Unmanned aerial vehicle automatic driving system

Abstract

The invention discloses an unmanned aerial vehicle automatic driving system, relates to the technical field of unmanned aerial vehicle positioning, and solves the technical problems that the unmanned aerial vehicle depends on a fixed landing platform, the use range of the unmanned aerial vehicle is limited, and the landing precision is influenced due to the fact that external factors are not considered when the unmanned aerial vehicle lands. The vehicle-mounted mobile landing platform is adopted, real-time charging is achieved, landing at different positions is facilitated, the use range of the unmanned aerial vehicle is expanded, whether the unmanned aerial vehicle can meet the landing requirement or not can be accurately judged by analyzing the regional signal intensity and the off-plane distance, the landing safety is improved, and the unmanned aerial vehicle is convenient to use. The influence of natural factors such as the wind direction and the wind speed on the unmanned aerial vehicle is considered, the course deviation is calculated, the course is corrected, and the flight speed is calculated according to the wind direction relation, so that the unmanned aerial vehicle can better adapt to different meteorological conditions, and the landing accuracy and reliability are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of UAV positioning, and specifically to an autonomous UAV driving system. Background Art

[0002] With the continuous development of UAV technology, its application scenarios are becoming more and more extensive. However, in the process of autonomous driving of UAVs, how to ensure that UAVs can land safely and accurately is a key issue.

[0003] According to the patent with the publication number CN109521781A, a UAV positioning system, a UAV and a UAV positioning method are disclosed, which include: a vision processing module with an image acquisition unit, which is used to acquire relevant information of vision patterns on a vision map, and obtain the position of the UAV according to the relevant information of the vision patterns, and the vertices of adjacent vision patterns are connected according to a predetermined rule, and a corner point is formed at the connection of two vertices; the vision processing module determines the position coordinates and attitude information of the UAV.

[0004] The above patent can achieve high-precision positioning and real-time navigation of UAVs in an environment where GPS positioning is unreliable or without an inertial navigation system, and only by constructing a vision map that can be recognized by machine vision through two-dimensional codes, barcodes, etc., the purpose of real-time positioning and controlling the flight attitude of UAVs can be achieved, which is simple and practical. At the same time, the flight route can be autonomously planned to improve work efficiency.

[0005] However, some existing UAV landing methods usually rely on fixed landing platforms, which to a certain extent limits the use range of UAVs. In addition, natural factors such as wind direction and wind speed, as well as factors such as signal strength, will also affect the landing of UAVs, increasing the difficulty and risk of landing. Summary of the Invention

[0006] Aiming at the deficiencies of the prior art, the present invention provides an autonomous UAV driving system, which solves the problems of relying on a fixed landing platform, limiting the use range of UAVs, and not considering the influence of external factors on landing during UAV landing, which affects the landing accuracy.

[0007] To achieve the above objectives, the present invention is realized through the following technical solutions: an autonomous UAV driving system, including:

[0008] The landing information analysis unit is used to analyze the landing platform based on the basic information transmitted by the information collection unit, generate area information, and separately analyze the area signal strength and the distance from the aircraft in the area information, and generate satisfied signals and unsatisfied signals. Then, based on the generated satisfied signals and unsatisfied signals, it judges the landing area to generate a landing unsatisfied signal and a landing satisfied signal, and transmits the landing satisfied signal to the landing planning processing unit and the landing unsatisfied signal to the landing analysis and adjustment unit;

[0009] The landing analysis and adjustment unit is used to analyze the obtained landing unsatisfied signal, determine the specific reasons for dissatisfaction, generate adjustment methods based on the specific reasons, and generate real-time coordinate information based on the adjustment methods. Then, it transmits the real-time coordinate information to the landing planning processing unit;

[0010] The landing planning processing unit is used to analyze the obtained real-time coordinate information and satisfied signals, and at the same time, comprehensively analyze and calculate in combination with the basic information of the UAV to obtain a corrected heading, calculate the total landing speed based on the regional wind direction of the landing area, combine the corrected heading and the total landing speed to obtain planning information, and transmit the planning information to the planning information output unit.

[0011] As a further solution of the present invention: it further includes an information collection unit and a planning information output unit;

[0012] The information collection unit is used to obtain the basic information of the UAV and the landing platform, and at the same time transmit the obtained basic information to the landing information analysis unit;

[0013] The planning information output unit is used to display the obtained planning information to the corresponding operator.

[0014] As a further solution of the present invention: the specific method for the landing information analysis unit to analyze the landing platform based on the obtained basic information to generate area information is as follows:

[0015] Based on the basic information of the landing platform, obtain the real-time coordinates of the landing platform. At the same time, with the landing platform as the center, obtain an area with a radius of R to generate a landing area, and obtain the area information of the landing area. The area information includes: area signal strength and the distance from the aircraft. At the same time, separately analyze the area signal strength and the distance from the aircraft.

[0016] As a further solution of the present invention: the specific method for the landing information analysis unit to separately analyze the area signal strength and the distance from the aircraft in the area information is as follows:

[0017] The specific method for analyzing the regional signal strength is as follows: Obtain the regional signal strength denoted as Q, and compare the regional signal strength Q with a preset value Qy. If the regional signal strength Q is greater than the preset value Qy, a satisfied signal is generated; otherwise, a dissatisfied signal is generated.

[0018] The specific method for analyzing the off-board distance is as follows: Obtain the real-time power of the UAV denoted as Es, denote the off-board distance as D, obtain the power consumption data of the UAV, and at the same time calculate the average power consumption for the UAV to return denoted as P. Then obtain the average flight speed of the UAV denoted as Vp, calculate the return time T according to the formula T = D / Vp, and at the same time calculate the power required for the return according to the formula E1 = T × P, and compare the return power with the real-time power.

[0019] If the return power is less than the real-time power, a satisfied signal is generated; otherwise, a dissatisfied signal is generated.

[0020] As a further solution of the present invention: The specific method for the landing information analysis unit to generate a landing dissatisfied signal and a landing satisfied signal is as follows:

[0021] Based on the comprehensive analysis of the regional signal strength and the off-board distance, judge the UAV landing. If the analysis of both the regional signal strength and the off-board distance generates satisfied signals, a landing satisfied signal is generated, and at the same time the landing satisfied signal is transmitted to the landing planning processing unit. If any group of the analysis of the regional signal strength and the off-board distance generates a dissatisfied signal, a landing dissatisfied signal is generated, and at the same time the landing dissatisfied signal is transmitted to the landing analysis and adjustment unit.

[0022] As a further solution of the present invention: The specific method for the landing analysis and adjustment unit to analyze the landing dissatisfied signal is as follows:

[0023] Obtain the landing dissatisfied signal, and at the same time obtain the corresponding specific reason, and determine the corresponding adjustment method based on the specific reason. Then generate the real-time coordinates of the landing platform based on the adjustment method, and transmit the real-time coordinate information to the landing planning processing unit.

[0024] As a further solution of the present invention: The specific method for the landing planning processing unit to calculate the corrected course is as follows:

[0025] Based on the obtained real-time coordinate information of the landing platform and the basic information of the UAV, determine the landing direction and position, and the specific determination method is: Take the real-time coordinates of the landing platform as the end point and the real-time coordinates of the UAV as the starting point to determine the flight position and flight direction, and obtain the flight angle of the UAV denoted as θ based on the flight direction.

[0026] Next, obtain the regional impact of the landing area, and the regional impact includes regional wind speed and regional wind direction. At the same time, record the regional wind speed as Vw, and decompose the wind speed to obtain the components in three directions, which are respectively recorded as Vwx, Vwy, and Vwz. At the same time, obtain the flight speed of the unmanned aerial vehicle and record it as Ve, and decompose the flight speed of the unmanned aerial vehicle in the same way to obtain the components in three directions, which are respectively recorded as Vex, Vey, and Vez. Obtain the angle between the unmanned aerial vehicle and the wind direction and record it as α. At the same time, substitute the obtained parameters into the formula Calculate the heading deviation Δθ of the unmanned aerial vehicle, where Δθ represents the heading deviation. Add the calculated heading deviation Δθ to the flight angle θ of the unmanned aerial vehicle to obtain the corrected heading, and the specific summation formula is Δθ + θ.

[0027] As a further solution of the present invention: The specific method for the landing planning processing unit to calculate the total landing speed based on the regional wind direction of the landing area is as follows:

[0028] Analyze the regional wind direction corresponding to the landing area, and judge the relationship between the regional wind direction and the flight direction of the unmanned aerial vehicle, and at the same time generate the same result or the opposite result. Then calculate the flight speed according to the wind direction relationship, and the specific calculation method is as follows:

[0029] Obtain the landing speed of the unmanned aerial vehicle under no-wind conditions and record it as Vn, and obtain the horizontal direction speed component and the vertical direction speed component corresponding to the landing speed Vn, which are respectively recorded as Vnx and Vny. Then obtain the regional wind speed Vw, and obtain the horizontal direction speed component and the vertical direction speed component of the regional wind speed Vw, which are respectively recorded as Vwx and Vwy;

[0030] If the wind direction relationship is the same result, the landing speed in the horizontal direction is Vx = Vnx + Vwx. At the same time, obtain the angle θ between the wind direction and the unmanned aerial vehicle, and calculate the offset speed according to the angle between the wind direction and the unmanned aerial vehicle. Substitute the obtained parameters into the formula Vx = Vnx + Vwxcosθ. Then calculate the landing speed in the vertical direction Vy = Vny + Vwy. Finally, synthesize the landing speeds in the horizontal direction and the vertical direction to obtain the total landing speed V of the unmanned aerial vehicle under the influence of wind speed and wind direction, and the specific calculation formula is

[0031] If the wind direction relationship is the opposite result, the landing speed in the horizontal direction is Vx = Vnx - Vwx. Then, by analogy with the calculation method when the wind direction relationship is the opposite result, calculate the total landing speed V;

[0032] Then combine the total landing speed V and the corrected heading Δθ + θ to obtain the planning information, and at the same time transmit the planning information to the planning information output unit.

[0033] The present invention provides an unmanned aerial vehicle automatic driving system. Compared with the prior art, it has the following beneficial effects:

[0034] The present invention uses a vehicle-mounted mobile landing platform to achieve real-time charging, facilitate landing at different locations, and expand the scope of use of drones. By analyzing the regional signal strength and the distance from the aircraft, it can accurately determine whether the drone can meet the landing requirements, thereby improving landing safety. Considering the impact of natural factors such as wind direction and wind speed on the drone, the present invention calculates the heading deviation and corrects the heading, and calculates the flight speed based on the wind direction relationship, so that the drone can better adapt to different weather conditions and improves the accuracy and reliability of landing. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 This is a block diagram of the system principle of the present invention;

[0036] Figure 2 It is a flow chart of the present invention. DETAILED DESCRIPTION

[0037] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0038] For example 1, please refer to Figure 1 and Figure 2 The present application provides a UAV automatic driving system, including an information collection unit, a landing information analysis unit, a landing analysis and adjustment unit, a landing planning processing unit and a planning information output unit, and in combination with the attached Figure 1 It can be known that the functional units are unidirectionally electrically connected to each other, and information transmission between the units is performed via wires.

[0039] An information collection unit is used to obtain basic information about the drone and landing platform, and transmit the obtained basic information to the landing information analysis unit. The landing platform in this application is a vehicle-mounted mobile landing platform. Real-time charging can be achieved through the vehicle-mounted mobile landing platform, and it can be convenient to land at different locations. The specific basic information of the drone obtained includes: drone power and drone transmission signal strength, and the basic information of the landing platform includes: real-time coordinates.

[0040] The landing information analysis unit is used to analyze the landing platform based on the acquired basic information. The specific analysis and determination method is as follows:

[0041] Based on the basic information of the landing platform, obtain the real-time coordinates of the landing platform. At the same time, taking the landing platform as the center, obtain a landing area by generating an area with a radius of R. Meanwhile, obtain the area information of the landing area, and the area information includes: area signal strength and the distance from the aircraft. Here, the distance from the aircraft represents the straight-line distance between the landing platform and the UAV. The specific area signal strength is measured by a professional signal detector. Then, analyze the area signal strength and the distance from the aircraft respectively;

[0042] The specific method for analyzing the area signal strength is as follows: Obtain the area signal strength and record it as Q, and compare the area signal strength Q with a preset value Qy. Here, the preset value represents that the UAV can normally receive the corresponding instructions, and the specific value is set by the operator. If the area signal strength Q is greater than the preset value Qy, it means that the area signal strength meets the UAV landing requirements, and a satisfied signal is generated. On the contrary, if the area signal strength Q is less than the preset value Qy, it means that the area signal strength does not meet the UAV landing requirements, and a non-satisfied signal is generated;

[0043] The specific method for analyzing the distance from the aircraft is as follows: Obtain the real-time battery power of the UAV, and based on the distance from the aircraft, calculate whether the real-time battery power can meet the UAV landing requirements. If it can meet, a satisfied signal is generated. On the contrary, if it cannot meet, a non-satisfied signal is generated;

[0044] And the specific calculation method is as follows: Obtain the real-time battery power of the UAV and record it as Es, record the distance from the aircraft as D, obtain the power consumption data of the UAV, and calculate the average power consumption during the UAV's return flight and record it as P. Then, obtain the average flight speed of the UAV and record it as Vp. Calculate the return time T according to the formula T = D / Vp, and calculate the power required for the return flight according to the formula E1 = T × P, and compare the return power with the real-time battery power.

[0045] In a specific example, assume that a UAV is 1000 meters away from the base station, the real-time battery power Es of the UAV is 5000 mAh, the power consumption data of the UAV is known, the average power consumption P during the return flight is 10 watts, and the average flight speed of the UAV is 5 m / s. First, according to the formula T = D / Vp = 1000 / 5 = 200 seconds, then according to the formula E1 = T × P = 200 × 10 = 2000 watt-seconds. At the same time, perform unit conversion. Assume that 1 watt-second is approximately equal to 2 mAh. Further calculation gives E1 = 4000 mAh, and then compare E1 with Es.

[0046] The UAV landing is judged based on the comprehensive analysis of the regional signal strength and the distance from the aircraft. If the analysis of the regional signal strength and the distance from the aircraft both generate satisfactory signals, a landing satisfactory signal is generated and the landing satisfactory signal is transmitted to the landing planning processing unit. If the analysis of the regional signal strength and the distance from the aircraft generates any one of the unsatisfactory signals, a landing unsatisfactory signal is generated and the landing unsatisfactory signal is transmitted to the landing analysis and adjustment unit.

[0047] The landing analysis and adjustment unit is used to analyze the acquired landing failure signal, determine the specific cause of failure, and generate an adjustment method based on the specific cause. The specific cause for generating the adjustment method is:

[0048] A landing failure signal is obtained, along with a corresponding specific reason, where the specific reason includes regional signal strength and distance from the aircraft. Based on the specific reason, a corresponding adjustment method is determined and generated. Specifically, if the specific reason is regional signal strength, a landing area is reselected, and the landing platform is moved during the selection process, while both the distance from the aircraft and the regional signal strength are required to be met. Then, real-time coordinates of the landing platform are generated based on the adjustment method, and the real-time coordinate information is transmitted to the landing planning processing unit.

[0049] Example 2, as Example 2 of the present invention, is implemented on the basis of Example 1, and differs from Example 1 in the following aspects:

[0050] The landing planning processing unit is used to analyze the acquired real-time coordinate information and the satisfying signal, and to conduct a comprehensive analysis based on the basic information of the UAV. The specific analysis method is as follows:

[0051] The landing direction and position are determined based on the acquired real-time coordinate information of the landing platform and the basic information of the drone. The specific determination method is: take the real-time coordinates of the landing platform as the end point and the real-time coordinates of the drone as the starting point to determine the flight position and flight direction. Assuming that the real-time coordinates of the landing platform are (120.5°E, 30.2°N, 100 meters above sea level), and the real-time coordinates of the drone are (120.4°E, 30.1°N, 150 meters above sea level), first calculate the difference in the horizontal direction. The longitude difference is approximately 0.1°, and the latitude difference is approximately 0.1°. Assuming that the radius of the earth is R, the straight-line distance in the horizontal direction can be calculated according to the conversion relationship between longitude and latitude and distance. The difference in the vertical direction is the altitude difference, that is, 50 meters. Then, use trigonometric functions to calculate the flight direction angle. Assuming that the horizontal distance is D1 and the vertical distance is D2, the flight direction angle θ = arctan (D2 / D1), and obtain the drone flight angle based on the flight direction and record it as θ;

[0052] Next, obtain the regional impact on the landing area, and the regional impact includes regional wind speed and regional wind direction. At the same time, denote the regional wind speed as Vw, and decompose the wind speed to obtain the components in three directions, specifically decomposed into the components in the x, y, and z directions, denoted as Vwx, Vwy, and Vwz respectively. At the same time, obtain the flight speed of the drone denoted as Ve, and decompose the drone flight speed in the same way to obtain the components in three directions, denoted as Vex, Vey, and Vez respectively. Obtain the angle between the drone and the wind direction denoted as α, and substitute the obtained parameters into the formula Calculate the heading deviation Δθ of the drone. Δθ represents the heading deviation, that is, due to the influence of the wind, the difference between the actual heading of the drone and the heading under windless conditions. Add the calculated heading deviation Δθ to the flight angle θ of the drone to obtain the corrected heading, and the specific summation formula is Δθ + θ;

[0053] In a specific example, assume that in a landing area, the regional wind speed measured by meteorological equipment is Vw = 10 m / s, and the wind direction is 30° east of north. Decompose the wind speed into three directions: Vwx = Vw × cos30° ≈ 8.66 m / s (assuming east is the x direction). Vwy = Vw × sin30° ≈ 5 m / s (assuming north is the y direction), Vwz = 0 m / s (assuming the vertical direction is the z direction, and here it is assumed that there is no wind in the vertical direction). The flight speed of the drone Ve = 8 m / s, and decompose it: assume that the current heading of the drone is 45° west of north, then Vex = Ve × cos45° ≈ 5.66 m / s. Vey = Ve × sin45° ≈ 5.66 m / s, Vez = 0 m / s. Assume that the angle between the drone and the wind direction α = 75°. First, calculate the heading deviation. According to the formula Calculate Δθ. Assume that the heading angle of the drone under windless conditions (i.e., due north) is 75° + 18.43° = 93.43°. If the flight angle of the drone is 45° at this time, then the corrected heading is 93.43° + 45° = 138.43°. From this example, it can be seen that when considering the influence of wind direction and wind speed

[0054] At the same time, analyze the regional wind direction corresponding to the landing area, and judge the relationship between the regional wind direction and the flight direction of the drone, and generate the same result or the opposite result. Specifically, the same result means that the regional wind direction and the flight direction are downwind, and the opposite result means that the regional wind direction and the flight direction are upwind. Then calculate the flight speed according to the wind direction relationship, and the specific calculation method is as follows:

[0055] Obtain the landing speed of the drone under windless conditions and denote it as Vn. Then obtain the horizontal and vertical velocity components corresponding to the landing speed Vn, denoted as Vnx and Vny respectively, where Vnx is the horizontal velocity component and Vny is the vertical velocity component. Next, obtain the regional wind speed Vw, and denote the horizontal and vertical velocity components of the regional wind speed Vw as Vwx and Vwy respectively;

[0056] If the wind direction relationship is the same result, the landing speed in the horizontal direction is Vx = Vnx + Vwx. At the same time, obtain the angle θ between the wind direction and the drone, and calculate the offset speed according to the angle between the wind direction and the drone. Substitute the obtained parameters into the formula Vx = Vnx + Vwxcosθ. Then calculate the landing speed in the vertical direction Vy = Vny + Vwy. Finally, synthesize the landing speeds in the horizontal and vertical directions to obtain the total landing speed V of the drone under the influence of wind speed and wind direction, and the specific calculation formula is

[0057] If the wind direction relationship is the opposite result, the landing speed in the horizontal direction is Vx = Vnx - Vwx. Then, in the same way as the calculation method when the wind direction relationship is the opposite result, calculate the total landing speed V;

[0058] In a specific example, here is a specific illustration: Assume that the landing speed of the drone under windless conditions Vn = 10m / s, the horizontal velocity component Vnx = 8m / s, the vertical velocity component Vny = 6m / s, the regional wind speed Vw = 5m / s, the horizontal velocity component Vwx = 4m / s, and the vertical velocity component Vwy = 3m / s.

[0059] If the wind direction is the same: The landing speed in the horizontal direction Vx = Vnx + Vwx = 8 + 4 = 12m / s, and the landing speed in the vertical direction Vy = Vny + Vwy = 6 + 3 = 9m / s. Further synthesize the total landing speed

[0060] If the wind direction is opposite: The landing speed in the horizontal direction Vx = Vnx - Vwx = 8 - 4 = 4m / s, and the landing speed in the vertical direction Vy = Vny - Vwy = 6 - 3 = 3m / s. Synthesize the total landing speed

[0061] Then combine the total landing speed V and the corrected course Δθ + θ to obtain the planning information, and at the same time transmit the planning information to the planning information output unit.

[0062] The planning information output unit is used to display the obtained planning information to the corresponding operator.

[0063] Example 3. As the third example of the present invention, the key lies in combining the implementation processes of Example 1 and Example 2 for implementation.

[0064] For some data in the above formula, the dimension is removed for numerical calculation. At the same time, the content not described in detail in this specification belongs to the prior art well-known to those skilled in the art.

[0065] The above examples are only used to illustrate the technical method of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical method of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical method of the present invention.

Claims

1. An unmanned aerial vehicle (UAV) autopilot system, characterized in that, Including: A landing information analysis unit, which is used to analyze the landing platform according to the basic information transmitted by the information acquisition unit and generate area information. At the same time, it separately analyzes the area signal strength and the off-board distance in the area information, and generates a satisfied signal and a dissatisfied signal. Then, based on the generated satisfied signal and dissatisfied signal, it judges the landing area to generate a landing dissatisfied signal and a landing satisfied signal, and transmits the landing satisfied signal to the landing planning processing unit and the landing dissatisfied signal to the landing analysis and adjustment unit; A landing analysis and adjustment unit, which is used to analyze the obtained landing dissatisfied signal, determine the specific reason for dissatisfaction, generate an adjustment method based on the specific reason, and generate real-time coordinate information based on the adjustment method. Then, it transmits the real-time coordinate information to the landing planning processing unit; A landing planning processing unit, which is used to analyze the obtained real-time coordinate information and satisfied signal, and at the same time conduct comprehensive analysis and calculation in combination with the basic information of the UAV to obtain a corrected course. It calculates the total landing speed based on the regional wind direction of the landing area, combines the corrected course and the total landing speed to obtain planning information, and transmits the planning information to the planning information output unit.

2. The UAV automatic driving system according to claim 1, characterized in that, It also includes an information acquisition unit and a planning information output unit; An information acquisition unit, which is used to obtain the basic information of the UAV and the landing platform, and at the same time transmit the obtained basic information to the landing information analysis unit; A planning information output unit, which is used to display the obtained planning information to the corresponding operator.

3. The UAV autopilot system according to claim 1, characterized in that, The specific method for the landing information analysis unit to analyze the landing platform based on the obtained basic information and generate area information is as follows: Based on the basic information of the landing platform, obtain the real-time coordinates of the landing platform. At the same time, with the landing platform as the center, obtain an area with a radius of R to generate a landing area, and obtain the area information of the landing area. The area information includes: area signal strength and off-board distance, and separately analyze the area signal strength and off-board distance.

4. The UAV autopilot system according to claim 3, characterized in that, The specific method for the landing information analysis unit to separately analyze the area signal strength and off-board distance in the area information is as follows: The specific method for analyzing the area signal strength is: obtain the area signal strength denoted as Q, and compare the area signal strength Q with a preset value Qy. If the area signal strength Q is greater than the preset value Qy, generate a satisfied signal; otherwise, generate a dissatisfied signal; The specific method for analyzing the off-board distance is: obtain the real-time battery power of the UAV denoted as Es, denote the off-board distance as D, obtain the power consumption data of the UAV, and calculate the average power consumption for the UAV to return denoted as P. Then, obtain the average flight speed of the UAV denoted as Vp, calculate the return time T according to the formula T = D / Vp, and calculate the power required for return according to the formula E1 = T×P. Then, compare the return power with the real-time power; If the return power is less than the real-time power, generate a satisfied signal; otherwise, generate a dissatisfied signal.

5. An unmanned aerial vehicle automatic driving system according to claim 1, characterized in that, The specific method for the landing information analysis unit to generate a landing dissatisfied signal and a landing satisfied signal is as follows: Based on the comprehensive analysis of the regional signal strength and the distance from the aircraft, the landing of the UAV is judged. If the analysis of both the regional signal strength and the distance from the aircraft generates a satisfactory signal, a landing satisfactory signal is generated, and at the same time, the landing satisfactory signal is transmitted to the landing planning processing unit. If any group of the analysis of the regional signal strength and the distance from the aircraft generates an unsatisfactory signal, a landing unsatisfactory signal is generated, and at the same time, the landing unsatisfactory signal is transmitted to the landing analysis and adjustment unit.

6. The UAV automatic driving system according to claim 1, characterized in that, The specific method for the landing analysis and adjustment unit to analyze the landing unsatisfactory signal is as follows: Obtain the landing unsatisfactory signal, and at the same time obtain the corresponding specific reason, and determine the corresponding adjustment method based on the specific reason. Then, generate the real-time coordinates of the landing platform based on the adjustment method, and transmit the real-time coordinate information to the landing planning processing unit.

7. An unmanned aerial vehicle autopilot system according to claim 1, characterized in that, The specific method for the landing planning processing unit to calculate the corrected heading is as follows: Determine the landing direction and position based on the obtained real-time coordinate information of the landing platform and the basic information of the UAV. Take the real-time coordinates of the landing platform as the end point and the real-time coordinates of the UAV as the starting point to determine the flight position and flight direction, and obtain the flight angle of the UAV and denote it as θ. Next, obtain the regional impact on the landing area, and the regional impact includes regional wind speed and regional wind direction. At the same time, record the regional wind speed as Vw, and decompose the wind speed to obtain the components in three directions, which are respectively recorded as Vwx, Vwy, and Vwz. At the same time, obtain the flight speed of the UAV and record it as Ve, and decompose the UAV flight speed in the same way to obtain the components in three directions, which are respectively recorded as Vex, Vey, and Vez. Obtain the angle between the UAV and the wind direction and record it as α. At the same time, substitute the obtained parameters into the formula Calculate the heading deviation Δθ of the UAV, where Δθ represents the heading deviation. Add the calculated heading deviation Δθ to the flight angle θ of the UAV to obtain the corrected heading, and the specific summation formula is Δθ + θ.

8. A drone autopilot system according to claim 1, characterized in that, The specific method for the landing planning processing unit to calculate the total landing speed based on the regional wind direction of the landing area is as follows: Analyze the regional wind direction corresponding to the landing area, judge the relationship between the regional wind direction and the flight direction of the UAV, and generate the same result or the opposite result at the same time. Then, calculate the flight speed according to the wind direction relationship. Obtain the landing speed of the UAV in the absence of wind and denote it as Vn, and obtain the horizontal direction speed component and the vertical direction speed component corresponding to the landing speed Vn, and denote them as Vnx and Vny respectively. Then, obtain the regional wind speed Vw, and obtain the horizontal direction speed component and the vertical direction speed component of the regional wind speed Vw and denote them as Vwx and Vwy respectively. If the wind direction relationship results in the same outcome, the landing speed in the horizontal direction is Vx = Vnx + Vwx. At the same time, obtain the angle θ between the wind direction and the drone, and calculate the offset speed based on this angle. Substitute the obtained parameters into the formula Vx = Vnx + Vwxcosθ. Then calculate the landing speed in the vertical direction Vy = Vny + Vwy. Finally, synthesize the landing speeds in the horizontal and vertical directions to obtain the total landing speed V of the drone under the influence of wind speed and wind direction, and the specific calculation formula is If the wind direction relationship is the opposite result, the landing speed in the horizontal direction is Vx = Vnx - Vwx. Then, by analogy with the calculation method when the wind direction relationship is the opposite result as above, calculate the total landing speed V. Then, combine the total landing speed V and the corrected heading Δθ + θ to obtain the planning information, and at the same time transmit the planning information to the planning information output unit.

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