Unmanned aerial vehicle homeward voyage method based on maximum tolerable flight time and flight average power
By combining the maximum tolerable flight time and average flight power, adjusting the UAV's flight attitude and power distribution, the problem of the UAV's rapid return when the battery is low or the signal is interfered with is solved, and safe and efficient return path optimization is achieved.
Patent Information
- Application Number
- CN202510696774.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-05-28
- Publication Date
- 2025-09-05
AI Technical Summary
When a drone is unable to continue its mission or maintain stable flight due to power consumption, signal interference or harsh environment during flight, existing technology makes it difficult to return quickly and safely.
By adjusting the flight attitude of the drone based on the maximum tolerable flight time and average flight power, different flight modes are used for return, including selecting appropriate acceleration and deceleration methods on the Z axis, and using the combination of gravity acceleration and flight power to optimize the return path.
Under the premise of ensuring the maximum tolerable flight time, the UAV can return quickly and safely by adjusting the flight attitude and power distribution, thereby improving the return efficiency and safety.
Smart Images
Figure CN120595838A_ABST
Abstract
Description
Technical Field
[0001] The present invention belongs to the technical field of unmanned aerial vehicle (UAV) flight control, and particularly relates to a UAV return method based on maximum tolerable flight time and average flight power. Background Art
[0002] Return-to-home (RTH) technology for drones with maximum flight tolerance is a key safety feature. This functionality becomes particularly important when a drone may be unable to continue its mission or maintain stable flight due to factors such as battery depletion, signal interference, or unexpected adverse environmental conditions. This technology, based on GPS positioning and intelligent sensors, monitors the drone's flight status and location in real time. If the drone loses contact with its operator or its battery level drops below a safe level, the RTH function automatically activates, returning the drone to its takeoff point along a pre-set or autonomously calculated path. During this process, the drone avoids obstacles and ensures a safe return. With continuous technological advancements, future drone RTH functions will become even more intelligent, learning from the environmental characteristics of each flight and optimizing RTH strategies to improve efficiency and safety in complex environments. Therefore, RTH technology for drones with maximum flight tolerance is crucial for ensuring drone safety and improving mission completion rates. A key challenge is how to achieve faster RTH using different flight methods. Summary of the Invention
[0003] The purpose of the present invention is to provide a UAV return method based on maximum tolerable flight time and average flight power. The flight attitude is adjusted according to the maximum tolerable return time and the available average flight power to perform the return operation. Based on the limited average flight power, a faster return can be achieved by adopting different flight modes.
[0004] The technical solutions for achieving the purpose of the present invention are:
[0005] A method for returning to home for a UAV based on maximum tolerable flight time and average flight power includes the following steps:
[0006] S01: When the UAV needs to return, establish a spatial Cartesian coordinate system; obtain the maximum tolerable return time t0, UAV parameters and the flight average power threshold that can be used for calling
[0007] S02: Based on the maximum tolerable return time t0 and the flight average power threshold that can be called Calculate the actual return time and adjust the flight attitude for return operations.
[0008] In the preferred technical solution, in step S01, the location of the drone is used as the origin of the spatial coordinate (0, 0, 0), and the coordinates of the target point are (x1, y1, z1).
[0009] In the preferred technical solution, step S02 specifically includes:
[0010] like and When , solve the equation Root t * The root of ≤t0 is taken as the actual return time of the UAV; where m is the mass of the UAV, g is the local acceleration of gravity, and t is the actual return time of the UAV;
[0011] like and When , solve the equation Root Will The root of is the actual return time of the drone; otherwise, if Solving equations will satisfy The root of the value is used as the actual return time of the drone.
[0012] In the preferred technical solution, the method for adjusting the flight attitude in step S02 includes:
[0013] like and or and When , the UAV moves in the Z axis as follows:
[0014] 1) When z1>0, the drone first calls the average flight power Upward acceleration continues Then call the average flight power Decelerate until the speed reaches 0;
[0015] 2) When z1<0, the drone first calls the average flight power Downward acceleration continues Then call the average flight power Decelerate until the speed reaches 0.
[0016] In the preferred technical solution, the method for adjusting the flight attitude in step S02 includes:
[0017] like and The movement of the drone on the Z axis is:
[0018] 1) When z1>0, the drone first calls the average flight power Upward acceleration continues Then it decelerates due to its own gravitational acceleration g until the speed reaches 0;
[0019] 2) When z1<0, the drone accelerates due to its own gravity g and continues to move. Then call the average flight power Decelerate until the speed reaches 0.
[0020] In the preferred technical solution, when and When the drone selects a flight mode that can achieve a quick return, the actual return time is controlled within within; when and When the flight mode selected by the UAV is 100%, it can also achieve a quick return under the same average flight power consumption.
[0021] The present invention also discloses a UAV return system based on maximum tolerable flight time and average flight power, comprising a processor having the UAV return method based on maximum tolerable flight time and average flight power built in the processor.
[0022] The present invention further discloses a UAV, comprising the UAV return system based on the maximum tolerable flight time and the average flight power.
[0023] The present invention further discloses a computer storage medium on which a computer program is stored. When the computer program is executed, the above-mentioned UAV return method based on maximum tolerable flight time and average flight power is implemented.
[0024] Compared with the prior art, the present invention has the following significant advantages:
[0025] This invention provides a rapid return-to-home method based on a maximum tolerable flight time and a flight average power threshold. The user sets a maximum tolerable return-to-home time during the initial return phase. The drone then adjusts its flight attitude using the available flight average power to perform the return operation. By employing different flight modes within the limited flight average power, a faster return can be achieved. This invention combines the maximum tolerable flight time and the flight average power threshold using a combined judgment method, conducting in-depth theoretical analysis and application exploration of rapid return-to-home technology, aiming to provide a unique and efficient solution. This solution physically conforms to real-world application scenarios and can be effectively applied in practical engineering applications. BRIEF DESCRIPTION OF THE DRAWINGS
[0026] Figure 1This is a flow chart of the UAV return method based on the maximum tolerable flight time and average flight power of this embodiment;
[0027] Figure 2 This is a specific implementation diagram of the UAV return method based on the maximum tolerable flight time and average flight power of this embodiment. DETAILED DESCRIPTION
[0028] Example 1:
[0029] like Figure 1 As shown, a UAV return method based on maximum tolerable flight time and average flight power includes the following steps:
[0030] S01: When the UAV needs to return, establish a spatial Cartesian coordinate system; obtain the maximum tolerable return time t0, UAV parameters and the flight average power threshold that can be used for calling
[0031] S02: Based on the maximum tolerable return time t0 and the flight average power threshold that can be called Calculate the actual return time and adjust the flight attitude for return operations.
[0032] The specific implementation is as follows Figure 2 As shown, the following steps are included:
[0033] Step 1: When the drone at point O receives a return-to-home command from the user or triggers an automatic return-to-home command due to low remaining energy, the system records the location information of the return point O. A spatial Cartesian coordinate system is established, with point O as the origin (0,0,0) and the coordinates of point E as (x1,y1,z1).
[0034] Step 2: The UAV receives the user's maximum tolerance time for return t0, the UAV's mass m, and the flight average power threshold that can be used for calling Local gravitational acceleration g;
[0035] Step 3, if Go to step 4; otherwise go to step 5;
[0036] Step 4, if When , solve the equation Root As the time when the UAV can actually return;
[0037] Step 5, if When , solve the equation Root As the time when the UAV can actually return; otherwise, if Solving equations and satisfy The root of the value is used as the actual return time of the UAV.
[0038] This method provides a faster UAV actual return time based on ensuring the user's maximum tolerable flight time and combining it with the callable flight average power threshold.
[0039] like and When , the closed-form solution of the time when the UAV can actually return is And t * ≤t0.
[0040] like and When , the closed-form solution of the time when the UAV can actually return is and satisfy
[0041] like and When the UAV can actually return to the home position, the time is and satisfy Root.
[0042] exist Within the value range and Both motion modes on the Z axis can meet the requirements of returning home. However, in order to obtain a faster return time under the premise of consuming the same average flight energy, the proposed method chooses 1) When z1>0, the UAV first calls the average flight power Do upward acceleration movement continuously Then the UAV uses its own gravity acceleration g to perform deceleration until the speed reaches 0. The flight attitude adjustment method; 2) When z1<0, the UAV uses its own gravity acceleration g to perform acceleration and continue Then call the average flight power The flight attitude adjustment method is to decelerate until the speed reaches 0.
[0043] In step 5, if This indicates that the average flight power that the UAV can call is large enough to shorten the actual return time of the UAV to Therefore, 1) when z1>0, UAV first calls the average flight power Do upward acceleration movement continuously Then call the average flight power Do a flight attitude adjustment method to decelerate until the speed is 0; 2) When z1<0, the UAV first calls the average flight power Do downward acceleration movement continuously Then call the average flight power The flight attitude adjustment method is to decelerate until the speed reaches 0.
[0044] In step 5, if and This indicates that the average flight power available to the UAV is not enough to shorten the actual return time of the UAV to Within.
[0045] Combine Figure 2 As shown, the design of the present invention is further analyzed and described in detail.
[0046] In the network described in the present invention, the drone hovers at point O, its return destination, at point E. Without loss of generality, let O be the origin of the Cartesian coordinate system (0, 0, 0), and the coordinates of point E be (x1, y1, z1). If the drone at point O receives a return command from the user or triggers an automatic return command from the system due to energy constraints, it will move from point O to the target point E.
[0047] In the present invention, the user will set a requirement for the return time, that is, the user will set the latest return tolerance time t0 according to his own needs when returning, and the actual return time of the UAV t≤t0.
[0048] 1. The drone experiences acceleration, constant speed, and deceleration in the horizontal direction
[0049] According to Newton's law of motion, when a drone accelerates or decelerates in the horizontal direction (X or Y axis), the average flight power required has a minimum value, which is:
[0050]
[0051] Where m is the mass of the UAV; s = |x1| or s = |y1|; t is the actual return time of the UAV.
[0052] The time required for the acceleration and deceleration phases when the drone is accelerating, maintaining a constant speed, and decelerating in the horizontal direction (X or Y axis) and needs to call the minimum flight power is:
[0053]
[0054] in, and They are the movement time in the horizontal direction (X-axis or Y-axis) during acceleration, uniform speed or deceleration.
[0055] Therefore, the average power value of the UAV during the entire process of moving in the horizontal direction (X axis or Y axis) is
[0056] As the UAV flies through the air, its instantaneous power changes at different speeds. The UAV's flight time t can be discretely divided into time intervals of Δt. Since Δt is sufficiently small, it can be assumed that the UAV's instantaneous power is constant within each time interval. Therefore, the instantaneous flight power of the UAV at the nth time interval can be calculated using the classic kinematic power calculation formula P(n) = ma(v + anΔt), where a is the acceleration and v is the initial velocity at the initial state of motion. This is not detailed here.
[0057] 2. UAV movement in the vertical direction (Z axis)
[0058] Since the UAV has no speed on the Z axis when it receives the return command, the UAV needs to undergo acceleration and deceleration in the vertical direction if it wants to reach the position of point E (x1, y1, z1).
[0059] 1) If z1 > 0, it means that point E is higher than the current position of point O. The UAV needs to accelerate upward first, and then decelerate by its own gravity acceleration g or by calling appropriate flight power until the speed reaches 0. Therefore, the above two deceleration methods are analyzed separately:
[0060] (1) The UAV first uses flight power to accelerate upward, and then decelerates through its own gravity acceleration g until the speed reaches 0.
[0061] According to Newton's laws of motion, when When , the flight power called by the UAV in the vertical direction (along the Z axis) is:
[0062]
[0063] Where g is the acceleration due to gravity and t is the actual return time of the UAV.
[0064] The time it takes for the drone to accelerate in the vertical direction (Z axis) and decelerate only due to its own gravity acceleration g is:
[0065]
[0066] and
[0067]
[0068] Therefore, the average power value of the UAV during the entire Z-axis motion is:
[0069]
[0070] (2) The UAV first calls the flight power to accelerate upward, and then calls the flight power to decelerate until the speed reaches 0.
[0071] According to Newton's laws of motion, when When the Z axis is accelerated, the flight power needs to be called and deceleration movements require flight power They are:
[0072]
[0073] and
[0074]
[0075] And the time of the acceleration and deceleration phase of the drone in the vertical direction (Z axis) is:
[0076]
[0077] Therefore, the average power of the UAV during the entire Z-axis motion is
[0078] 2) If z1 < 0, it means that point E is lower than the current position of point O. The UAV needs to first accelerate through its own gravity acceleration g or call the appropriate flight power, and then decelerate by calling the appropriate flight power until the speed reaches 0. Therefore, the above two deceleration methods are analyzed separately:
[0079] (1) The UAV needs to first accelerate downward using its own gravity acceleration g, and then decelerate by calling appropriate flight power until the speed reaches 0.
[0080] According to Newton's laws of motion, when When the UAV uses the appropriate flight power in the vertical direction (along the Z axis) to decelerate until the speed reaches 0, the flight power is:
[0081]
[0082] The time for the drone to perform acceleration and deceleration in the vertical direction (Z axis) is:
[0083]
[0084] and
[0085]
[0086] Therefore, the average power of the UAV during the entire Z-axis motion is
[0087]
[0088] (2) For the UAV, it is necessary to first call the appropriate flight power to accelerate downward, and then call the appropriate flight power to decelerate until the speed reaches 0.
[0089] According to Newton's laws of motion, when When the Z axis is accelerated, the flight power needs to be called and deceleration movements require flight power They are:
[0090]
[0091] and
[0092]
[0093] And the time of the acceleration and deceleration phase of the drone in the vertical direction (Z axis) is:
[0094]
[0095] Therefore, the average power of the UAV during the entire Z-axis motion is
[0096] From the above conclusions, we can see that when When:
[0097]
[0098] and
[0099]
[0100] Therefore, the average flight power of the UAV during the entire flight phase is higher when the power allocation method of first calling the flight power for acceleration and then calling the flight power for deceleration until the speed is 0 is used, compared with the power allocation method of first calling the flight power for upward acceleration and then decelerating until the speed is 0 through its own gravity acceleration g (when z1>0) or first accelerating downward through its own gravity acceleration g and then calling the flight power for downward deceleration until the speed is 0 (when z1<0).
[0101] Based on the above analysis, we can know that:
[0102] 1. If And the flight average power threshold value that can be called when the drone returns The proposed UAV fast return method based on the maximum tolerable flight time and flight average power threshold selects the Z-axis movement mode as follows: 1) When z1>0, the UAV first calls the average flight power Do upward acceleration movement continuously Then call the average flight power Do a flight attitude adjustment method to decelerate until the speed is 0; 2) When z1<0, the UAV first calls the average flight power Do downward acceleration movement continuously Then call the average flight power The flight attitude adjustment method is to decelerate until the speed reaches 0.
[0103] In particular, the actual flight time t of the UAV is given by the equation:
[0104] Satisfaction * ≤ the real root of t0, that is:
[0105]
[0106] 2. If And the flight average power threshold value that can be called when the drone returns The proposed UAV fast return method based on the maximum tolerable flight time and flight average power threshold selects the Z-axis movement mode as follows: 1) When z1>0, the UAV first calls the average flight power Do upward acceleration movement continuously Then call the average flight power Do a flight attitude adjustment method to decelerate until the speed is 0; 2) When z1<0, the UAV first calls the average flight power Do downward acceleration movement continuously Then call the average flight power The flight attitude adjustment method is to decelerate until the speed reaches 0.
[0107] In particular, the actual flight time t of the UAV is given by the equation:
[0108] Satisfaction The real root of , that is:
[0109]
[0110] 3. If And the flight average power threshold value that can be called when the drone returns The proposed UAV fast return method based on the maximum tolerable flight time and flight average power threshold selects the Z-axis movement mode as follows: 1) When z1>0, the UAV first calls the average flight power Do upward acceleration movement continuously Then the UAV uses its own gravity acceleration g to perform deceleration until the speed reaches 0. The flight attitude adjustment method; 2) When z1<0, the UAV uses its own gravity acceleration g to perform acceleration and continue Then call the average flight power The flight attitude adjustment method is to decelerate until the speed reaches 0.
[0111] In particular, the actual flight time t of the UAV is given by the equation:
[0112] Satisfaction The real root of .
[0113] In particular, if none of the above three conditions are met, the return time of the UAV is greater than its maximum tolerable flight time.
[0114] In another embodiment, a drone return-to-home system based on maximum tolerable flight time and average flight power includes a processor having a built-in drone return-to-home method based on maximum tolerable flight time and average flight power as described above. The specific implementation method is not further described here.
[0115] In another embodiment, a drone includes the above-mentioned drone return system based on maximum tolerable flight time and average flight power.
[0116] In another embodiment, a computer storage medium stores a computer program, which, when executed, implements any of the above-described methods for returning to home for a drone based on maximum tolerable flight time and average flight power. The specific implementation method is not further described herein.
[0117] The above embodiments are preferred implementation modes of the present invention, but the implementation modes of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be considered as equivalent replacement methods and are included in the scope of protection of the present invention.
Claims
1. A method for returning to home for a UAV based on maximum tolerable flight time and average flight power, characterized in that: The following steps are involved: S01: When the UAV needs to return, a spatial Cartesian coordinate system is established; Get the maximum tolerable return time t0, drone parameters and flight average power threshold that can be used for calling S02: Based on the maximum tolerable return time t0 and the flight average power threshold that can be called Calculate the actual return time and adjust the flight attitude for return operations.
2. The method for returning to home position of a UAV based on maximum tolerable flight time and average flight power according to claim 1, characterized in that: In step S01, the location of the drone is taken as the origin of the spatial coordinate (0,0,0), and the coordinates of the target point are (x1,y1,z1).
3. The UAV return method based on maximum tolerable flight time and average flight power according to claim 2, characterized in that: Step S02 specifically includes: like and When , solve the equation Root t * The root of ≤t0 is taken as the actual return time of the UAV; where m is the mass of the UAV, g is the local acceleration of gravity, and t is the actual return time of the UAV; like and When , solve the equation Root Will The root of is the actual return time of the drone; otherwise, if Solving equations will satisfy The root of the value is used as the actual return time of the drone.
4. The method for returning to home position of a UAV based on maximum tolerable flight time and average flight power according to claim 3, characterized in that: The method for adjusting the flight attitude in step S02 includes: like and or and When , the UAV moves in the Z axis as follows: 1) When z1>0, the drone first calls the average flight power Upward acceleration continues Then call the average flight power Decelerate until the speed reaches 0; 2) When z1<0, the drone first calls the average flight power Downward acceleration continues Then call the average flight power Decelerate until the speed reaches 0.
5. The method for returning to home position of a UAV based on maximum tolerable flight time and average flight power according to claim 3, characterized in that: The method for adjusting the flight attitude in step S02 includes: like and The motion of the drone on the Z axis is: 1) When z1>0, the drone first calls the average flight power Upward acceleration continues Then it decelerates due to its own gravitational acceleration g until the speed reaches 0; 2) When z1<0, the drone accelerates due to its own gravity g and continues to move. Then call the average flight power Decelerate until the speed reaches 0.
6. The method for returning to home position of an unmanned aerial vehicle based on maximum tolerable flight time and average flight power according to claim 4, characterized in that: when and The actual return time of the UAV is controlled within within; when and When the UAV returns home, it uses the same flight mode under the premise of the same average flight power consumption.
7. A UAV return-to-home system based on maximum tolerable flight time and average flight power, characterized in that: The invention comprises a processor, wherein the processor has a built-in UAV return method based on maximum tolerable flight time and average flight power according to any one of claims 1 to 6.
8. A drone, characterized in that: Including the UAV return system based on maximum tolerable flight time and average flight power as described in claim 7.
9. A computer storage medium having a computer program stored thereon, characterized in that: When the computer program is executed, the UAV return method based on maximum tolerable flight time and average flight power according to any one of claims 1 to 6 is implemented.