to implement the corresponding method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be described in detail here.

[0088] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, an embodiment of the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and runnable on the processor, wherein when the processor executes the program, the method described in any of the above embodiments is implemented.

[0089] Figure 6 10 is a schematic diagram showing a more specific hardware structure of an electronic device provided in this embodiment. The device may include: a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040 are communicatively connected to each other within the device via the bus 1050.

[0090] The processor 1010 can be implemented using a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0091] The memory 1020 can be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage devices, dynamic storage devices, etc. The memory 1020 can store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 1020 and is called and executed by the processor 1010.

[0092] The input / output interface 1030 is used to connect an input / output module to implement information input and output. The input / output module can be configured as a component in the device (not shown in the figure) or can be externally connected to the device to provide corresponding functions. Input devices may include a keyboard, mouse, touch screen, microphone, various sensors, etc., and output devices may include a display, speaker, vibrator, indicator light, etc.

[0093] The communication interface 1040 is used to connect to a communication module (not shown) to enable communication between the device and other devices. The communication module can communicate via a wired method (such as USB, network cable, etc.) or a wireless method (such as mobile network, WiFi, Bluetooth, etc.).

[0094] The bus 1050 comprises a path for transmitting information between the various components of the device (eg, the processor 1010 , the memory 1020 , the input / output interface 1030 , and the communication interface 1040 ).

[0095] It should be noted that although the above device only shows the processor 1010, the memory 1020, the input / output interface 1030, the communication interface 1040, and the bus 1050, in a specific implementation, the device may also include other components necessary for normal operation. In addition, it will be understood by those skilled in the art that the above device may only include the components necessary to implement the embodiments of this specification, and does not necessarily include all the components shown in the figure.

[0096] The electronic device of the above embodiment is used to implement the corresponding method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be described in detail here.

[0097] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present application also provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the method described in any of the above embodiments.

[0098] The computer-readable media of this embodiment include permanent and non-permanent, removable and non-removable media that can be used to store information by any method or technology. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.

[0099] The computer instructions stored in the storage medium of the above embodiment are used to enable the computer to execute the method described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0100] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present application (including the claims) is limited to these examples. Within the scope of the present application, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present application as described above, which are not provided in detail for the sake of simplicity.

[0101] In addition, for simplicity of description and discussion, and in order not to make the embodiment of the application difficult to understand, the known power supply / ground connection with integrated circuit (IC) chip and other components may or may not be shown in the accompanying drawings provided. In addition, the device can be shown in the form of a block diagram to avoid making the embodiment of the application difficult to understand, and this also takes into account the following fact, that is, the details of the embodiment of these block diagram devices are highly dependent on the platform to be implemented in the embodiment of the application (that is, these details should be fully within the scope of understanding of those skilled in the art). When specific details (for example, circuit) are set forth to describe exemplary embodiments of the application, it will be apparent to those skilled in the art that the embodiment of the application can be implemented without these specific details or when these specific details are changed. Therefore, these descriptions should be considered to be illustrative rather than restrictive.

[0102] Although the present invention has been described in conjunction with specific embodiments thereof, many alternatives, modifications, and variations of these embodiments will be apparent to those skilled in the art based on the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may utilize the embodiments discussed.

[0103] The embodiments of the present application are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present application should be included in the scope of protection of this application.

Claims

1. A method for tracking and controlling an unmanned aerial vehicle, characterized in that: include: The turning radius of the UAV is obtained according to the ground speed of the UAV and the target lateral acceleration during the turn; Obtaining a route angle between a known flight route and a target flight route using preset route information, obtaining an advance turning distance based on the turning radius and the route angle, and constructing an inscribed arc path based on the turning radius and the center of the circle; The UAV switches to the target flight route according to the relationship between the waiting distance to be flown and the advance turning distance, and completes the route update, wherein the waiting distance to be flown is the distance between the current position of the UAV and the end position of the known flight route; A track tracking control mathematical model is established based on the relative positional relationship between the UAV and the circular path. A lateral acceleration command is obtained using an improved variable gain guidance method and converted into a roll angle command. The UAV body is then controlled to roll according to the roll angle command to generate lateral acceleration. The method for constructing the track tracking control mathematical model is as follows: According to the horizontal position coordinates of the UAV in the northeast celestial coordinate system with the circle center point O as the origin and the course angle of the line connecting the current position point of the UAV and the circle center point O, the lateral deviation distance between the current position of the UAV and the arc path is obtained; Calculate the deviation angle between the current track angle of the UAV and the arc path; Define the intersection point of the line between the current position of the UAV and the center point O with the arc path, and calculate the distance between the intersection point and the end point of the arc path; An improved mathematical model of the variable gain guidance method is established, specifically: in, dZ′=V m sin(dPsi); Where V m represents ground speed, K represents variable gain coefficient, and K>2, dZ represents lateral deviation distance, L1 represents the distance between the intersection point and the end point of the arc path, dPsi represents the course deviation angle, and r represents the turning radius; Convert the lateral acceleration command into a roll angle command, specifically: Where a zL1 represents the lateral acceleration, γ L1 Indicates the roll angle, g means 9.8m / s 2 .

2. The method according to claim 1, characterized in that The ground speed of the UAV is provided by the navigation system, and the turning radius formula is: Where r represents the turning radius, V m represents ground speed, a zc0 Indicates the target lateral acceleration.

3. The method according to claim 1, characterized in that The advance turning distance is expressed as: Where, L turn represents the advance turning distance, dψ represents the angle between the known flight route and the target flight route, and r represents the turning radius.

4. The method according to claim 3, wherein: According to the turning radius between the known flight routes, an inscribed arc path is constructed with point O as the center. The coordinates of point O are expressed as: In the formula, the longitude and latitude coordinates of point O are (λ O ,L O ), point B is the end point of the known flight route, and the longitude and latitude coordinates of point B are (λ B ,L B ), r represents the arc path radius, ψ AB Indicates the flight path angle of a known flight path, with north-east as positive, R represents the radius of the earth, [x BOE ,y BON ] is the horizontal position coordinate of point O in the northeast celestial coordinate system with point B as the origin, [-L turn ,-r] is the horizontal position coordinate of point O in the route coordinate system with point B as the origin, and the two are connected by the route angle ψ AB Complete the coordinate transformation.

5. The method according to claim 4, characterized in that: The longitude and latitude coordinates of the UAV (λ M ,L M ) is provided by the navigation system, and the distance to be flown is expressed as: dL=-sin(ψ AB )·x BME -cos(ψ AB )·y BMN ; In the formula, [x BME ,y BMN ] is the horizontal position coordinate of the UAV in the northeastern sky coordinate system with point B as the origin. When dL <L turn When , the UAV starts to turn, switches to the target flight route, and completes the route update.

6. An unmanned aerial vehicle track tracking control system, characterized in that: include: a calculation module configured to obtain a turning radius of the UAV based on a ground speed of the UAV and a target lateral acceleration during a turn; a path construction module configured to obtain a route angle between a known flight route and a target flight route using preset route information, obtain an advance turning distance based on the turning radius and the route angle, and construct an inscribed arc path based on the turning radius and the center of the circle; a route updating module configured to cause the UAV to switch to the target flight route based on a relationship between a waiting distance to be flown and the advance turning distance, and to complete the route update, wherein the waiting distance to be flown is the distance between the UAV's current position and the end position of the known flight route; a command conversion module configured to establish a track tracking control mathematical model based on the relative positional relationship between the UAV and the circular path, obtain a lateral acceleration command based on an improved variable gain guidance method, convert the command into a roll angle command, and control the UAV to roll according to the roll angle command to generate lateral acceleration; The method for constructing the track tracking control mathematical model is as follows: According to the horizontal position coordinates of the UAV in the northeast celestial coordinate system with the circle center point O as the origin and the course angle of the line connecting the current position point of the UAV and the circle center point O, the lateral deviation distance between the current position of the UAV and the arc path is obtained; Calculate the deviation angle between the current track angle of the UAV and the arc path; Define the intersection point of the line between the current position of the UAV and the center point O with the arc path, and calculate the distance between the intersection point and the end point of the arc path; An improved mathematical model of the variable gain guidance method is established, specifically: in, dZ′=V m sin(dPsi); Where V m represents ground speed, K represents variable gain coefficient, and K>2, dZ represents lateral deviation distance, L1 represents the distance between the intersection point and the end point of the arc path, dPsi represents the course deviation angle, and r represents the turning radius; Convert the lateral acceleration command into a roll angle command, specifically: Where a zL1 represents the lateral acceleration, γ L1 Indicates the roll angle, g means 9.8m / s 2 .

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method according to any one of claims 1 to 5 when executing the program.

8. A non-transitory computer-readable storage medium, characterized in that in, The non-transitory computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the method according to any one of claims 1 to 5.

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