Self-adaptive leveling and anti-disturbance vehicle-mounted unmanned aerial vehicle lifting platform and method

Abstract

The invention discloses a self-adaptive leveling and anti-disturbance vehicle-mounted unmanned aerial vehicle lifting platform and method, and relates to the technical field of automation control technologies, and the vehicle-mounted unmanned aerial vehicle lifting platform comprises a lifting mechanism assembled on a vehicle; the leveling mechanism is assembled at the lifting top of the lifting mechanism, and an unmanned aerial vehicle nest is assembled at the top of the leveling mechanism; the attitude sensing unit is used for measuring attitude data of the unmanned aerial vehicle nest in real time; the disturbance sensing unit is used for detecting external disturbance data of the unmanned aerial vehicle nest in real time; and the control unit is electrically connected with the lifting mechanism, the leveling mechanism, the attitude sensing unit and the disturbance sensing unit respectively. According to the invention, a high-frequency-response attitude sensing and multi-degree-of-freedom rapid leveling mechanism and a closed-loop control system of an advanced adaptive control algorithm are integrated. The system can monitor the posture of the platform in real time and quickly drive the leveling mechanism to compensate, so that the leveling mechanism always keeps a high-precision horizontal state under the condition that a vehicle inclines in a large range and is dynamically disturbed.

Description

Technical Field

[0001] The present invention relates to the fields of automated control technology, mechanical design, sensor technology, and drone auxiliary equipment technology, and more specifically to a vehicle-mounted drone lifting platform and method with adaptive leveling and anti-disturbance, and in particular to a device installed on a vehicle for drone takeoff and landing, which can automatically maintain the horizontal stability of the platform when the vehicle is tilted or disturbed. Background Art

[0002] Drones are increasingly being used in areas such as power inspection, emergency rescue, and surveying and mapping. Vehicle-mounted drone systems, such as drone nest vehicles, integrate drones and their support equipment onto vehicles, improving their deployment flexibility and operational efficiency.

[0003] However, when operating in the field, vehicles often park on uneven surfaces, causing the vehicle body to tilt. Traditional fixed or simple lifting platforms tilt with the vehicle body, posing a significant challenge to the safe and precise takeoff and landing of drones. This can impact takeoff and landing accuracy at best, or even damage or even overturn the drone.

[0004] In addition, the vehicle will vibrate or shake when starting, idling, when people are walking, or when encountering gusts of wind. These disturbances will also be transmitted to the take-off and landing platform, affecting the stability of the drone's take-off and landing, especially in RTK autonomous landing scenarios that require centimeter-level accuracy.

[0005] Some existing vehicle-mounted platforms may have manual leveling functions, which are inefficient and low-precision; some simple automatic leveling systems have slow response speeds and poor anti-disturbance capabilities, making it difficult to meet the high-precision and high-stability requirements in complex dynamic environments.

[0006] Therefore, there is an urgent need for a vehicle-mounted UAV lifting platform and method that can respond quickly, perform high-precision adaptive leveling, and effectively resist external disturbances, so as to ensure the safe, stable, and precise takeoff and landing of UAVs under various complex ground conditions and dynamic interferences. Summary of the Invention

[0007] To overcome the shortcomings of the aforementioned prior art, the present invention discloses a vehicle-mounted UAV lift platform and method with adaptive leveling and disturbance rejection. Its core lies in a closed-loop control system that integrates high-frequency attitude sensing, a fast multi-degree-of-freedom leveling mechanism, and an advanced control algorithm. This system achieves high-precision leveling and strong disturbance rejection through two collaborative mechanisms: Mechanism 1: The platform's own dynamic adaptive leveling and physical disturbance rejection. The control unit utilizes real-time attitude data and, through advanced leveling control algorithms (such as adaptive PID and decoupling control), continuously drives the leveling mechanism to dynamically compensate for attitude deviations caused by vehicle tilt and external disturbances, physically maintaining the UAV's nest in a highly precise horizontal position. This is the primary disturbance rejection mechanism. The leveling control algorithm also utilizes real-time estimated external disturbance data for feedforward compensation or adaptive parameter adjustment, further enhancing the leveling mechanism's own disturbance rejection performance. Mechanism 2: Platform-UAV collaborative disturbance rejection. For residual disturbances (especially high-frequency vibrations or sudden shocks) that the leveling mechanism cannot completely eliminate, the control unit generates a "disturbance suppression term" based on the disturbance sensing data and transmits it to the UAV's flight control system via a communication link. The drone incorporates this disturbance information into its flight control laws, proactively adjusting flight control outputs to compensate for the platform's residual motion, ensuring stable and precise takeoff and landing relative to the platform. The system monitors the platform's attitude in real time, rapidly actuating the leveling mechanism to compensate. By coordinating with the drone, it provides a stable and precise foundation for takeoff and landing, even when the vehicle is tilted significantly and subjected to dynamic disturbances.

[0008] In order to achieve the above objectives, the present invention adopts the following technical solutions: In a first aspect, the present invention provides a vehicle-mounted UAV lifting platform with adaptive leveling and anti-disturbance, comprising: Lifting mechanism mounted on a vehicle; A leveling mechanism is mounted on the top of the lifting mechanism, and a drone nest is mounted on the top of the leveling mechanism; An attitude sensing unit for real-time measurement of the drone's nest attitude data; A disturbance sensing unit for real-time detection of external disturbance data of the drone nest; A control unit is electrically connected to the lifting mechanism, leveling mechanism, attitude sensing unit and disturbance sensing unit respectively, and the control unit controls the action of the lifting mechanism to lift and lower the UAV nest on the vehicle; during the lifting process of the UAV nest and the UAV take-off and landing operation, the control unit uses attitude data and external disturbance data to generate leveling drive instructions, and controls the leveling mechanism to perform continuous dynamic leveling and physical anti-disturbance on the UAV nest; during the UAV take-off and landing operation, the control unit uses external disturbance data to generate disturbance suppression items, and sends the disturbance suppression items to the UAV flight control system, which integrates the disturbance suppression items into its control law and adjusts the flight control output for anti-disturbance.

[0009] 1. Lifting mechanism Preferably, the lifting mechanism is a shear-type lifting mechanism or a hydraulic screw-type lifting mechanism; When it is a shear-type lifting mechanism, the shear-type lifting mechanism is provided with a locking mechanism, and the locking mechanism is at least one of a drive motor integrated brake, a travel limit protection switch, a mechanical locking device, and an overload protection device; When it is a hydraulic screw-type lifting mechanism, the hydraulic screw-type lifting mechanism is provided with a locking mechanism, and the locking mechanism is at least one of a hydraulic locking valve, a screw nut pair with a self-locking function, and a mechanical latch.

[0010] 2. Leveling mechanism Preferably, the leveling mechanism includes a leveling plate, a support shaft, a centripetal spherical bearing and a universal support rod; The adjustment plate is located above the lifting plate at the top of the lifting mechanism, on which a drone nest is mounted. The upper and lower ends of the support shaft are respectively connected to the middle position of the adjustment plate and the middle position of the lifting plate. The centripetal spherical bearing is mounted at the bottom of the adjustment plate. The top of the universal support rod is mounted on the centripetal spherical bearing, and the lower part is mounted on the lifting plate. The universal support rod drives the centripetal spherical bearing to rise and fall to level the adjustment plate. A centripetal spherical bearing and a universal support rod constitute a set of leveling components. Several sets of leveling components are installed between the leveling plate and the lifting plate. The several sets of leveling components are all located outside the support shaft and work together to adjust the posture of the leveling plate in the pitch and roll directions.

[0011] Preferably, the universal support rod is a manual adjustment rod or an electric adjustment rod; When it is a manual adjustment rod, the manual adjustment rod controls the extension and retraction of the universal support rod through a knob or a handle; When it is an electric adjustment rod, the electric adjustment rod has a built-in electric driving component, and the electric driving component drives the universal support rod to extend and retract.

[0012] 3. Posture Perception Unit Preferably, the attitude sensing unit is installed on the drone take-off and landing platform plate of the drone nest, and measures the pitch angle, roll angle and angular velocity of the drone take-off and landing platform plate in real time.

[0013] Preferably, the posture perception unit includes a core sensor and an auxiliary sensor; the core sensor is an inertial measurement unit including a three-axis gyroscope and a three-axis accelerometer, and the auxiliary sensor integrates a tilt sensor or a combined navigation system.

[0014] 4. Disturbance Perception Unit Preferably, the disturbance sensing unit is a direct disturbance sensing unit and / or an indirect disturbance sensing unit; When it is a direct disturbance sensing unit, the direct disturbance sensing unit is installed at the connection between the drone's nest and the leveling mechanism or at a key support point to collect external disturbance data. The direct disturbance sensing unit is a force sensor or a displacement sensor. When it is an indirect perception disturbance unit, the indirect perception disturbance unit is electrically connected to the posture perception unit, and the external disturbance data is indirectly obtained by using the posture data of the posture perception unit.

[0015] In a second aspect, based on the above-mentioned vehicle-mounted UAV lifting platform with adaptive leveling and anti-disturbance, the present invention also provides a vehicle-mounted UAV lifting method with adaptive leveling and anti-disturbance, comprising the following steps: S1. The control unit controls the movement of the lifting mechanism, which drives the drone nest to rise and fall on the vehicle. After the drone nest rises into place, the drone inside it takes off and lands to perform drone operations. After the drone nest descends into place, the drone nest is stored on the vehicle for transportation. S2. During the lifting and lowering process of the drone nest, and during the entire drone take-off and landing operation after the drone nest is raised into place, the attitude sensing unit collects real-time attitude data of the drone nest, and the disturbance sensing unit collects external disturbance data of the drone nest. The control unit generates a leveling drive instruction based on the attitude data and external disturbance data and uses an adaptive leveling control algorithm. The leveling mechanism continuously performs dynamic leveling and physical anti-disturbance on the drone nest according to the leveling drive instruction; Preferably, step S2 comprises the following steps: S21, the attitude sensing unit continuously collects real-time attitude data of the drone nest, the disturbance sensing unit continuously collects external disturbance data of the drone nest, and the control unit compares the real-time attitude data with the preset target horizontal attitude and calculates the attitude error; S22. The control unit uses the attitude error to generate a leveling drive instruction through an adaptive leveling control algorithm, and when generating the leveling drive instruction, incorporates the external disturbance data into the generation of the leveling drive instruction; Preferably, step S22 of integrating the external disturbance data into the generation of the leveling drive instruction includes: Disturbance feedforward compensation: Based on the disturbance force, torque or disturbance acceleration estimated by external disturbance data, a feedforward compensation control variable is calculated and superimposed on the basic leveling drive instruction, so that the leveling mechanism can respond to and offset the expected disturbance more quickly; Adaptive adjustment of control parameters: Based on the intensity or frequency characteristics of external disturbance data, the parameters of the adaptive PID controller in the adaptive leveling control algorithm are adjusted online to optimize the leveling performance under different disturbance environments.

[0016] S23. The control unit sends a leveling drive instruction to the leveling mechanism. The executive component of the leveling mechanism acts according to the leveling drive instruction, and adjusts the posture of the drone nest in real time and dynamically, so that it can maintain or quickly return to a near-horizontal state.

[0017] S3. During the dynamic stages of the drone taking off from the nest and landing back to the nest, the disturbance perception unit collects external disturbance data. The control unit uses the external disturbance data to generate disturbance suppression items and sends the disturbance suppression items to the drone flight control system. The drone flight control system integrates and applies the disturbance suppression items into its control law, adjusts the flight control output, and coordinates the physical anti-disturbance of the leveling mechanism to jointly suppress the impact of disturbances on the drone's relative motion to the platform.

[0018] Preferably, step S3 includes the following steps: S31. The disturbance sensing unit collects residual external disturbance data on the drone nest after it has been leveled by the leveling mechanism; S32. The control unit estimates key parameters representing the current real-time disturbance state of the platform based on the residual external disturbance data using a disturbance estimation algorithm, and formats the key parameters into disturbance suppression terms; Preferably, in step S32, the previous real-time disturbance state includes instantaneous sway velocity, acceleration or disturbance torque; The specific form of the disturbance suppression term includes: an estimated platform three-dimensional linear velocity / angular velocity disturbance vector, an estimated equivalent disturbance force / torque vector, or a recommended compensation amount calculated for a specific UAV.

[0019] S33. The control unit sends the disturbance suppression item in real time and at high frequency to the flight control system of the UAV operating in or near the UAV nest through a preset communication interface and protocol; S34. After receiving the disturbance suppression item, the flight control system of the UAV integrates the disturbance suppression item into its own flight control law and adjusts the flight control output to resist disturbance.

[0020] Preferably, in step S34, integrating the disturbance suppression term into its own flight control law includes: The disturbance rejection term is directly added to the control output as a feedforward compensation term; Dynamically correct the desired attitude, velocity or relative position target of the UAV using disturbance rejection terms; Adjust the robustness parameters of its own controller according to the disturbance intensity.

[0021] Preferably, in step S2, the control unit generates a leveling drive instruction using an adaptive leveling control algorithm, and the adaptive leveling control algorithm adopts an adaptive PID control algorithm, and the adaptive PID control algorithm generates a leveling drive instruction according to the size of the system error, the rate of change or the external disturbance; wherein, the error is the error between the real-time posture and the target posture, the real-time posture is the real-time UAV nest posture data collected by the posture perception unit, and the target posture is the posture data of the UAV nest when it is in a horizontal state.

[0022] Preferably, in step S2, the adaptive leveling control algorithm performs preliminary feedforward compensation based on the chassis posture data of the vehicle chassis posture sensor, and then uses the posture data to generate a leveling drive instruction.

[0023] Preferably, in step S3, the control unit estimates the external disturbance based on the external disturbance data using a disturbance observer, generates a disturbance suppression term, and sends the disturbance suppression term to the control law of the flight control system of the UAV.

[0024] Preferably, in step S2, the control unit generates a leveling drive instruction using a decoupling control algorithm for the coupling effect between the pitch and roll axes.

[0025] Preferably, in step S2, for the automatic leveling mode, the control unit calculates the telescopic amount of each universal support rod and the driving parameters of the radial spherical bearing in real time, generates a leveling drive instruction, and then sends the leveling drive instruction to the leveling mechanism via the CAN bus; For manual leveling mode, the control unit visually outputs the drone's nest attitude data, and then manually levels it through the leveling mechanism.

[0026] In the present invention, it should be noted that the present invention actually involves two levels of control laws: Level 1: Platform leveling control law. This algorithm runs on the vehicle platform's control unit, receiving attitude data and (optionally) disturbance data, calculating and sending instructions to the leveling mechanism to achieve adaptive leveling and partial disturbance rejection. This includes algorithms such as adaptive PID, feedforward, and decoupling.

[0027] Level 2: The drone's flight control law. This is the drone's built-in control system, responsible for controlling the drone's flight attitude, position, speed, and other aspects. One of the innovative aspects of this method is that it transmits platform-level disturbance information (disturbance suppression terms) to the drone, allowing the drone to incorporate and utilize this information in its own flight control law.

[0028] This application uses two mechanisms to collaboratively resist external disturbances, both of which are indispensable but with different focuses: Method 1: Physical anti-disturbance is mainly performed through the leveling mechanism, and most of the anti-disturbance work is completed by the leveling mechanism.

[0029] The leveling mechanism uses high-frequency closed-loop control to detect platform attitude deviations caused by disturbances in real time and quickly drives the actuator to perform reverse compensatory motion, physically isolating the drone nest from the vehicle's tilt and disturbances as much as possible, allowing it to maintain horizontal stability. This is a direct means of achieving platform horizontal stability.

[0030] Method 2: Add a disturbance rejection term to the drone control law for collaborative compensation (this does not directly stabilize the platform, but stabilizes the drone's motion relative to the platform): This method does not act directly on the platform to make it more stable, but acts on the drone.

[0031] How it works: Even if the leveling mechanism performs its best, some high-frequency residual disturbances, or those that the leveling mechanism cannot completely eliminate, may still be transmitted to the drone's landing platform. The platform control unit then transmits information about these residual disturbances (generated as "disturbance suppression terms") to the drone. Upon receiving this information, the drone's flight control law can predict the platform's oscillation (even if the oscillation is minimal) and proactively adjust its flight attitude and thrust to compensate for this oscillation.

[0032] Effect: This doesn't make the platform itself more level, but it can significantly improve the accuracy and stability of takeoff and landing on (slightly) wobbling platforms. The drone can "adapt" to even the slightest platform wobbles, achieving more precise relative positioning and landing, avoiding takeoff and landing failures or collisions caused by residual platform wobbles. This is particularly important for centimeter-level RTK autonomous landings.

[0033] In summary, disturbance rejection is the result of a combination of the physical stabilization of the platform by the leveling mechanism and the active compensation of residual platform disturbances by the drone's flight control. The former ensures the platform is as horizontal and stable as possible, while the latter ensures that the drone can adapt to disturbances that cannot be completely eliminated by the platform, ultimately achieving safe, precise, and stable drone takeoff and landing operations.

[0034] Beneficial effects of the present invention: 1. High-precision automatic leveling: It can automatically and accurately level the drone take-off and landing platform to a horizontal state when the vehicle tilts significantly, providing a reliable foundation for the safe and accurate take-off and landing of drones.

[0035] 2. Fast response: Using high-frequency response sensors and advanced control algorithms, the leveling response speed is fast, which can quickly adapt to changes in vehicle posture and shorten operation preparation time.

[0036] 3. Strong anti-disturbance capability: It can effectively suppress the impact of external disturbances such as vehicle vibration and wind load on the horizontal stability of the platform, and improve the success rate and accuracy of take-off and landing in dynamic environments.

[0037] 4. Strong adaptability: can adapt to various uneven ground and complex working environments.

[0038] 5. High degree of automation: fully automatic closed-loop control, no need for manual intervention, easy operation.

[0039] 6. Improved safety: Greatly reduces the risk of drone takeoff and landing accidents caused by platform tilt. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 Schematic diagram of the vehicle-mounted UAV lifting platform with adaptive leveling and anti-disturbance function of the present invention; Figure 2 Schematic diagram of the lifting mechanism, leveling mechanism and drone nest of the present invention; Reference numerals: 1. Lifting mechanism; 11. Lifting plate; 2. Leveling mechanism; 21. Leveling plate; 22. Support shaft; 23. Centripetal spherical bearing; 24. Universal support rod; 3. UAV nest; 4. Attitude sensing unit; 5. Disturbance sensing unit; 6. Control unit. DETAILED DESCRIPTION

[0041] The following will provide a clear and complete description of the concept, specific structure and technical effects of the present invention in conjunction with the embodiments and drawings, so as to fully understand the purpose, features and effects of the present invention.

[0042] Example 1 An adaptive leveling and anti-disturbance vehicle-mounted UAV lifting platform, such as Figure 1 and Figure 2 Shown, including: A lifting mechanism 1 assembled on a vehicle; A leveling mechanism 2 is mounted on the top of the lifting mechanism 1, and a drone nest 3 is mounted on the top of the leveling mechanism 2; A posture sensing unit 4 for measuring the posture data of the drone nest 3 in real time; A disturbance sensing unit 5 for detecting external disturbance data of the drone nest 3 in real time; The control unit 6 is electrically connected to the lifting mechanism 1, the leveling mechanism 2, the attitude sensing unit 4 and the disturbance sensing unit 5 respectively. The control unit 6 controls the action of the lifting mechanism 1 to lift and lower the UAV nest 3 on the vehicle. During the lifting process of the UAV nest 3 and the take-off and landing operation of the UAV, the control unit 6 uses the attitude data and the external disturbance data to generate the leveling drive instruction, and controls the leveling mechanism 2 to perform continuous dynamic leveling and physical anti-disturbance on the UAV nest 3. During the take-off and landing operation of the UAV, the control unit 6 uses the external disturbance data to generate the disturbance suppression item, and sends the disturbance suppression item to the UAV flight control system. The UAV flight control system integrates the disturbance suppression item into its control law and adjusts the flight control output for anti-disturbance.

[0043] 1. Lifting mechanism In this embodiment, the lifting mechanism 1 is a shear-type lifting mechanism 1 or a hydraulic screw-type lifting mechanism 1; In the case of a shear-type lifting mechanism 1, a locking mechanism is provided on the shear-type lifting mechanism 1, and the locking mechanism is at least one of a drive motor integrated brake, a travel limit protection switch, a mechanical locking device, and an overload protection device; In the case of a hydraulic screw-type lifting mechanism 1 , a locking mechanism is provided on the hydraulic screw-type lifting mechanism 1 , and the locking mechanism is at least one of a hydraulic locking valve, a screw nut pair with a self-locking function, and a mechanical latch.

[0044] Lifting Mechanism: An optimized electric lift mechanism is integrated beneath the main drone nest mounting area to vertically move the entire main drone nest (or its mounting plate). This lift mechanism was selected and integrated to meet the technical requirements of adjustable take-off and landing height, optimized vehicle center of gravity, and close integration with the overall vehicle structure.

[0045] In the implementation scheme of this application, a mature dual-motor driven double-layer electric shear lift platform was selected. This type of platform was selected based on its compact structure, smooth lifting, satisfactory load-bearing capacity, and easy integration with the vehicle electrical system. According to actual assembly and testing, the lift platform achieved an effective lifting stroke, with a single complete lifting time of approximately 48 seconds. Its structure has been verified or selected to be able to stably withstand a dynamic load of no less than 300kg, which is sufficient to support the operation of mainstream drone automatic nests. (The above relevant data are all designed and confirmed according to specific needs) As an alternative technical solution, the present invention also contemplates the use of a hydraulic screw-type lifting mechanism to achieve the raising and lowering of the main drone nest. This solution utilizes a hydraulic power unit to rotate a precision screw, which, through a nut, drives the platform for precise vertical displacement. Those skilled in the art will appreciate that hydraulic screw-type mechanisms, with their typical advantages such as high load capacity, high positioning accuracy, excellent self-locking performance, and adaptability to harsh environments, are also suitable for use in the vehicle integration environment described herein as an alternative lifting platform or an optimized implementation for specific scenarios. This solution requires the appropriate hydraulic power unit (oil pump, oil tank, valve block, etc.) and control system.

[0046] Travel: As described in the preferred embodiment above, the effective lifting range of the shear lift platform is designed based on specific requirements. This range ensures that the drone nest can be stowed low in the operating cabin during transport to lower its center of gravity, yet can be raised sufficiently above the cabin roof during operation to ensure unobstructed takeoff and landing of the drone. It also allows for appropriate adjustments based on site conditions (e.g., overcoming low obstacles). For other types of lifting mechanisms (such as the hydraulic screw type proposed above), their travel ranges can also be designed based on actual requirements to achieve similar or specific technical effects.

[0047] Drive and control: Driven by motor or hydraulic system, with reliable locking mechanism, can be locked at any height or lowest / highest position.

[0048] The selected electric shear lift itself has its own standard, built-in safety and locking features, which are essential for the safe and stable operation of the overall system of the present invention. Its typical safety and locking mechanisms usually include: Drive motor with integrated brake: The motor driving the lift typically has an electromagnetic brake. When the control system issues a stop command or an unexpected power outage occurs, the brake quickly locks the motor output shaft, using the braking torque to prevent the platform from sliding downward under gravity, enabling instant stopping at any position and maintaining basic position.

[0049] Travel limit protection: The platform is usually equipped with upper and lower limit sensors / switches. When the platform reaches the preset highest or lowest point, the limit switch is triggered, automatically cutting off the power supply to the motor in the corresponding direction to prevent overtravel damage.

[0050] (Optional, depending on the specific model purchased) Mechanical Safety Support / Lockout Device: Some scissor lift models may be equipped with manual or automatic safety support bars or locking pins. These devices engage or disengage when the platform reaches a specific height (such as the highest point or maintenance level), providing additional mechanical support, especially for extended periods, maintenance, or to prevent accidental descents. In the integrated application of this invention, the control system will be linked to the status of these mechanical lockout devices (if present) to ensure that the lifting action is prohibited when locked.

[0051] (Optional, determined by the specific purchased model) Overload protection: The motor drive system or control system may have an integrated overload protection function. When the load exceeds the rated value, it automatically stops operation to protect the motor and mechanical structure.

[0052] The innovation of this invention lies not only in the simple installation of a lifting platform, but also in: It is cleverly combined with a specially designed integrated main operating cabin structure to optimize space layout and center of gravity control.

[0053] Its operation is linked with the opening and closing of the main operation cabin cover / door and the deployment status of the tail pull-out platform to ensure the safety and efficiency of the operation process.

[0054] Integrate it into the vehicle's overall energy management and intelligent control system to achieve advanced functions such as remote monitoring and one-click deployment / recycling.

[0055] Ensures the stability of the entire system and its adaptability to the operating environment.

[0056] Therefore, although the lifting platform itself may be a standard part, its integration method in the specific vehicle structure of the present invention, its control strategy and its collaborative work with other subsystems together constitute the technical solution of the present invention.

[0057] As an alternative technical solution, the present invention also contemplates the use of a hydraulic screw-type lifting mechanism to achieve the lifting of the main UAV machine nest.

[0058] For the hydraulic screw-type lifting mechanism conceived as an alternative technical solution, its locking mechanism is usually realized by the characteristics of the hydraulic system itself and additional components, such as: Hydraulic lock valve: Integrating a one-way or two-way hydraulic lock valve (such as a counterbalance valve, sequence valve, or a dedicated pressure-maintaining valve group) into the hydraulic circuit can effectively prevent the platform from descending or moving on its own due to leakage or external loads.

[0059] Screw self-locking: The screw nut pair with a specific lead angle has a certain reverse self-locking ability.

[0060] (Optional) Auxiliary mechanical locking: Auxiliary locking devices such as electronically controlled or manual mechanical latches can also be added to the hydraulic screw structure as needed to improve safety during long-term parking or specific working conditions.

[0061] 2. Leveling mechanism The leveling mechanism 2 includes a leveling plate 21, a support shaft 22, a radial spherical bearing 23 and a universal support rod 24; The leveling plate 21 is located above the lifting plate 11 at the top of the lifting mechanism 1, on which the drone nest 3 is mounted. The upper and lower ends of the support shaft 22 are respectively connected to the middle position of the leveling plate 21 and the middle position of the lifting plate 11. The centripetal spherical bearing 23 is mounted on the bottom of the leveling plate 21. The top of the universal support rod 24 is mounted on the centripetal spherical bearing 23, and the lower part is mounted on the lifting plate 11. The universal support rod 24 drives the centripetal spherical bearing 23 to move up and down to level the leveling plate 21. A radial spherical bearing 23 and a universal support rod 24 constitute a set of leveling components. Several sets of leveling components are installed between the leveling plate 21 and the lifting plate 11. The several sets of leveling components are all located on the outside of the support shaft 22 and work together to adjust the pitch and roll posture of the leveling plate 21.

[0062] The universal support rod 24 is a manual adjustment rod or an electric adjustment rod; When it is a manual adjustment rod, the manual adjustment rod controls the extension and retraction of the universal support rod 24 through a knob or a handle; When the electric adjustment rod is used, the electric adjustment rod has a built-in electric driving component, and the electric driving component drives the universal support rod 24 to extend and retract.

[0063] In this embodiment, the first generation manual leveling solution (basic structure): The core mechanical foundation is made of radial spherical bearings and universal support structures, but leveling is achieved through manual adjustment: Centripetal spherical plain bearing: As the adaptive support unit of the platform and lifting mechanism, it allows the platform to deflect slightly in three-dimensional space to offset the foundation tilt.

[0064] Universal support structure: The platform is triangularly configured with a manually adjustable universal articulated support rod (such as telescopic control by a knob or handle). The operator manually adjusts the length of the support rod by manually observing the level or inclination sensor data to achieve coarse attitude adjustment in the pitch and roll directions.

[0065] This solution is suitable for early deployment, but it relies on manual intervention, has limited leveling accuracy (±2°), and slow response speed (taking several minutes).

[0066] Iteratively upgraded automatic leveling solution (core innovation): While retaining the centripetal spherical bearing and universal support structure, fully automatic high-precision leveling is achieved through electric drive and closed-loop control: Automatic drive module: Each universal support rod has a built-in electric push rod or servo motor drive unit, which automatically extends and retracts according to the controller's instructions.

[0067] Control Logic: The controller calculates the error in real time based on IMU data and uses an adaptive PID algorithm to drive the universal support rod to accurately adjust the posture. The response time is ≤ 0.5 seconds and the accuracy is ±0.3°.

[0068] This solution completely replaces manual operations and significantly improves leveling performance in dynamic environments.

[0069] The present invention still retains the following alternative technical solutions to expand the scope of protection: Parallel configuration: Adopts a parallel robot configuration similar to the Stewart platform, achieving high-precision leveling through 6 electric push rods.

[0070] Multi-point support adjustment: At least three independently driven lifting support points are set under the platform, and the height difference is adjusted by the motor-screw mechanism.

[0071] The above structures can be selected according to specific needs, but the present embodiment preferably adopts a combination of a radial spherical plain bearing and a universal support structure.

[0072] 3. Posture perception unit The attitude sensing unit 4 is installed on the drone landing platform of the drone nest 3 to measure the pitch angle, roll angle and angular velocity of the drone landing platform in real time; The attitude sensing unit 4 includes a core sensor and an auxiliary sensor; the core sensor is an inertial measurement unit including a three-axis gyroscope and a three-axis accelerometer, and the auxiliary sensor integrates an inclination sensor or a combined navigation system.

[0073] In this embodiment, the attitude sensing unit is installed on the UAV take-off and landing platform (or as close as possible) and is used to measure the platform's pitch angle, roll angle and angular velocity in real time.

[0074] Core sensor: Use a high-precision, high-refresh-rate inertial measurement unit (IMU), such as the MEMSIMU that includes a three-axis gyroscope and a three-axis accelerometer, with a refresh rate of over 100Hz.

[0075] (Optional) Auxiliary sensor: An inclination sensor or combined navigation system (such as GPS / IMU combination) can be integrated to provide a more stable attitude reference.

[0076] Among them, the purpose of integrating the tilt sensor is: (1) Provide high-precision absolute tilt reference in static or low-dynamic conditions: The tilt sensor directly measures the tilt angle relative to the direction of gravity. When the vehicle is stationary or moving slowly, its measurement results are usually more stable and accurate than the attitude obtained by pure inertial integration, and are not affected by the accumulated drift of the IMU gyroscope.

[0077] (2) Calibrate IMU drift and improve long-term stability: The control system can use the precise static inclination provided by the inclination sensor as a reference for online calibration or fusion of the IMU attitude solution results, effectively suppressing the attitude drift error caused by long-term operation of the IMU, and ensuring that the platform can maintain a high-precision horizontal state even after long-term operation.

[0078] (3) Increase system redundancy and reliability: As an independent attitude measurement method, it provides redundancy for the system and can still provide basic attitude information when abnormalities occur in the IMU data.

[0079] The purpose of the integrated navigation system is to: (1) Improving attitude estimation accuracy and robustness in dynamic environments: The integrated navigation system combines the high-frequency dynamic response of the IMU with the low-frequency, drift-free position and velocity information provided by GPS (or other GNSS) through data fusion algorithms (such as Kalman filtering). GPS information can effectively help estimate and compensate for the sensor errors (such as bias and drift) of the IMU, and even under dynamic conditions such as vehicle movement and vibration, it can output more accurate and robust attitude information (pitch, roll, and even heading) than a single IMU or tilt sensor.

[0080] (2) Using speed / position information to assist attitude solution: In some advanced fusion algorithms, the vehicle's motion information (speed, acceleration changes) can help better distinguish between gravity acceleration and linear acceleration, thereby improving the accuracy of dynamic tilt angle solution.

[0081] (3) Adaptability to a wider range of application scenarios: For applications that require high-precision leveling while the vehicle is moving or under complex dynamic disturbances, the integrated navigation system can usually provide better performance.

[0082] (4) (Potential advantage) Providing platform position information: Although the main goal is leveling, the integrated navigation system can also provide the precise position of the platform itself, which may be helpful for UAV take-off and landing navigation or mission planning of the entire system.

[0083] 4. Disturbance perception unit The disturbance sensing unit 5 is a direct disturbance sensing unit and / or an indirect disturbance sensing unit; When it is a direct disturbance sensing unit, the direct disturbance sensing unit is assembled at the connection between the drone nest 3 and the leveling mechanism 2 or at a key support point to collect external disturbance data. The direct disturbance sensing unit is a force sensor or a displacement sensor. When it is an indirect perception disturbance unit, the indirect perception disturbance unit is electrically connected to the posture perception unit 4, and uses the posture data of the posture perception unit 4 to indirectly obtain the external disturbance data.

[0084] In this embodiment, force sensors or displacement sensors are installed at the connection between the platform and the leveling mechanism or at key supporting points to detect external disturbances such as wind loads and collisions.

[0085] By analyzing the high-frequency acceleration or angular velocity changes in the IMU data, the disturbance is indirectly sensed.

[0086] 5. Control unit Controller unit: responsible for running the leveling and anti-disturbance control algorithms.

[0087] Hardware: A high-performance microcontroller (MCU), digital signal processor (DSP) or embedded computer (such as ARM-based SoC) can be used.

[0088] Software: Runs the core control algorithm.

[0089] Drive unit: responsible for receiving instructions from the controller and driving the motor or hydraulic / pneumatic components of the leveling mechanism.

[0090] Example 2 A method for lifting a vehicle-mounted drone with adaptive leveling and anti-disturbance, comprising the following steps: S1. Lifting, deployment, and recovery: The control unit controls the lifting mechanism, which drives the drone nest to rise and fall on the vehicle to achieve the deployment of the drone during operation (raising to the designated position) and the storage of the drone during transportation (lowering to the designated position); S2. Platform dynamic adaptive leveling and physical anti-disturbance: This step is continuously executed during the process of raising and lowering the drone nest, and during the entire drone operation period after the drone nest is raised into place (including the entire process of the drone preparing for takeoff, hovering in the air, and landing and returning): (2a) Attitude Sensing and Error Calculation: The attitude sensing unit continuously collects real-time attitude data (pitch angle, roll angle, and angular velocity) of the drone’s nest. The control unit compares the real-time attitude data with the preset target horizontal attitude (e.g., pitch angle = 0, roll angle = 0) and calculates the attitude error (ΔPitch, ΔRoll).

[0091] (2b) Leveling drive command generation: The control unit uses the attitude error to calculate the basic leveling drive command through an adaptive leveling control algorithm (e.g., a combination of adaptive PID and decoupling control). Preferably, if the disturbance sensing unit provides valid external disturbance data (estimated value), the control unit further incorporates the disturbance data into the generation of the leveling drive command. Specific methods may include: Disturbance feedforward compensation: Based on the estimated disturbance force / torque or disturbance acceleration, a feedforward compensation control quantity is calculated and superimposed on the basic leveling drive command, so that the leveling mechanism can respond to and offset the expected disturbance more quickly.

[0092] Adaptive adjustment of control parameters: Based on the intensity or frequency characteristics of external disturbance data, the parameters (such as gain) of the adaptive PID controller are adjusted online to optimize the leveling performance under different disturbance environments (for example, improving the response stiffness in the case of strong disturbances).

[0093] In this application, disturbance-based feedforward control / compensation: If the system is equipped with a disturbance sensing unit (directly or indirectly), the control unit can use technologies such as disturbance observer (DOB) to estimate external disturbances (such as wind magnitude and direction, or equivalent disturbance force / torque). This estimated disturbance information can be used in the control law of the leveling mechanism as a feedforward signal. That is, the control unit does not rely entirely on attitude error (feedback), but calculates a compensatory drive instruction in advance based on the predicted disturbance and superimposes it on the leveling instruction, so that the leveling mechanism can more actively and quickly offset the impact of the disturbance, rather than waiting for the attitude to change significantly before making corrections. This can improve the anti-disturbance response speed and accuracy of the leveling mechanism itself.

[0094] Adaptive control parameter adjustment: External disturbance data can also be used to adjust the parameters of adaptive leveling control algorithms (such as adaptive PID) online. For example, when a strong disturbance is detected, the control unit can temporarily increase the gain of the PID controller, making the leveling mechanism more responsive and more resilient to disturbances.

[0095] Summary: External disturbance data is used to generate leveling drive instructions, mainly through feedforward control and adaptive adjustment of control parameters to optimize the dynamic response of the leveling mechanism itself, so that it can more effectively resist external disturbances.

[0096] (2c) Leveling execution: The control unit sends the resulting leveling drive command to the leveling mechanism. The leveling mechanism's actuator (e.g., the electric drive component of the universal support rod) acts according to the command, dynamically adjusting the drone's nest's attitude in real time, allowing it to maintain or quickly return to a near-horizontal state. This physically isolates the vehicle from tilting and actively resists the effects of most external disturbances.

[0097] S3, platform-UAV collaborative anti-disturbance: This step is performed in conjunction with S2, especially during the critical dynamic stages of the UAV taking off and landing. (3a) Disturbance data acquisition and processing: The disturbance perception unit (through direct sensors or by analyzing the high-frequency data of the attitude perception unit) collects or estimates the residual external disturbance data of the UAV nest (i.e., the disturbance that is still transmitted to the platform after physical isolation in step S2).

[0098] (3b) Disturbance suppression term generation: Based on the residual disturbance data, the control unit uses a disturbance estimation algorithm (e.g., a disturbance observer (DOB)) to estimate key parameters that characterize the platform's current real-time disturbance state (such as instantaneous sway velocity, acceleration, or disturbance torque) and formats these parameters into a "disturbance suppression term." The specific form of this suppression term can be: an estimated three-dimensional platform linear velocity / angular velocity disturbance vector, an estimated equivalent disturbance force / torque vector, or a recommended compensation amount calculated for a specific UAV.

[0099] (3c) Information transmission: The control unit sends the disturbance suppression item in real time and at high frequency to the flight control system of the UAV operating in or near the UAV nest through a preset communication interface (such as CAN, serial port, wireless link) and protocol (such as extended MAVLink message).

[0100] (3d) UAV-side fusion application: After receiving this disturbance suppression term, the UAV's flight control system integrates it into its own flight control law (e.g., attitude control, position control, or trajectory tracking algorithm). Specific applications may include: directly adding it to the control output as a feedforward compensation term; using it to dynamically correct the UAV's desired attitude, velocity, or relative position target; or adjusting the robustness parameters of its own controller based on the disturbance intensity. The goal is to enable the UAV to anticipate and actively compensate for minor platform fluctuations, stabilizing the UAV's motion relative to the platform, thereby achieving safer and more precise takeoff and landing in dynamic environments.

[0101] In this embodiment, regarding the control algorithm and process: Real-time attitude acquisition: The controller reads the real-time pitch and roll angle data output by the attitude sensing unit (IMU) at a high frequency (e.g. ≥100Hz).

[0102] Target attitude setting: The target attitude is usually horizontal (pitch angle = 0, roll angle = 0).

[0103] Error calculation: Calculate the error (ΔPitch, ΔRoll) between the real-time posture and the target posture.

[0104] Adaptive leveling control algorithm: Core Algorithm: Adaptive PID control is employed. PID parameters are adjusted online, for example, using fuzzy logic rules based on the error e and the error rate of change de / dt, or using a gain scheduling table to switch parameter groups based on operating conditions. The goal is to achieve both fast response (high gain for large errors) and stable accuracy (avoiding overshoot for small errors).

[0105] Feedforward compensation: Based on vehicle posture: Preliminary feedforward compensation can be performed based on the signal from the vehicle chassis posture sensor (if the vehicle itself has one) to reduce the burden of closed-loop control.

[0106] Based on disturbance estimation (preferred): If the external disturbance is estimated using a disturbance observer (DOB) (see below), the disturbance estimate output by the DOB (such as the equivalent moment) can be multiplied by a coefficient based on the system model and added to the PID output as a feedforward term to directly offset the disturbance effect.

[0107] Decoupling control: A decoupling algorithm based on the kinematic model (Jacobian matrix inverse) is used to reduce inter-axis coupling.

[0108] Disturbance observation and suppression (corresponding to the feedforward / adaptation of S2 and the generation of disturbance suppression items of S3): Disturbance Estimation: The controller can employ disturbance observer (DOB) technology. For example, a simplified dynamic model of the platform (leveling plate + machine nest) around the leveling mechanism's pivot point can be established. The model's predicted accelerations / angular velocities can be compared with the actual IMU measurements. An observer (such as a linear DOB, a nonlinear DOB, or an extended state observer) can be designed to estimate the sum of the unmodeled dynamics and external disturbances (equivalent disturbance forces / torques) acting on the system. Alternatively, disturbance signatures can be extracted by filtering and analyzing the IMU's high-frequency signals.

[0109] Application in S2: The estimated disturbance information can be used for the above-mentioned disturbance feedforward compensation and adaptive adjustment of PID parameters.

[0110] Application in S3: The estimated disturbance information (or its processed results, such as the platform's instantaneous disturbance velocity) is formatted and sent to the drone as a "disturbance suppression item".

[0111] Drive command generation (corresponding to S2): 1. Automatic leveling mode: The controller calculates the target extension and extension amount or speed of each universal support rod in real time based on the final algorithm output (PID + feedforward + decoupling), and sends instructions via the CAN bus.

[0112] 2. Manual leveling mode: The controller only provides posture data visualization (such as the vehicle display screen showing the tilt angle), and rough leveling is completed by manually adjusting the hydraulic jack through the handle or knob.

[0113] Data interface and protocol: The communication method and data format between the platform and the drone need to be clearly defined. For example, the drone's onboard computer and the platform controller can be connected via Ethernet, using a custom UDP protocol or MAVLink-based extended messages (defining new message IDs such as PLATFORM_STATE, which contain information such as platform attitude, disturbance velocity, and disturbance rejection) for high-frequency (e.g., 50-100 Hz) data exchange.

[0114] Closed-loop feedback: In automatic leveling mode, the system loops through attitude acquisition, error calculation, and drive command output at a frequency (designed based on specific requirements) to ensure the platform remains level (with an accuracy of ±0.3°) under dynamic disturbances. In manual mode, leveling requires manual intervention.

[0115] UAV flight control fusion logic: The UAV firmware needs to be adapted and developed to add functional modules for receiving and processing platform disturbance information and effectively integrate it into the core control loop.

[0116] Coordination of lifting and leveling: When performing lifting actions, the leveling control system works continuously, compensating in real time for tilt caused by deformation of the lifting mechanism itself or slight changes in the vehicle's posture, ensuring horizontal stability throughout the lifting process.

[0117] The above is a detailed description of the embodiments of the present invention, but the present invention is not limited to the embodiments. Those skilled in the art may make various equivalent modifications or substitutions without departing from the spirit of the present invention. These equivalents or substitutions are all included in the scope defined by the claims of the present invention.

Claims

1. An adaptive leveling and anti-disturbance vehicle-mounted UAV lifting platform, characterized in that: include: Lifting mechanism mounted on a vehicle; A leveling mechanism is mounted on the top of the lifting mechanism, and a drone nest is mounted on the top of the leveling mechanism; An attitude sensing unit for real-time measurement of the drone's nest attitude data; A disturbance sensing unit for real-time detection of external disturbance data of the drone nest; A control unit is electrically connected to the lifting mechanism, leveling mechanism, attitude sensing unit and disturbance sensing unit respectively, and the control unit controls the action of the lifting mechanism to lift and lower the UAV nest on the vehicle; during the lifting process of the UAV nest and the UAV take-off and landing operation, the control unit uses attitude data and external disturbance data to generate leveling drive instructions, and controls the leveling mechanism to perform continuous dynamic leveling and physical anti-disturbance on the UAV nest; during the UAV take-off and landing operation, the control unit uses external disturbance data to generate disturbance suppression items, and sends the disturbance suppression items to the UAV flight control system, which integrates the disturbance suppression items into its control law and adjusts the flight control output for anti-disturbance.

2. The vehicle-mounted UAV lifting platform with adaptive leveling and anti-disturbance according to claim 1, characterized in that: The lifting mechanism is a shear-type lifting mechanism or a hydraulic screw-type lifting mechanism; When it is a shear-type lifting mechanism, the shear-type lifting mechanism is provided with a locking mechanism, and the locking mechanism is at least one of a drive motor integrated brake, a travel limit protection switch, a mechanical locking device, and an overload protection device; When it is a hydraulic screw-type lifting mechanism, the hydraulic screw-type lifting mechanism is provided with a locking mechanism, and the locking mechanism is at least one of a hydraulic locking valve, a screw nut pair with a self-locking function, and a mechanical latch.

3. The vehicle-mounted UAV lifting platform with adaptive leveling and anti-disturbance according to claim 1, characterized in that: The leveling mechanism includes a leveling plate, a support shaft, a radial spherical bearing and a universal support rod; The adjustment plate is located above the lifting plate at the top of the lifting mechanism, on which a drone nest is mounted. The upper and lower ends of the support shaft are respectively connected to the middle position of the adjustment plate and the middle position of the lifting plate. The centripetal spherical bearing is mounted at the bottom of the adjustment plate. The top of the universal support rod is mounted on the centripetal spherical bearing, and the lower part is mounted on the lifting plate. The universal support rod drives the centripetal spherical bearing to rise and fall to level the adjustment plate. A centripetal spherical bearing and a universal support rod constitute a set of leveling components. Several sets of leveling components are installed between the leveling plate and the lifting plate. The several sets of leveling components are all located outside the support shaft and work together to adjust the posture of the leveling plate in the pitch and roll directions.

4. The vehicle-mounted UAV lifting platform with adaptive leveling and anti-disturbance according to claim 1, characterized in that: The attitude sensing unit is installed on the drone landing platform of the drone nest, and measures the pitch angle, roll angle and angular velocity of the drone landing platform in real time; The posture perception unit includes a core sensor and an auxiliary sensor; the core sensor is an inertial measurement unit including a three-axis gyroscope and a three-axis accelerometer, and the auxiliary sensor integrates a tilt sensor or a combined navigation system.

5. The vehicle-mounted UAV lifting platform with adaptive leveling and anti-disturbance according to claim 1, characterized in that: The disturbance sensing unit is a direct disturbance sensing unit and / or an indirect disturbance sensing unit; When it is a direct disturbance sensing unit, the direct disturbance sensing unit is installed at the connection between the drone's nest and the leveling mechanism or at a key support point to collect external disturbance data. The direct disturbance sensing unit is a force sensor or a displacement sensor. When it is an indirect perception disturbance unit, the indirect perception disturbance unit is electrically connected to the posture perception unit, and the external disturbance data is indirectly obtained by using the posture data of the posture perception unit.

6. A vehicle-mounted drone lifting method with adaptive leveling and anti-disturbance, characterized in that: The following steps are involved: S1. The control unit controls the movement of the lifting mechanism, which drives the drone nest to rise and fall on the vehicle. After the drone nest rises into place, the drone inside it takes off and lands to perform drone operations. After the drone nest descends into place, the drone nest is stored on the vehicle for transportation. S2. During the lifting and lowering process of the drone nest, and during the entire drone take-off and landing operation after the drone nest is raised into place, the attitude sensing unit collects real-time attitude data of the drone nest, and the disturbance sensing unit collects external disturbance data of the drone nest. The control unit generates a leveling drive instruction based on the attitude data and external disturbance data and uses an adaptive leveling control algorithm. The leveling mechanism continuously performs dynamic leveling and physical anti-disturbance on the drone nest according to the leveling drive instruction; S3. During the dynamic stages of the drone taking off from the nest and landing back to the nest, the disturbance perception unit collects external disturbance data. The control unit uses the external disturbance data to generate disturbance suppression items and sends the disturbance suppression items to the drone flight control system. The drone flight control system integrates and applies the disturbance suppression items into its control law, adjusts the flight control output, and coordinates the physical anti-disturbance of the leveling mechanism to jointly suppress the impact of disturbances on the drone's relative motion to the platform.

7. The method for self-adaptive leveling and anti-disturbance vehicle-mounted drone lifting and lowering according to claim 6, characterized in that: The S2 step includes the following steps: S21, the attitude sensing unit continuously collects real-time attitude data of the drone nest, the disturbance sensing unit continuously collects external disturbance data of the drone nest, and the control unit compares the real-time attitude data with the preset target horizontal attitude and calculates the attitude error; S22. The control unit uses the attitude error to generate a leveling drive instruction through an adaptive leveling control algorithm, and when generating the leveling drive instruction, incorporates the external disturbance data into the generation of the leveling drive instruction; S23. The control unit sends a leveling drive instruction to the leveling mechanism. The executive component of the leveling mechanism acts according to the leveling drive instruction, and adjusts the posture of the drone nest in real time and dynamically, so that it can maintain or quickly return to a near-horizontal state.

8. The method for lifting a vehicle-mounted drone with adaptive leveling and anti-disturbance according to claim 7, characterized in that: Step S22 incorporates the external disturbance data into the generation of the leveling drive instruction, including: Disturbance feedforward compensation: Based on the disturbance force, torque or disturbance acceleration estimated by external disturbance data, a feedforward compensation control variable is calculated and superimposed on the basic leveling drive instruction, so that the leveling mechanism can respond to and offset the expected disturbance more quickly; Adaptive adjustment of control parameters: Based on the intensity or frequency characteristics of external disturbance data, the parameters of the adaptive PID controller in the adaptive leveling control algorithm are adjusted online to optimize the leveling performance under different disturbance environments.

9. The method for self-adaptive leveling and anti-disturbance vehicle-mounted drone lifting and lowering according to claim 6, characterized in that: The S3 step includes the following steps: S31. The disturbance sensing unit collects residual external disturbance data on the drone nest after it has been leveled by the leveling mechanism; S32. The control unit estimates key parameters representing the current real-time disturbance state of the platform based on the residual external disturbance data using a disturbance estimation algorithm, and formats the key parameters into disturbance suppression terms; S33. The control unit sends the disturbance suppression item in real time and at high frequency to the flight control system of the UAV operating in or near the UAV nest through a preset communication interface and protocol; S34. After receiving the disturbance suppression item, the flight control system of the UAV integrates the disturbance suppression item into its own flight control law and adjusts the flight control output to resist disturbance.

10. The method for lifting a vehicle-mounted UAV with adaptive leveling and anti-disturbance according to claim 9, characterized in that: In step S32, the previous real-time disturbance state includes instantaneous sway velocity, acceleration or disturbance torque; The specific form of the disturbance suppression term includes: an estimated platform three-dimensional linear velocity / angular velocity disturbance vector, an estimated equivalent disturbance force / torque vector, or a recommended compensation amount calculated for a specific UAV; In step S34, the integration of the disturbance suppression term into its own flight control law includes: The disturbance rejection term is directly added to the control output as a feedforward compensation term; Dynamically correct the desired attitude, velocity or relative position target of the UAV using disturbance rejection terms; Adjust the robustness parameters of its own controller according to the disturbance intensity.

Images