Landing control method, device and equipment for vertical take-off and landing unmanned aerial vehicle and medium

Abstract

The invention provides a vertical take-off and landing unmanned aerial vehicle landing control method, device and equipment and a medium, and relates to the technical field of unmanned aerial vehicle control. The method comprises the following steps: firstly, determining a target value track of a target unmanned aerial vehicle in a first stage; secondly, based on a first trajectory tracking control scheme configured for the first stage and a target value trajectory, controlling the target unmanned aerial vehicle to move from a horizontal state to a vertical state; and then, based on a second trajectory tracking control scheme configured for the second stage and the moving speed of a target moving platform on which the target unmanned aerial vehicle is about to land, controlling the target unmanned aerial vehicle to keep a vertical state and move to the target moving platform. Based on the content, the problem that in the prior art, the reliability of landing control of the vertical take-off and landing unmanned aerial vehicle is relatively low can be solved.

Description

Technical Field

[0001] The present application relates to the field of drone control technology, and more specifically, to a vertical take-off and landing drone landing control method, device, equipment, and medium. Background Art

[0002] VTOL aircraft utilize the upward thrust provided by their engines to overcome gravity, achieving vertical takeoff and landing. These aircraft are able to break free from airport runways, offering advantages such as flexible flight operations, high availability, and low maintenance costs. Furthermore, they can take off and land on mobile platforms, offering advantages unmatched by taxi-based takeoff and landing aircraft. The main types of VTOL aircraft currently available include: Vbat, tiltrotor, rotary wing, jet engine thrust-steering, ducted fan, and hybrids of these.

[0003] Among them, the Vbat vertical take-off and landing UAV is an aircraft whose entire body tilts during take-off and landing. It can hover vertically or cruise like a conventional fixed-wing aircraft. It generally uses propellers as power. With its light weight, small size, and simple power system, it can take off and land vertically on mobile platforms (such as ship decks, vehicle platforms, etc.). After carrying a payload, it can be used to perform various tasks and has broad application prospects.

[0004] Therefore, how to plan the trajectory of the Vbat vertical take-off and landing UAV to land on the mobile platform is the key to ensuring the safe landing of the Vbat vertical take-off and landing UAV on the mobile platform. In other words, in the existing technology, there is a problem that the reliability of the vertical take-off and landing UAV landing control is relatively low. Summary of the Invention

[0005] In view of this, the purpose of this application is to provide a vertical take-off and landing UAV landing control method, device, equipment and medium to improve the problem of relatively low reliability of vertical take-off and landing UAV landing control in the prior art.

[0006] To achieve the above objectives, this application adopts the following technical solutions: A vertical take-off and landing unmanned aerial vehicle landing control method, comprising: Determining a target value trajectory of the target UAV in a first phase, wherein the target value trajectory is used to reflect target values ​​of motion parameters of the target UAV at various positions in the first phase, wherein the first phase refers to a phase in which the target UAV transitions from a horizontal state to a vertical state; Based on the first trajectory tracking control scheme configured for the first stage and the target value trajectory, controlling the target UAV to move from a horizontal state to a vertical state; Based on the second trajectory tracking control scheme configured for the second stage and the moving speed of the target mobile platform on which the target UAV is to land, the target UAV is controlled to maintain a vertical state and move to the target mobile platform, wherein the horizontal speed of the target UAV when moving to the target mobile platform is the same as the moving speed of the target mobile platform.

[0007] In a preferred embodiment of the present application, in the above-mentioned vertical take-off and landing UAV landing control method, the step of determining the target value trajectory of the target UAV in the first stage includes: Based on the center of gravity coordinate value trajectory of the target UAV in the first stage, determining a track inclination target value trajectory of the target UAV in the first stage, wherein each track inclination target value in the track inclination target value trajectory is used to reflect the track inclination angle of the target UAV at the coordinates corresponding to each center of gravity coordinate value in the center of gravity coordinate value trajectory; Based on the center of gravity coordinate value trajectory of the target UAV in the first stage, a speed target value trajectory of the target UAV in the first stage is determined, wherein each speed target value in the speed target value trajectory is used to reflect the speed of the target UAV at the coordinates corresponding to each center of gravity coordinate value in the center of gravity coordinate value trajectory.

[0008] In a preferred embodiment of the present application, in the above-mentioned vertical take-off and landing UAV landing control method, the step of determining the target value trajectory of the track inclination angle of the target UAV in the first stage based on the center of gravity coordinate value trajectory of the target UAV in the first stage includes: For each center of gravity coordinate value in the center of gravity coordinate value trajectory of the target UAV in the first stage, obtaining the pitch angle of the target UAV at the coordinate corresponding to the center of gravity coordinate value; comparing the pitch angle with a predetermined pitch angle threshold; If the pitch angle is less than the pitch angle threshold, determining the track inclination angle of the target UAV at the coordinate corresponding to the center of gravity coordinate value based on the horizontal coordinate value in the center of gravity coordinate value and a first mapping function, wherein the first mapping function includes a first mapping parameter and a second mapping parameter, and the first mapping parameter and the second mapping parameter are determined based on the speed of the target UAV when entering the first stage and / or the allowable normal overload of the target UAV; If the pitch angle is greater than or equal to the pitch angle threshold, the track inclination angle of the target UAV at the coordinate corresponding to the center of gravity coordinate value is determined based on the vertical coordinate value in the center of gravity coordinate value and the second mapping function, wherein the second mapping function includes the second mapping parameter.

[0009] In a preferred embodiment of the present application, in the above-mentioned vertical take-off and landing UAV landing control method, the step of determining the target velocity trajectory of the target UAV in the first stage based on the center of gravity coordinate value trajectory of the target UAV in the first stage includes: For each center of gravity coordinate value in the center of gravity coordinate value trajectory of the target UAV in the first stage, obtaining the pitch angle of the target UAV at the coordinate corresponding to the center of gravity coordinate value; comparing the pitch angle with a predetermined pitch angle threshold; If the pitch angle is less than the pitch angle threshold, determining a target speed value of the target UAV at the coordinate corresponding to the center of gravity coordinate value based on the horizontal coordinate value in the center of gravity coordinate value and a third mapping function, wherein the third mapping function includes a third mapping parameter, and the third mapping parameter is used to control the speed of the target UAV to be equal to 0 at the end time of the first stage; If the pitch angle is greater than or equal to the pitch angle threshold, the speed target value of the target UAV at the coordinate corresponding to the center of gravity coordinate value is determined based on the vertical coordinate value in the center of gravity coordinate value and the fourth mapping function, wherein the fourth mapping function includes a first mapping parameter, a second mapping parameter and the third mapping parameter, and the first mapping parameter and the second mapping parameter are determined based on the speed of the target UAV when it enters the first stage and / or the allowable normal overload of the target UAV.

[0010] In a preferred embodiment of the present application, in the above-mentioned vertical take-off and landing UAV landing control method, the step of controlling the target UAV to move from a horizontal state to a vertical state based on the first trajectory tracking control scheme configured for the first stage and the target value trajectory includes: Controlling the target UAV to move from a horizontal state to a vertical state based on the elevator control sub-scheme included in the first trajectory tracking control scheme configured for the first stage and the track inclination target value trajectory included in the target value trajectory; Based on the engine throttle control sub-scheme included in the first trajectory tracking control scheme configured for the first stage and the speed target value trajectory included in the target value trajectory, the target UAV is controlled to move from a horizontal state to a vertical state.

[0011] In a preferred embodiment of the present application, in the above-mentioned vertical take-off and landing UAV landing control method, the step of controlling the target UAV to move from a horizontal state to a vertical state based on the elevator control sub-scheme included in the first trajectory tracking control scheme configured for the first stage and the track inclination target value trajectory included in the target value trajectory includes: For each track inclination target value in the track inclination target value trajectory included in the target value trajectory, obtaining a pitch angular velocity corresponding to the track inclination target value, wherein the pitch angular velocity is detected based on an onboard attitude sensor of the target UAV; determining a first parameter based on the pitch angular velocity and an elevator damping control parameter in an elevator control sub-scheme included in a first trajectory tracking control scheme configured for the first stage; performing an integration operation based on the target track inclination angle value and an actual track inclination angle value corresponding to the target track inclination angle value, and determining a second parameter based on a result of the integration operation and an elevator integral control parameter in the elevator control sub-scheme, wherein the actual track inclination angle value is determined based on a ratio between an actual elevator rate and a speed of the target UAV at corresponding coordinates; performing a sum calculation on the first parameter and the second parameter to obtain an elevator control instruction of the target UAV; Based on the elevator control instruction corresponding to each track inclination target value in the track inclination target value trajectory, the target UAV is controlled to move from a horizontal state to a vertical state.

[0012] In a preferred embodiment of the present application, in the above-mentioned vertical take-off and landing UAV landing control method, the step of controlling the target UAV to move from a horizontal state to a vertical state based on the engine throttle control sub-scheme included in the first trajectory tracking control scheme configured for the first stage and the speed target value trajectory included in the target value trajectory includes: For each speed target value in the speed target value trajectory included in the target value trajectory, based on the speed target value and the actual speed of the target UAV at the corresponding coordinates, proportional calculation and integral calculation are performed according to the engine throttle proportional control parameter and the engine throttle integral control parameter in the engine throttle control sub-scheme included in the first trajectory tracking control scheme configured for the first stage, respectively, to obtain a third parameter and a fourth parameter; Summing the third parameter and the fourth parameter to obtain an engine throttle control instruction for the target UAV; Based on the engine throttle control instruction corresponding to each speed target value in the speed target value trajectory, the target UAV is controlled to move from a horizontal state to a vertical state.

[0013] In a preferred embodiment of the present application, in the above-mentioned vertical take-off and landing UAV landing control method, the step of controlling the target UAV to maintain a vertical state and move to the target mobile platform based on the second trajectory tracking control scheme configured for the second stage and the moving speed of the target mobile platform on which the target UAV is to land includes: Based on the elevator control sub-scheme included in the second trajectory tracking control scheme configured for the second stage and the movement speed of the target mobile platform on which the target UAV is to land, controlling the target UAV to maintain a vertical state and move to the target mobile platform; Based on the engine throttle control sub-scheme included in the second trajectory tracking control scheme configured for the second stage and the moving speed of the target mobile platform on which the target UAV is to land, the target UAV is controlled to maintain a vertical state and move to the target mobile platform.

[0014] In a preferred embodiment of the present application, in the above-mentioned vertical take-off and landing UAV landing control method, the step of controlling the target UAV to maintain a vertical state and move to the target mobile platform based on the elevator control sub-scheme included in the second trajectory tracking control scheme configured for the second stage and the moving speed of the target mobile platform on which the target UAV is to land, includes: Obtaining a moving speed of a target mobile platform on which the target UAV is to land, and determining a target moving speed of the target UAV in a horizontal direction based on the moving speed; Based on the actual horizontal movement speed of the target UAV and the target movement speed, performing proportional calculations and integral calculations according to the elevator proportional control parameters and the elevator integral control parameters in the elevator control sub-scheme included in the second trajectory tracking control scheme configured for the second stage, respectively, to obtain fifth and sixth parameters; performing a sum calculation on the fifth parameter and the sixth parameter to obtain an elevator control instruction of the target UAV; Based on the elevator control instruction of the target UAV, the target UAV is controlled to maintain a vertical state and move to the target mobile platform.

[0015] In a preferred embodiment of the present application, in the above-mentioned vertical take-off and landing UAV landing control method, the step of obtaining the moving speed of the target mobile platform on which the target UAV is to land, and determining the target moving speed of the target UAV in the horizontal direction based on the moving speed, includes: Obtaining an actual moving speed of a target mobile platform on which the target UAV is to land, and obtaining an actual horizontal distance between the target UAV and the target mobile platform; Determining a target horizontal spacing between the target UAV and the target mobile platform based on the actual moving speed, the actual relative height between the target UAV and the target mobile platform, and the target vertical lifting speed of the target UAV; performing a proportional integral calculation on the actual horizontal separation and the target horizontal separation value to obtain a speed correction value for the target UAV, and determining a corrected target horizontal moving speed value for the target UAV based on the speed correction value for the target UAV and an initial target horizontal moving speed value for the target UAV; Based on the corrected moving speed target value, a target moving speed of the target UAV in the horizontal direction is determined.

[0016] In a preferred embodiment of the present application, in the above-mentioned vertical take-off and landing UAV landing control method, the step of controlling the target UAV to maintain a vertical state and move to the target mobile platform based on the engine throttle control sub-scheme included in the second trajectory tracking control scheme configured for the second stage and the moving speed of the target mobile platform on which the target UAV is to land, includes: Determining a target vertical velocity of the target UAV in the second phase; Based on the actual lifting speed of the target UAV and the lifting speed target value, performing proportional calculation and integral calculation according to the engine throttle proportional control parameter and the engine throttle integral control parameter in the engine throttle control sub-scheme included in the second trajectory tracking control scheme configured for the second stage, respectively, to obtain a seventh parameter and an eighth parameter; performing a sum calculation on the seventh parameter and the eighth parameter to obtain an engine throttle control instruction of the target UAV; Based on the engine throttle control instruction of the target UAV, the target UAV is controlled to maintain a vertical state and move to the target mobile platform.

[0017] In a preferred embodiment of the present application, in the above-mentioned vertical take-off and landing UAV landing control method, the vertical take-off and landing UAV landing control method further includes: Determining a movement distance of the target UAV from the beginning to the end of the first phase; Determining a first movement duration of the target UAV from the beginning to the end of the first phase; Determining a second movement duration of the target UAV from the beginning to the end of the second phase; Determining a stage transition judgment distance based on the movement distance, the first movement duration, the second movement duration, the target movement speed of the target UAV in the horizontal direction in the second stage, and the movement speed of the target mobile platform; Based on the stage transition judgment distance, it is determined whether the target UAV enters the first stage, wherein if the horizontal distance between the target UAV and the target mobile platform is equal to the stage transition judgment distance, it is determined that the first stage has been entered, so that when the target UAV lands to the same height as the target mobile platform, the target mobile platform is located directly below the target UAV.

[0018] The present application also provides a vertical take-off and landing UAV landing control device, comprising: a target value trajectory determination module, configured to determine a target value trajectory of the target UAV in a first phase, wherein the target value trajectory is used to reflect target values ​​of motion parameters of the target UAV at various positions in the first phase, wherein the first phase refers to a phase in which the target UAV transitions from a horizontal state to a vertical state; A first stage control module is configured to control the target UAV to move from a horizontal state to a vertical state based on a first trajectory tracking control scheme configured for the first stage and the target value trajectory; The second stage control module is used to control the target UAV to maintain a vertical state and move to the target mobile platform based on the second trajectory tracking control scheme configured for the second stage and the moving speed of the target mobile platform to be landed by the target UAV, wherein the horizontal speed of the target UAV when moving to the target mobile platform is the same as the moving speed of the target mobile platform.

[0019] Based on the above, the present application further provides an electronic device, including: memory for storing computer programs; The processor connected to the memory is used to execute the computer program stored in the memory to implement the above-mentioned vertical take-off and landing UAV landing control method.

[0020] On the basis of the above, the present application also provides a computer-readable storage medium, which stores a computer program. When the computer program is run, it executes the various steps of the above-mentioned vertical take-off and landing UAV landing control method.

[0021] The present application provides a vertical take-off and landing (VTOL) drone landing control method, apparatus, device, and medium. First, a target trajectory of a target drone is determined in a first phase. Second, based on a first trajectory tracking control scheme configured for the first phase and the target trajectory, the target drone is controlled to move from a horizontal state to a vertical state. Third, based on a second trajectory tracking control scheme configured for the second phase and the speed of the target mobile platform on which the target drone is to land, the target drone is controlled to maintain a vertical state and move to the target mobile platform. Based on the above, on the one hand, since the target drone is controlled to move from a horizontal state to a vertical state based on the target values ​​of the motion parameters at each position of the target drone in the first phase, the accuracy of the motion control in the first phase is increased, thereby ensuring the reliability of the motion control. On the other hand, since the horizontal speed of the target drone is made the same as the speed of the target mobile platform when moving to the target mobile platform in the second phase, the problem of the target drone body tipping over when landing on the target mobile platform can be avoided, thereby ensuring the safe landing of the target drone. Therefore, the problem of relatively low reliability of VTOL drone landing control in the prior art can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings.

[0023] Figure 1 This is a structural block diagram of the electronic device provided in an embodiment of the present application.

[0024] Figure 2 Schematic diagram of the vertical take-off and landing UAV landing control method provided in an embodiment of the present application.

[0025] Figure 3 A schematic diagram of the drone landing process provided in an embodiment of the present application.

[0026] Figure 4 A schematic diagram of a simulated flight trajectory curve of a UAV during the horizontal-to-vertical transition phase provided in an embodiment of the present application.

[0027] Figure 5 Schematic diagram of the trajectory inclination angle simulation curve of the UAV in the horizontal to vertical transition stage provided in the embodiment of the present application.

[0028] Figure 6 A schematic diagram of the speed simulation curve of the UAV during the horizontal to vertical transition phase provided in an embodiment of the present application.

[0029] Figure 7 Schematic diagram of the vertical take-off and landing UAV landing control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0030] To make the objectives, technical solutions, and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Generally, the components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0031] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for protection, but merely represents selected embodiments of the present application. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments in the present application without creative work are within the scope of protection of the present application.

[0032] like Figure 1 As shown, an embodiment of the present application provides an electronic device, wherein the electronic device may include a memory, a processor, and a vertical take-off and landing UAV landing control device.

[0033] In detail, the memory and the processor are electrically connected directly or indirectly to achieve data transmission or interaction. For example, the memory and the processor can be electrically connected through one or more communication buses or signal lines. The vertical take-off and landing UAV landing control device includes at least one software function module stored in the memory in the form of software or firmware. The processor is used to execute the executable computer program stored in the memory, for example, the software function module and computer program included in the vertical take-off and landing UAV landing control device, so as to implement the vertical take-off and landing UAV landing control method provided in the embodiment of the present application.

[0034] Optionally, the memory may be, but is not limited to, a random access memory (RAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), etc. Furthermore, the processor may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), a system on a chip (SoC), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0035] I understand. Figure 1 The structure shown is only for illustration, and the electronic device may also include Figure 1 More or fewer components than shown, or with Figure 1 The different configurations shown may, for example, further include a communication unit for exchanging information with other devices.

[0036] In addition, it should be noted that the electronic device may be an onboard control device of the drone, or may be other equipment that has established a communication connection with the drone.

[0037] Combine Figure 2 The embodiment of the present application also provides a vertical take-off and landing UAV landing control method applicable to the above electronic device. Among them, the method steps defined in the process related to the vertical take-off and landing UAV landing control method can be implemented by the electronic device. Figure 2 The specific process shown is explained in detail.

[0038] Step S110 , determining the target value trajectory of the target UAV in the first stage.

[0039] In an embodiment of the present application, the electronic device can determine a target value trajectory of the target drone during a first phase. The target value trajectory reflects the target values ​​of the motion parameters of the target drone at various positions during the first phase, where the first phase refers to the transition of the target drone from a horizontal state to a vertical state. That is, at the start or position of the first phase, the target drone is in a horizontal state, and then, after gradual adjustment, at the end or position of the first phase, the target drone is in a vertical state.

[0040] Step S120 : Based on the first trajectory tracking control scheme configured for the first stage and the target value trajectory, the target UAV is controlled to move from a horizontal state to a vertical state.

[0041] In an embodiment of the present application, after determining the target value trajectory, the electronic device can control the target drone to move from a horizontal state to a vertical state based on the first trajectory tracking control scheme configured for the first stage and the target value trajectory. In other words, since the target value trajectory contains the target values ​​of the motion parameters of the target drone at each position in the first stage, the target values ​​of the motion parameters at each position can be converted into control instructions or control parameters through the first trajectory tracking control scheme, so that the target drone can be controlled accordingly based on the control instructions or the control parameters, thereby causing the target drone to move from a horizontal state to a vertical state.

[0042] Step S130 , based on the second trajectory tracking control scheme configured for the second stage and the moving speed of the target mobile platform on which the target UAV is to land, control the target UAV to maintain a vertical state and move to the target mobile platform.

[0043] In an embodiment of the present application, after the target drone moves from a horizontal state to a vertical state, that is, after the first stage ends, the electronic device can control the target drone to maintain a vertical state and move to the target mobile platform based on the second trajectory tracking control scheme configured for the second stage and the moving speed of the target mobile platform on which the target drone is to land. The speed of the target drone in the horizontal direction when moving to the target mobile platform is the same as the moving speed of the target mobile platform. In other words, since the target drone is in a vertical state at the end of the first stage, the vertical state can be maintained in the second stage, and the target drone can be controlled to land on the target mobile platform.

[0044] Based on the above, on the one hand, because the target drone is controlled to move from a horizontal state to a vertical state based on the target values ​​of the motion parameters at each position of the target drone in the first stage, the precision of the motion control in the first stage is improved, thereby ensuring the reliability of the motion control. On the other hand, because the horizontal speed of the target drone when moving to the target mobile platform is made the same as the moving speed of the target mobile platform in the second stage of control, the problem of the target drone body tipping over when landing on the target mobile platform can be avoided, thereby ensuring the safe landing of the target drone. Therefore, the relatively low reliability of landing control for vertical take-off and landing drones existing in the prior art can be improved.

[0045] First, it should be noted that for step S110 , the specific method of determining the target value trajectory of the target UAV in the first stage is not limited and can be selected according to actual needs.

[0046] For example, in an alternative embodiment, only the track inclination angle of the target UAV may be controlled. For another example, in another alternative embodiment, only the speed of the target UAV may be controlled.

[0047] For another example, in another alternative embodiment, the track inclination and speed of the target UAV can also be controlled to ensure the control accuracy of the target UAV. Based on this, the target value trajectory can include a track inclination target value trajectory and a speed target value trajectory (so, when executing step S120, the track inclination and speed are taken into consideration during the process of controlling the target UAV to move from a horizontal state to a vertical state). Therefore, the above-mentioned step S110 can further include step S111 and step S112. The specific content of each step is described below.

[0048] Step S111 : determining a target value trajectory of the track inclination angle of the target UAV in the first stage based on the trajectory of the center of gravity coordinate value of the target UAV in the first stage.

[0049] In an embodiment of the present application, the target track inclination angle trajectory of the target UAV in the first stage can be determined based on the center of gravity coordinate value trajectory of the target UAV in the first stage. Wherein, each track inclination angle target value in the track inclination angle target value trajectory is used to reflect the track inclination angle of the target UAV at the coordinates corresponding to each center of gravity coordinate value in the center of gravity coordinate value trajectory. For example, the first track inclination angle target value in the track inclination angle target value trajectory can be determined based on the first center of gravity coordinate value in the center of gravity coordinate value trajectory, and the first track inclination angle target value refers to the target value of the track inclination angle of the coordinate or position corresponding to the first center of gravity coordinate value. And, the second track inclination angle target value in the track inclination angle target value trajectory can be determined based on the second center of gravity coordinate value in the center of gravity coordinate value trajectory, and the second track inclination angle target value refers to the target value of the track inclination angle of the coordinate or position corresponding to the second center of gravity coordinate value. Moreover, based on the third center of gravity coordinate value in the center of gravity coordinate value trajectory, the third track inclination target value in the track inclination target value trajectory can be determined. The third track inclination target value refers to the target value of the track inclination of the coordinate or position corresponding to the third center of gravity coordinate value, and so on.

[0050] Step S112: determining a target velocity trajectory of the target UAV in the first stage based on the center of gravity coordinate value trajectory of the target UAV in the first stage.

[0051] In an embodiment of the present application, a target speed trajectory for the target drone in the first phase can also be determined based on the target drone's center of gravity coordinate value trajectory during the first phase. Each target speed value in the target speed trajectory reflects the speed of the target drone at the coordinate corresponding to each center of gravity coordinate value in the center of gravity coordinate value trajectory. For example, a first target speed value in the target speed trajectory can be determined based on a first center of gravity coordinate value in the center of gravity coordinate value trajectory. The first target speed value refers to the target speed value for the coordinate or position corresponding to the first center of gravity coordinate value. Furthermore, a second target speed value in the target speed trajectory can be determined based on a second center of gravity coordinate value in the center of gravity coordinate value trajectory. The second target speed value refers to the target speed value for the coordinate or position corresponding to the second center of gravity coordinate value. Furthermore, a third target speed value in the target speed trajectory can be determined based on a third center of gravity coordinate value in the center of gravity coordinate value trajectory. The third target speed value refers to the target speed value for the coordinate or position corresponding to the third center of gravity coordinate value, and so on.

[0052] It can be understood that, in the above-mentioned step S111, the specific method of determining the target value trajectory of the track inclination angle of the target UAV in the first stage is not limited. For example, in an alternative embodiment, in order to ensure that the determined target value trajectory of the track inclination angle has a higher accuracy, the above-mentioned step S111 may further include step S111a, step S111b, step S111c and step S111d, and the specific content of each step is described as follows.

[0053] Step S111a: for each center of gravity coordinate value in the center of gravity coordinate value trajectory of the target UAV in the first phase, obtain the pitch angle of the target UAV at the coordinate corresponding to the center of gravity coordinate value.

[0054] In this embodiment of the present application, for each center-of-gravity coordinate value in the trajectory of the target drone's center-of-gravity coordinate values ​​during the first phase, the pitch angle of the target drone at the coordinate corresponding to that center-of-gravity coordinate value can be obtained. It should be noted that each center-of-gravity coordinate value in the trajectory of the target drone's center-of-gravity coordinate values ​​can be determined based on the target drone's onboard navigation equipment. Furthermore, in this embodiment of the present application, the origin of the coordinate system can be the target drone's position at the start of the first phase.

[0055] Step S111b: comparing the pitch angle with a predetermined pitch angle threshold.

[0056] In an embodiment of the present application, after the pitch angle is obtained, the pitch angle can be compared with a predetermined pitch angle threshold. For example, it can be determined whether the pitch angle is less than the pitch angle threshold. For example, the pitch angle threshold can be equal to 45 degrees.

[0057] Step S111c: If the pitch angle is less than the pitch angle threshold, the track inclination angle of the target UAV at the coordinate corresponding to the center of gravity coordinate value is determined based on the horizontal coordinate value in the center of gravity coordinate value and the first mapping function.

[0058] In an embodiment of the present application, if the pitch angle is less than the pitch angle threshold, the track inclination angle of the target UAV at the coordinate corresponding to the center of gravity coordinate value is determined based on the horizontal coordinate value in the center of gravity coordinate value and a first mapping function. The first mapping function includes a first mapping parameter and a second mapping parameter, and the first mapping parameter and the second mapping parameter are determined based on the speed of the target UAV when it enters the first stage (i.e., the speed at the start of the first stage) and / or the permissible normal overload of the target UAV (normal overload, Normal Load Factor, refers to the acceleration of the aircraft in the direction perpendicular to the wing plane (i.e., the direction perpendicular to the flight path) during flight). For example, if the speed is large or the permissible normal overload is small, the values ​​of the first mapping parameter and the second mapping parameter can be small. In this way, the problem of large normal overload on the target UAV can be avoided to a certain extent. On the contrary, if the speed is small or the allowable normal overload is large, the values ​​of the first mapping parameter and the second mapping parameter can be large. In this way, the time and trajectory length of the first stage can be shortened as much as possible while ensuring that the normal overload of the target drone does not exceed the allowable normal overload.

[0059] Step S111d: If the pitch angle is greater than or equal to the pitch angle threshold, the track inclination angle of the target UAV at the coordinate corresponding to the center of gravity coordinate value is determined based on the vertical coordinate value in the center of gravity coordinate value and the second mapping function.

[0060] In an embodiment of the present application, if the pitch angle is greater than or equal to the pitch angle threshold, the track inclination angle of the target UAV at the coordinate corresponding to the center of gravity coordinate value is determined based on the vertical coordinate value in the center of gravity coordinate value and a second mapping function, wherein the second mapping function includes the second mapping parameter.

[0061] For example, the first mapping function may be: first, calculating the product of the horizontal coordinate value of the center of gravity coordinate value and the second mapping parameter, then performing an exponential operation on the product, then calculating the product of the result of the exponential operation, the first mapping parameter, and the second mapping parameter, and finally calculating the inverse tangent function value of the product, and finally, multiplying the calculated inverse tangent function value by a target parameter to obtain the corresponding track inclination angle. Exemplarily, the target parameter may be equal to 57.3.

[0062] For example, the second mapping function can be: first, calculate the product of the vertical coordinate value in the center of gravity coordinate value and the second mapping parameter, then calculate the inverse tangent function value of the product, and finally, multiply the calculated inverse tangent function value by the target parameter to obtain the corresponding track inclination angle.

[0063] It can be understood that, in the above-mentioned step S112, the specific method of determining the speed target value trajectory of the target UAV in the first stage is not limited. For example, in an alternative embodiment, in order to ensure that the determined speed target value trajectory has a higher accuracy, the above-mentioned step S112 may further include step S112a, step S112b, step S112c and step S112d, and the specific content of each step is described as follows.

[0064] Step S112a: for each barycenter coordinate value in the barycenter coordinate value trajectory of the target UAV in the first phase, obtain the pitch angle of the target UAV at the coordinate corresponding to the barycenter coordinate value.

[0065] In this embodiment of the present application, for each center-of-gravity coordinate value in the trajectory of the target drone's center-of-gravity coordinate values ​​during the first phase, the pitch angle of the target drone at the coordinate corresponding to that center-of-gravity coordinate value can be obtained. It should be noted that each center-of-gravity coordinate value in the trajectory of the target drone's center-of-gravity coordinate values ​​can be determined based on the target drone's onboard navigation equipment. Furthermore, in this embodiment of the present application, the origin of the coordinate system can be the target drone's position at the start of the first phase.

[0066] Step S112b: comparing the pitch angle with a predetermined pitch angle threshold.

[0067] In an embodiment of the present application, after the pitch angle is obtained, the pitch angle can be compared with a predetermined pitch angle threshold. For example, it can be determined whether the pitch angle is less than the pitch angle threshold. For example, the pitch angle threshold can be equal to 45 degrees.

[0068] Step S112c: If the pitch angle is less than the pitch angle threshold, the speed target value of the target UAV at the coordinate corresponding to the center of gravity coordinate value is determined based on the horizontal coordinate value in the center of gravity coordinate value and the third mapping function.

[0069] In an embodiment of the present application, if the pitch angle is less than the pitch angle threshold, a target speed value of the target UAV at the coordinate corresponding to the center of gravity coordinate value is determined based on the horizontal coordinate value in the center of gravity coordinate value and a third mapping function. The third mapping function includes a third mapping parameter, which is used to control the speed of the target UAV at the end of the first stage to be equal to 0. For example, the third mapping parameter can be a negative number. The specific determination method can be: first, the square value of the horizontal coordinate value of the target UAV at the end of the first stage (which can be configured based on actual needs) can be obtained, then the ratio between the speed (horizontal speed) of the target UAV at the start of the first stage and the square value can be calculated, and finally, the third mapping parameter is obtained based on the ratio, wherein the sum of the ratio and the third mapping parameter can be equal to zero.

[0070] Step S112d: If the pitch angle is greater than or equal to the pitch angle threshold, the speed target value of the target UAV at the coordinate corresponding to the center of gravity coordinate value is determined based on the vertical coordinate value in the center of gravity coordinate value and the fourth mapping function.

[0071] In an embodiment of the present application, if the pitch angle is greater than or equal to the pitch angle threshold, a target speed value of the target UAV at the coordinate corresponding to the center of gravity coordinate value is determined based on the vertical coordinate value of the center of gravity coordinate value and a fourth mapping function. The fourth mapping function includes a first mapping parameter, a second mapping parameter, and the third mapping parameter, and the first mapping parameter and the second mapping parameter are determined based on the speed of the target UAV when it enters the first stage and / or the permissible normal overload of the target UAV (as described above).

[0072] For example, the third mapping function can be: first, the product between the square value of the horizontal coordinate value in the center of gravity coordinate value and the third mapping parameter can be calculated, and then the sum of the product and the speed (horizontal speed) of the target UAV at the starting time of the first stage can be calculated to obtain the corresponding speed target value.

[0073] For example, the fourth mapping function can be: first, the ratio between the vertical coordinate value of the center of gravity coordinate value and the first mapping parameter can be calculated, and then the logarithmic function value of the ratio is calculated, and the ratio between the third mapping parameter and the square value of the second mapping parameter is calculated, and the product between the square value of the calculated logarithmic function value and the ratio is calculated, and the sum of the product and the speed (horizontal speed) of the target UAV at the starting time of the first stage is calculated to obtain the corresponding speed target value.

[0074] Secondly, it should be noted that for step S120, the specific method of controlling the target UAV to move from a horizontal state to a vertical state is not limited and can be selected according to actual needs.

[0075] For example, in an alternative embodiment, the target UAV may be controlled to move from a horizontal state to a vertical state based on a track inclination target value trajectory included in the target value trajectory. For another example, in another alternative embodiment, the target UAV may be controlled to move from a horizontal state to a vertical state based on a speed target value trajectory included in the target value trajectory.

[0076] For another example, in another alternative embodiment, in order to achieve reliable control of the target drone during the movement from the horizontal state to the vertical state, the above-mentioned step S120 may further include step S121 and step S122, and the specific content of each step is as follows.

[0077] Step S121 , based on the elevator control sub-scheme included in the first trajectory tracking control scheme configured for the first stage and the track inclination target value trajectory included in the target value trajectory, control the target UAV to move from a horizontal state to a vertical state.

[0078] In this embodiment of the present application, the target UAV can be controlled from a horizontal state to a vertical state based on the elevator control sub-scheme included in the first trajectory tracking control scheme configured for the first stage and the track inclination target value trajectory included in the target value trajectory. In other words, elevator control instructions or control parameters can be generated based on the target track inclination value, thereby achieving corresponding control of the target UAV.

[0079] Step S122 : Based on the engine throttle control sub-scheme included in the first trajectory tracking control scheme configured for the first stage and the speed target value trajectory included in the target value trajectory, the target UAV is controlled to move from a horizontal state to a vertical state.

[0080] In this embodiment of the present application, the target UAV can be controlled to move from a horizontal state to a vertical state based on the engine throttle control sub-scheme included in the first trajectory tracking control scheme configured for the first stage and the speed target value trajectory included in the target value trajectory. In other words, the engine throttle control instructions or control parameters can be generated based on the speed target value, thereby achieving corresponding control of the target UAV.

[0081] It can be understood that in the above-mentioned step S121, during the process of the target UAV moving from a horizontal state to a vertical state, the specific control method of the elevator is not restricted. For example, in an alternative embodiment, in order to achieve reliable control of the target UAV, the above-mentioned step S121 may further include step S121a, step S121b, step S121c, step S121d and step S121e, and the specific content of each step is described below.

[0082] Step S121a: for each track inclination target value in the track inclination target value trajectory included in the target value trajectory, obtain the pitch angle velocity corresponding to the track inclination target value.

[0083] In an embodiment of the present application, for each track inclination target value in the track inclination target value trajectory included in the target value trajectory, a pitch angular velocity corresponding to the track inclination target value is obtained, wherein the pitch angular velocity is detected based on an onboard attitude sensor of the target UAV.

[0084] Step S121b: determining a first parameter based on the pitch angular velocity and an elevator damping control parameter in an elevator control sub-scheme included in a first trajectory tracking control scheme configured for the first stage.

[0085] In an embodiment of the present application, after obtaining the pitch angular velocity, a first parameter may be determined based on the pitch angular velocity and an elevator damping control parameter in an elevator control sub-scheme included in a first trajectory tracking control scheme configured for the first stage. For example, the first parameter may be obtained by multiplying the pitch angular velocity and the elevator damping control parameter.

[0086] Step S121c: performing an integration operation based on the target track inclination angle value and the actual track inclination angle value corresponding to the target track inclination angle value, and determining a second parameter based on the result of the integration operation and the elevator integral control parameter in the elevator control sub-scheme.

[0087] In an embodiment of the present application, an integral calculation can be performed based on the target track inclination angle and the actual track inclination angle corresponding to the target track inclination angle, and a second parameter can be determined based on the result of the integral calculation and the elevator integral control parameter in the elevator control sub-scheme. The actual track inclination angle is determined based on the ratio between the actual vertical velocity and the speed of the target UAV at the corresponding coordinates, such as the track inclination angle being equal to the inverse sine function of the ratio. Furthermore, the difference between the target track inclination angle and the actual track inclination angle corresponding to the target track inclination angle can be calculated, integrated, and the resulting integral calculation result multiplied by the elevator integral control parameter to obtain the second parameter.

[0088] Step S121d: performing sum calculation on the first parameter and the second parameter to obtain an elevator control instruction of the target UAV.

[0089] In this embodiment of the present application, the first parameter and the second parameter may be summed to obtain an elevator control instruction for the target UAV. In other words, the sum of the first parameter and the second parameter may be used as an elevator control parameter.

[0090] Step S121e: Based on the elevator control instruction corresponding to each track inclination target value in the track inclination target value trajectory, control the target UAV to move from a horizontal state to a vertical state.

[0091] In an embodiment of the present application, after obtaining the elevator control instruction, the target UAV can be controlled to move from a horizontal state to a vertical state based on the elevator control instruction corresponding to each track inclination target value in the track inclination target value trajectory.

[0092] Based on this, proportional-integral control of the elevator can be achieved.

[0093] It can be understood that in the above-mentioned step S122, during the process of the target UAV moving from a horizontal state to a vertical state, the specific control method of the engine throttle is not restricted. For example, in an alternative embodiment, in order to achieve reliable control of the target UAV, the above-mentioned step S122 may further include step S122a, step S122b and step S122c, and the specific content of each step is described below.

[0094] Step S122a: For each speed target value in the speed target value trajectory included in the target value trajectory, based on the speed target value and the actual speed of the target UAV at the corresponding coordinates, proportional calculation and integral calculation are performed according to the engine throttle proportional control parameter and the engine throttle integral control parameter in the engine throttle control sub-scheme included in the first trajectory tracking control scheme configured for the first stage, respectively, to obtain a third parameter and a fourth parameter.

[0095] In an embodiment of the present application, for each speed target value in the speed target value trajectory included in the target value trajectory, a proportional calculation and an integral calculation can be performed based on the speed target value and the actual speed of the target UAV at the corresponding coordinates, respectively, according to the engine throttle proportional control parameter and the engine throttle integral control parameter in the engine throttle control sub-scheme included in the first trajectory tracking control scheme configured for the first stage, to obtain a third parameter and a fourth parameter. For example, the difference between the speed target value and the actual speed can be calculated, and then the product of the difference and the engine throttle proportional control parameter can be calculated to obtain the third parameter. Furthermore, the difference can be integrated, and the resulting integral calculation result can be multiplied by the engine throttle integral control parameter to obtain the fourth parameter.

[0096] Step S122b: performing a sum calculation on the third parameter and the fourth parameter to obtain an engine throttle control instruction of the target UAV.

[0097] In the embodiment of the present application, after obtaining the third parameter and the fourth parameter, the third parameter and the fourth parameter can be summed to obtain the engine throttle control instruction of the target UAV. In other words, the sum of the third parameter and the fourth parameter can be used as the engine throttle control instruction or engine throttle control parameter of the target UAV.

[0098] Step S122c: controlling the target UAV to move from a horizontal state to a vertical state based on the engine throttle control instruction corresponding to each speed target value in the speed target value trajectory.

[0099] In an embodiment of the present application, after obtaining the engine throttle control instruction, the target UAV can be controlled to move from a horizontal state to a vertical state based on the engine throttle control instruction corresponding to each speed target value in the speed target value trajectory.

[0100] Based on this, proportional-integral control of the engine throttle can be achieved.

[0101] Thirdly, it should be noted that for step S130, the specific method of controlling the target UAV to maintain a vertical state and move to the target mobile platform is not limited and can be selected according to actual needs.

[0102] For example, in an alternative embodiment, at the end of the first stage or at the beginning of the second stage, the target UAV can be located directly below the target mobile platform. In this way, the horizontal speeds of the target UAV and the target mobile platform can be controlled to be zero. In this way, the target UAV can be directly controlled to land on the target mobile platform.

[0103] For another example, in another alternative embodiment, considering that the target mobile platform may be difficult to be stationary, in order to achieve a safe landing of the target UAV, the above-mentioned step S130 may further include step S131 and step S132, and the specific contents of each step are as follows.

[0104] Step S131 , based on the elevator control sub-scheme included in the second trajectory tracking control scheme configured for the second stage and the moving speed of the target mobile platform on which the target UAV is to land, control the target UAV to maintain a vertical state and move to the target mobile platform.

[0105] In this embodiment of the present application, the target UAV can be controlled to maintain a vertical position and move toward the target mobile platform based on the elevator control sub-scheme included in the second trajectory tracking control scheme configured for the second stage and the movement speed of the target mobile platform on which the target UAV is to land. In other words, the elevator can be controlled to keep the target UAV in a vertical position and move toward the target mobile platform.

[0106] Step S132: Based on the engine throttle control sub-scheme included in the second trajectory tracking control scheme configured for the second stage and the moving speed of the target mobile platform on which the target UAV is to land, the target UAV is controlled to maintain a vertical state and move to the target mobile platform.

[0107] In this embodiment of the present application, the target UAV can be controlled to maintain a vertical position and move toward the target mobile platform based on the engine throttle control sub-scheme included in the second trajectory tracking control scheme configured for the second stage and the movement speed of the target mobile platform on which the target UAV is to land. In other words, the target UAV can be controlled to maintain a vertical position and move toward the target mobile platform by controlling the engine throttle.

[0108] It can be understood that in the above-mentioned step S131, in order to control the target UAV to maintain a vertical state and move to the target mobile platform, the specific method of controlling the elevator is not limited. For example, in an alternative embodiment, in order to achieve reliable control of the elevator, the above-mentioned step S131 may further include step S131a, step S131b, step S131c and step S131d, and the specific content of each step is described below.

[0109] Step S131a: Acquire the moving speed of the target mobile platform on which the target UAV is to land, and determine the target moving speed of the target UAV in the horizontal direction based on the moving speed.

[0110] In an embodiment of the present application, the moving speed of the target mobile platform on which the target UAV is to land can be obtained, and based on the moving speed, the target moving speed of the target UAV in the horizontal direction can be determined. For example, in order to avoid the problem of the body tipping over, the moving speed can be directly used as the target moving speed, so that the moving speeds of the target UAV and the target mobile platform in the horizontal direction are consistent, thereby reducing the risk of tipping over during landing.

[0111] Step S131b: Based on the actual horizontal movement speed of the target UAV and the target movement speed, proportional calculation and integral calculation are performed according to the elevator proportional control parameters and elevator integral control parameters in the elevator control sub-scheme included in the second trajectory tracking control scheme configured for the second stage, respectively, to obtain fifth and sixth parameters.

[0112] In an embodiment of the present application, after determining the target moving speed, a proportional calculation and an integral calculation can be performed, respectively, based on the actual horizontal moving speed of the target UAV and the target moving speed, according to the elevator proportional control parameter and the elevator integral control parameter in the elevator control sub-scheme included in the second trajectory tracking control scheme configured for the second stage, to obtain a fifth parameter and a sixth parameter. For example, the difference between the actual moving speed and the target moving speed can be first calculated, and then, on the one hand, the product of this difference and the elevator proportional control parameter can be calculated to obtain the fifth parameter. On the other hand, this difference can be integrated, and the result of the integral calculation can be multiplied by the elevator integral control parameter to obtain the sixth parameter.

[0113] Step S131c: performing sum calculation on the fifth parameter and the sixth parameter to obtain an elevator control instruction of the target UAV.

[0114] In this embodiment of the present application, after obtaining the fifth and sixth parameters, the fifth and sixth parameters can be summed to obtain the elevator control instruction for the target UAV. In other words, the sum of the fifth and sixth parameters can be determined as the elevator control instruction or control parameter.

[0115] Step S131d: Based on the elevator control instruction of the target UAV, the target UAV is controlled to maintain a vertical state and move to the target mobile platform.

[0116] In an embodiment of the present application, after the elevator control instruction is obtained, the target UAV can be controlled to maintain a vertical state and move to the target mobile platform based on the elevator control instruction of the target UAV.

[0117] It is understandable that, in the above-mentioned step S131a, the specific method of determining the target moving speed of the target UAV in the horizontal direction is not limited. For example, in an alternative embodiment, considering that the target UAV may be subject to external disturbances such as wind interference in actual applications, trajectory tracking errors may be generated during the horizontal transition to vertical phase (first phase) and the vertical landing phase (second phase). To ensure that the target UAV can accurately land on the target mobile platform, the above-mentioned step S131a may specifically include the following: First, the actual moving speed of the target mobile platform where the target UAV is to land can be obtained, and the actual horizontal distance between the target UAV and the target mobile platform can be obtained; Secondly, a target horizontal distance between the target UAV and the target mobile platform can be determined based on the actual moving speed, the actual relative height between the target UAV and the target mobile platform, and the target vertical lifting speed of the target UAV; Then, a proportional integral calculation can be performed on the actual horizontal distance and the horizontal distance target value to obtain a speed correction value of the target UAV, and a corrected target moving speed value of the target UAV in the horizontal direction can be determined based on the speed correction value of the target UAV and the initial moving speed target value of the target UAV in the horizontal direction; Finally, the target moving speed of the target UAV in the horizontal direction may be determined based on the corrected moving speed target value. For example, the corrected moving speed target value may be used as the target moving speed of the target UAV in the horizontal direction.

[0118] It can be understood that in the above-mentioned step S132, in order to control the target UAV to maintain a vertical state and move to the target mobile platform, the specific method of controlling the engine throttle is not limited. For example, in an alternative embodiment, in order to achieve reliable control of the engine throttle, the above-mentioned step S132 may further include step S132a, step S132b, step S132c and step S132d, and the specific content of each step is described below.

[0119] Step S132a: determining a target vertical velocity of the target UAV in the second stage.

[0120] In the embodiment of the present application, the target value of the vertical speed of the target UAV in the second stage can be determined, which can be configured according to actual needs.

[0121] Step S132b: Based on the actual lift speed of the target UAV and the lift speed target value, proportional calculation and integral calculation are performed according to the engine throttle proportional control parameter and the engine throttle integral control parameter in the engine throttle control sub-scheme included in the second trajectory tracking control scheme configured for the second stage, respectively, to obtain a seventh parameter and an eighth parameter.

[0122] In an embodiment of the present application, after determining the target vertical speed value, a proportional calculation and an integral calculation can be performed, respectively, based on the actual vertical speed of the target UAV and the target vertical speed value, according to the engine throttle proportional control parameter and the engine throttle integral control parameter in the engine throttle control sub-scheme included in the second trajectory tracking control scheme configured for the second stage, to obtain the seventh parameter and the eighth parameter. For example, the difference between the actual vertical speed and the target vertical speed value can be calculated, and then, on the one hand, the product of this difference and the engine throttle proportional control parameter can be calculated to obtain the seventh parameter. On the other hand, the difference can be integrated, and the result of the integral calculation can be multiplied by the engine throttle integral control parameter to obtain the eighth parameter.

[0123] Step S132c: summing the seventh parameter and the eighth parameter to obtain an engine throttle control instruction for the target UAV.

[0124] In the embodiment of the present application, after obtaining the seventh parameter and the eighth parameter, the seventh parameter and the eighth parameter can be summed to obtain the engine throttle control instruction of the target UAV. In other words, the sum of the seventh parameter and the eighth parameter can be used as the engine throttle control instruction or control parameter.

[0125] Step S132d: Based on the engine throttle control instruction of the target UAV, the target UAV is controlled to maintain a vertical state and move to the target mobile platform.

[0126] In an embodiment of the present application, after obtaining the engine throttle control instruction of the target UAV, the target UAV can be controlled to maintain a vertical state and move to the target mobile platform based on the engine throttle control instruction.

[0127] Fourthly, regarding the aforementioned VTOL UAV landing control method, it should be noted that in order for the target UAV to quickly and safely land on the target mobile platform, the following conditions must be met: when the target UAV lands at the same height as the target mobile platform, the target mobile platform must be directly below the target UAV. Based on this, the VTOL UAV landing control method may further include the following steps S140, S150, S160, S170, and S180 to determine whether to enter the first stage or to determine the conditions for entering the first stage. The details are as follows.

[0128] Step S140: determining the moving distance of the target UAV from the beginning to the end of the first stage.

[0129] In an embodiment of the present application, the electronic device can determine the moving distance of the target drone from the beginning to the end of the first stage, and the moving distance can be configured according to user needs.

[0130] Step S150: determining a first movement duration of the target UAV from the beginning to the end of the first phase.

[0131] In an embodiment of the present application, the electronic device can determine the first movement duration of the target drone from the beginning to the end of the first stage. For example, corresponding calculations can be performed based on the movement distance to obtain the first movement duration.

[0132] Step S160: Determine a second movement duration of the target UAV from the beginning to the end of the second phase.

[0133] In an embodiment of the present application, the electronic device can determine the second movement duration of the target UAV from the beginning to the end of the second stage. For example, the landing distance and speed of the target UAV in the vertical direction in the second stage can be calculated. The specific determination process is described below.

[0134] Step S170: determining a stage transition judgment distance based on the moving distance, the first moving duration, the second moving duration, the target moving speed of the target UAV in the horizontal direction in the second stage, and the moving speed of the target mobile platform.

[0135] In an embodiment of the present application, after obtaining the moving distance, the first moving duration, and the second moving duration, the electronic device can determine the stage transition judgment distance based on the moving distance, the first moving duration, the second moving duration, the target moving speed of the target drone in the horizontal direction in the second stage, and the moving speed of the target mobile platform. The specific determination process is described in detail below.

[0136] Step S180: Determine whether the target UAV enters the first stage based on the stage transition judgment distance.

[0137] In an embodiment of the present application, after obtaining the stage transition judgment distance, the electronic device may determine whether the target drone enters the first stage based on the stage transition judgment distance. If the horizontal distance between the target drone and the target mobile platform is equal to the stage transition judgment distance, then entry into the first stage is determined, such that when the target drone lands at the same height as the target mobile platform, the target mobile platform is directly below the target drone.

[0138] In order to facilitate the understanding of the above-mentioned vertical take-off and landing UAV landing control method, the following specific implementation scheme is also provided in the embodiment of the present application, combined with Figure 3-6 shown.

[0139] Step S1: The UAV landing process is divided into three stages: landing preparation, horizontal transition to vertical, and vertical landing. Figure 3 shown.

[0140] The landing preparation phase is defined as: the distance from the UAV flying to the rear of the mobile platform Starting from the distance to the back of the mobile platform Position process. The distance for phase transition is determined when the horizontal distance between the drone and the mobile platform is less than or equal to When the landing preparation phase is completed, the horizontal transition to the vertical phase will begin.

[0141] Furthermore, the distance It can be set to hundreds of meters to several kilometers. If the flying altitude and speed of the drone are low, Can be set to a smaller value; if the drone's flight altitude and speed are high, It should be set to a larger value so that the drone has enough time to adjust the altitude and speed to the target values ​​before entering the horizontal to vertical phase.

[0142] The horizontal transition vertical phase is defined as: the UAV starts from the end of the landing preparation phase to the time it reaches the target position process. Among them, is the horizontal coordinate value of the center of gravity of the UAV in the ground coordinate system OXY, It is the expected value of the horizontal coordinate of the center of gravity of the UAV in the ground coordinate system OXY at the end of the horizontal transition to vertical phase.

[0143] Furthermore, the ground coordinate system OXY is defined as follows: the end point of the landing preparation phase, that is, the starting point of the horizontal transition to vertical phase, is the coordinate origin O, the OX axis is located in the horizontal plane and points to the direction of movement of the mobile platform as positive, and the OY axis is located in the vertical plane and points to the sky as positive.

[0144] The vertical landing phase is defined as the process in which the drone gradually descends from the horizontal transition to the vertical phase and lands on the mobile platform.

[0145] Step S2: Design target value trajectory, including: Step S21: Design the target value trajectory of the track inclination angle during the horizontal transition to the vertical phase Since the flight trajectory of the vertical take-off and landing UAV in the horizontal transition to vertical phase has the characteristics of an exponential curve, the trajectory of the target value of the track inclination angle in the horizontal transition to vertical phase can be described by a mathematical formula: ; in, is the target value of the track inclination angle, is the coordinate value of the center of gravity of the UAV in the ground coordinate system OXY, A and B are trajectory description parameters, is the pitch angle of the drone.

[0146] Furthermore, the coordinate value of the center of gravity of the drone Available via onboard navigation equipment.

[0147] Furthermore, the trajectory description parameters A and B are positive numbers, and their specific values ​​can be determined based on the speed target value in the landing preparation phase. , and the permissible normal overload of the UAV is determined: if If the normal overload is small, the trajectory description parameters A and B should be selected as smaller values ​​to avoid a large normal overload on the aircraft; if If the normal overload is smaller or larger, the trajectory description parameters A and B should choose larger values. In this way, the time and trajectory length of the horizontal transition to vertical stage can be shortened as much as possible while ensuring that the normal overload of the drone does not exceed the allowable normal overload.

[0148] Step S22: Design the velocity target value trajectory of the horizontal transition vertical stage Since the speed change of the vertical take-off and landing UAV in the horizontal transition to vertical stage has the characteristics of a parabolic curve, the speed target value trajectory of the horizontal transition to vertical stage can be described by the mathematical formula: ; in, is the speed target value of the horizontal transition to vertical stage, is the target speed value in the landing preparation phase, and C is the trajectory description parameter.

[0149] Furthermore, the trajectory description parameter C is a negative number, and it is expected that the speed of the UAV can be basically decelerated to zero at the end of the horizontal transition to vertical phase. Therefore, it can be determined by the following formula: ; in, is the expected value of the horizontal coordinate of the center of gravity of the UAV in the ground coordinate system OXY at the end of the horizontal transition to vertical phase.

[0150] Step S23: Calculate the time taken for the horizontal transition to the vertical stage The calculation formula for the time taken for the horizontal transition to the vertical stage is: ; in, is the time taken for the horizontal to vertical transition phase, and .

[0151] Step S24: Calculate vertical landing phase time The calculation formula for the vertical landing phase time is: ; in, is the time spent in the vertical landing phase, The relative height target value between the UAV and the mobile platform during the landing preparation phase. It is the target value of the vertical landing speed of the UAV.

[0152] Step S3: Calculate the phase transition criterion distance

[0153] In order for the drone to land quickly and safely on the mobile platform, it should be satisfied that when the drone lands at the same height as the mobile platform, the mobile platform moves just below the drone. Therefore, the calculation formula for the stage transition criterion distance is: ; in, is the stage transition criterion distance, is the forward movement speed of the mobile platform (horizontally), is the target forward speed value (horizontal direction) of the UAV during the vertical landing phase.

[0154] Furthermore, in order to prevent the drone from tipping over when landing on the mobile platform, the forward movement speed of the two should be consistent, that is, , therefore, the calculation formula of the above stage transition criterion distance can be simplified as: ; Step S4: Design trajectory tracking control law, including: Step S41: Design the control law for the landing preparation phase During the landing preparation phase, the UAV maintains a constant altitude flight, and the elevator control law is: ; in, is the elevator control command, V y is the ascent and descent rate of the UAV, which can be measured by the onboard navigation equipment. H is the relative height of the UAV from the mobile platform. g is the relative height target value between the UAV and the mobile platform, K1 is the elevator damping control parameter in the landing preparation stage, K2 is the elevator proportional control parameter in the landing preparation stage, and K3 is the elevator integral control parameter in the landing preparation stage.

[0155] Furthermore, H g The value of should be appropriate. If the value is too small, it will be too close to the ground or water surface, which is not conducive to flight safety; if the value is too large, it will not be conducive to rapid landing.

[0156] During the landing preparation phase, the engine throttle control law of the UAV is used to track the speed to the speed target value, so that the UAV maintains a constant speed. Based on this, the engine throttle control law of the UAV during the landing preparation phase can be: ; in, is the engine throttle control command, V is the UAV speed, V0 is the speed target value in the landing preparation phase, N x is the forward (horizontal) acceleration of the UAV, which can be measured by the onboard inertial sensor. K4 is the engine throttle damping control parameter in the landing preparation stage. K5 is the engine throttle proportional control parameter in the landing preparation stage. K6 is the engine throttle integral control parameter in the landing preparation stage.

[0157] Furthermore, the value of V0 should be appropriate. If it is too small, the flight angle of attack will be large, which is not conducive to flight safety; if it is too large, the height increase in the horizontal transition to vertical stage will be too large, which is not conducive to rapid landing.

[0158] Step S42: Design the horizontal transition vertical stage control law The elevator control law of the UAV in the horizontal transition to vertical phase can be: ; in, is the pitch angular velocity of the UAV, which can be measured by the onboard attitude sensor. is the track inclination angle of the UAV, K7 is the elevator damping control parameter in the horizontal transition to vertical stage, and K8 is the elevator integral control parameter in the horizontal transition to vertical stage.

[0159] Furthermore, the track inclination The calculation method can be: ; The engine throttle control law of the UAV during the horizontal-to-vertical transition phase can be: ; Among them, K9 is the engine throttle proportional control parameter in the horizontal transition to vertical stage, K 10 It is the engine throttle integral control parameter during the horizontal to vertical transition phase.

[0160] Step S43: Design the control law for the vertical landing phase The elevator control law of the UAV during the vertical landing phase can be: ; Among them, V x is the forward speed of the UAV during vertical landing, K 11 is the elevator proportional control parameter during vertical landing, K 12 is the elevator integral control parameter during the vertical landing phase.

[0161] The engine throttle control law of the UAV during the vertical landing phase can be: ; Among them, V y K is the vertical landing speed of the UAV, 13 is the engine throttle proportional control parameter during the vertical landing phase, K 14 It is the engine throttle integral control parameter during the vertical landing phase.

[0162] Furthermore, considering that the drone will be affected by external disturbances such as wind interference in actual applications, trajectory tracking errors will occur during the horizontal transition to vertical phase and the vertical landing phase. To ensure that the drone can accurately land on the mobile platform, it is necessary to add a speed correction to the elevator control law of the drone during the vertical landing phase. Therefore, the elevator control law of the drone during the vertical landing phase can be: ; in, The forward speed target value of the UAV during the vertical landing phase, which takes into account the speed correction, is calculated as follows: ; in, is the speed correction, and its calculation formula is: ; Among them, K 15 is the proportional control parameter of the speed correction, K 16 is the integral control parameter of the speed correction, S is the horizontal distance between the mobile platform and the UAV, S g is the target horizontal distance between the mobile platform and the UAV, and its calculation formula is: .

[0163] For example, the initial conditions of the simulation may be: the relative height of the UAV from the mobile platform is 50 m, and the initial flight speed is 30 m / s.

[0164] Trajectory description parameters: A=1.06, B=0.033, C=-0.001.

[0165] The target speed value in the landing preparation phase is: V0=30m / s.

[0166] The ideal flight trajectory during the horizontal-to-vertical transition phase is: .

[0167] The target value trajectory of the track inclination angle in the vertical phase of horizontal transition is:

[0168] The velocity target value trajectory of the horizontal transition vertical stage is:

[0169] At the end of the horizontal transition to vertical phase, the expected value of the horizontal coordinate of the center of gravity of the UAV in the ground coordinate system OXY is: t =130m, and =76.3m.

[0170] Time taken for horizontal transition to vertical phase: =8.4s.

[0171] Moving platform forward speed: V s =5m / s.

[0172] Phase transition criterion distance: =88m.

[0173] Among them, Figure 4 As shown in the figure, the drone height increases by 77.5m during the horizontal transition to vertical stage. Figure 5 As shown in the figure, the track inclination angle tracks the target value well, and at the end of the horizontal transition vertical phase, the track inclination angle is 62.3°. Figure 6 As shown, the speed tracks the target value well, and at the end of the horizontal transition to vertical stage, the speed is 9.3m / s.

[0174] Combine Figure 7 The present application also provides a vertical take-off and landing UAV landing control device applicable to the above-mentioned electronic device. The vertical take-off and landing UAV landing control device may include a target value trajectory determination module, a first-stage control module, and a second-stage control module.

[0175] The target value trajectory determination module is used to determine the target value trajectory of the target drone in the first stage, wherein the target value trajectory is used to reflect the target value of the motion parameter of each position of the target drone in the first stage, and the first stage refers to the stage where the target drone transitions from a horizontal state to a vertical state. In the embodiment of the present application, the target value trajectory determination module can be used to perform Figure 2 As shown in step S110, for the relevant content of the target value trajectory determination module, reference can be made to the description of step S110 above.

[0176] The first stage control module is used to control the target drone to move from a horizontal state to a vertical state based on the first trajectory tracking control scheme configured for the first stage and the target value trajectory. In the embodiment of the present application, the first stage control module can be used to execute Figure 2 As shown in step S120, for the relevant content of the first stage control module 0, reference can be made to the above description of step S120.

[0177] The second stage control module is used to control the target drone to maintain a vertical state and move to the target mobile platform based on the second trajectory tracking control scheme configured for the second stage and the moving speed of the target mobile platform to be landed by the target drone, wherein the horizontal speed of the target drone when moving to the target mobile platform is the same as the moving speed of the target mobile platform. In the embodiment of the present application, the second stage control module can be used to perform Figure 2 As shown in step S130, for the relevant content of the second stage control module, reference can be made to the above description of step S130.

[0178] In an embodiment of the present application, corresponding to the above-mentioned vertical take-off and landing UAV landing control method applied to the electronic device, a computer-readable storage medium is also provided, in which a computer program is stored. When the computer program is run, the various steps of the vertical take-off and landing UAV landing control method are executed.

[0179] Among them, the steps executed when the aforementioned computer program is running will not be described here one by one, and reference can be made to the above explanation of the vertical take-off and landing UAV landing control method.

[0180] In summary, the VTOL (Vertical Take-Off and Landing) UAV landing control method, apparatus, device, and medium provided herein first determine a target trajectory for a target UAV in a first phase; second, based on a first trajectory tracking control scheme configured for the first phase and the target trajectory, control the target UAV from a horizontal state to a vertical state; and third, based on a second trajectory tracking control scheme configured for the second phase and the speed of the target mobile platform on which the target UAV is to land, control the target UAV to maintain a vertical state and move to the target mobile platform. Based on the above, on the one hand, since the target UAV is controlled to move from a horizontal state to a vertical state based on the target values ​​of the motion parameters at each position of the target UAV in the first phase, the accuracy of the motion control in the first phase is improved, thereby ensuring the reliability of the motion control. On the other hand, since the horizontal speed of the target UAV is the same as the speed of the target mobile platform when it moves to the target mobile platform in the second phase, the problem of the target UAV body tipping over when landing on the target mobile platform can be avoided, thereby ensuring the safe landing of the target UAV. Therefore, the problem of relatively low reliability of VTOL (Vertical Take-Off and Landing) UAV landing control in the prior art can be improved.

[0181] In the several embodiments provided in the embodiments of the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device and method embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architectures, functions and operations of the devices, methods and computer program products according to the multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of the code, and the module, program segment or a part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart, can be implemented with a dedicated hardware-based system that performs the specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0182] In addition, the functional modules in each embodiment of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0183] If the functions are implemented in the form of software modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the portion that contributes to the prior art, or the portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, electronic device, or network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program code, such as a USB flash drive, a mobile hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk. It should be noted that, in this document, the terms "comprise," "include," or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article, or device. Without further constraints, an element defined by the phrase "comprises a..." does not preclude the existence of additional identical elements in the process, method, article or apparatus that includes the element.

[0184] The above description is merely a preferred embodiment of the present application and is not intended to limit the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A vertical take-off and landing UAV landing control method, characterized in that: include: Determining a target value trajectory of the target UAV in a first phase, wherein the target value trajectory is used to reflect target values ​​of motion parameters of the target UAV at various positions in the first phase, wherein the first phase refers to a phase in which the target UAV transitions from a horizontal state to a vertical state; Based on the first trajectory tracking control scheme configured for the first stage and the target value trajectory, controlling the target UAV to move from a horizontal state to a vertical state; Based on the second trajectory tracking control scheme configured for the second stage and the moving speed of the target mobile platform on which the target UAV is to land, the target UAV is controlled to maintain a vertical state and move to the target mobile platform, wherein the horizontal speed of the target UAV when moving to the target mobile platform is the same as the moving speed of the target mobile platform.

2. The vertical take-off and landing UAV landing control method according to claim 1, characterized in that: The step of determining the target value trajectory of the target UAV in the first stage includes: Based on the center of gravity coordinate value trajectory of the target UAV in the first stage, determining a track inclination target value trajectory of the target UAV in the first stage, wherein each track inclination target value in the track inclination target value trajectory is used to reflect the track inclination angle of the target UAV at the coordinates corresponding to each center of gravity coordinate value in the center of gravity coordinate value trajectory; Based on the center of gravity coordinate value trajectory of the target UAV in the first stage, a speed target value trajectory of the target UAV in the first stage is determined, wherein each speed target value in the speed target value trajectory is used to reflect the speed of the target UAV at the coordinates corresponding to each center of gravity coordinate value in the center of gravity coordinate value trajectory.

3. The vertical take-off and landing UAV landing control method according to claim 2, characterized in that: The step of determining the target value trajectory of the track inclination angle of the target UAV in the first stage based on the center of gravity coordinate value trajectory of the target UAV in the first stage includes: For each center of gravity coordinate value in the center of gravity coordinate value trajectory of the target UAV in the first stage, obtaining the pitch angle of the target UAV at the coordinate corresponding to the center of gravity coordinate value; comparing the pitch angle with a predetermined pitch angle threshold; If the pitch angle is less than the pitch angle threshold, determining the track inclination angle of the target UAV at the coordinate corresponding to the center of gravity coordinate value based on the horizontal coordinate value in the center of gravity coordinate value and a first mapping function, wherein the first mapping function includes a first mapping parameter and a second mapping parameter, and the first mapping parameter and the second mapping parameter are determined based on the speed of the target UAV when entering the first stage and / or the allowable normal overload of the target UAV; If the pitch angle is greater than or equal to the pitch angle threshold, the track inclination angle of the target UAV at the coordinate corresponding to the center of gravity coordinate value is determined based on the vertical coordinate value in the center of gravity coordinate value and the second mapping function, wherein the second mapping function includes the second mapping parameter.

4. The vertical take-off and landing UAV landing control method according to claim 2, characterized in that: The step of determining the target velocity trajectory of the target UAV in the first stage based on the center of gravity coordinate value trajectory of the target UAV in the first stage includes: For each center of gravity coordinate value in the center of gravity coordinate value trajectory of the target UAV in the first stage, obtaining the pitch angle of the target UAV at the coordinate corresponding to the center of gravity coordinate value; comparing the pitch angle with a predetermined pitch angle threshold; If the pitch angle is less than the pitch angle threshold, determining a target speed value of the target UAV at the coordinate corresponding to the center of gravity coordinate value based on the horizontal coordinate value in the center of gravity coordinate value and a third mapping function, wherein the third mapping function includes a third mapping parameter, and the third mapping parameter is used to control the speed of the target UAV to be equal to 0 at the end time of the first stage; If the pitch angle is greater than or equal to the pitch angle threshold, the speed target value of the target UAV at the coordinate corresponding to the center of gravity coordinate value is determined based on the vertical coordinate value in the center of gravity coordinate value and the fourth mapping function, wherein the fourth mapping function includes a first mapping parameter, a second mapping parameter and the third mapping parameter, and the first mapping parameter and the second mapping parameter are determined based on the speed of the target UAV when it enters the first stage and / or the allowable normal overload of the target UAV.

5. The vertical take-off and landing UAV landing control method according to claim 1, characterized in that: The step of controlling the target UAV to move from a horizontal state to a vertical state based on the first trajectory tracking control scheme configured for the first stage and the target value trajectory includes: Controlling the target UAV to move from a horizontal state to a vertical state based on the elevator control sub-scheme included in the first trajectory tracking control scheme configured for the first stage and the track inclination target value trajectory included in the target value trajectory; Based on the engine throttle control sub-scheme included in the first trajectory tracking control scheme configured for the first stage and the speed target value trajectory included in the target value trajectory, the target UAV is controlled to move from a horizontal state to a vertical state.

6. The vertical take-off and landing UAV landing control method according to claim 5, characterized in that: The step of controlling the target UAV to move from a horizontal state to a vertical state based on the elevator control sub-scheme included in the first trajectory tracking control scheme configured for the first stage and the track inclination target value trajectory included in the target value trajectory includes: For each track inclination target value in the track inclination target value trajectory included in the target value trajectory, obtaining a pitch angular velocity corresponding to the track inclination target value, wherein the pitch angular velocity is detected based on an onboard attitude sensor of the target UAV; determining a first parameter based on the pitch angular velocity and an elevator damping control parameter in an elevator control sub-scheme included in a first trajectory tracking control scheme configured for the first stage; performing an integration operation based on the target track inclination angle value and an actual track inclination angle value corresponding to the target track inclination angle value, and determining a second parameter based on a result of the integration operation and an elevator integral control parameter in the elevator control sub-scheme, wherein the actual track inclination angle value is determined based on a ratio between an actual elevator rate and a speed of the target UAV at corresponding coordinates; performing a sum calculation on the first parameter and the second parameter to obtain an elevator control instruction of the target UAV; Based on the elevator control instruction corresponding to each track inclination target value in the track inclination target value trajectory, the target UAV is controlled to move from a horizontal state to a vertical state.

7. The vertical take-off and landing UAV landing control method according to claim 5, characterized in that: The step of controlling the target UAV to move from a horizontal state to a vertical state based on the engine throttle control sub-scheme included in the first trajectory tracking control scheme configured for the first stage and the speed target value trajectory included in the target value trajectory includes: For each speed target value in the speed target value trajectory included in the target value trajectory, based on the speed target value and the actual speed of the target UAV at the corresponding coordinates, proportional calculation and integral calculation are performed according to the engine throttle proportional control parameter and the engine throttle integral control parameter in the engine throttle control sub-scheme included in the first trajectory tracking control scheme configured for the first stage, respectively, to obtain a third parameter and a fourth parameter; Summing the third parameter and the fourth parameter to obtain an engine throttle control instruction for the target UAV; Based on the engine throttle control instruction corresponding to each speed target value in the speed target value trajectory, the target UAV is controlled to move from a horizontal state to a vertical state.

8. The vertical take-off and landing UAV landing control method according to claim 1, characterized in that: The step of controlling the target UAV to maintain a vertical state and move to the target mobile platform based on the second trajectory tracking control scheme configured for the second stage and the moving speed of the target mobile platform on which the target UAV is to land includes: Based on the elevator control sub-scheme included in the second trajectory tracking control scheme configured for the second stage and the movement speed of the target mobile platform on which the target UAV is to land, controlling the target UAV to maintain a vertical state and move to the target mobile platform; Based on the engine throttle control sub-scheme included in the second trajectory tracking control scheme configured for the second stage and the moving speed of the target mobile platform on which the target UAV is to land, the target UAV is controlled to maintain a vertical state and move to the target mobile platform.

9. The vertical take-off and landing UAV landing control method according to claim 8, characterized in that: The step of controlling the target UAV to maintain a vertical state and move to the target mobile platform based on the elevator control sub-scheme included in the second trajectory tracking control scheme configured for the second stage and the moving speed of the target mobile platform on which the target UAV is to land comprises: Obtaining a moving speed of a target mobile platform on which the target UAV is to land, and determining a target moving speed of the target UAV in a horizontal direction based on the moving speed; Based on the actual horizontal movement speed of the target UAV and the target movement speed, performing proportional calculations and integral calculations according to the elevator proportional control parameters and the elevator integral control parameters in the elevator control sub-scheme included in the second trajectory tracking control scheme configured for the second stage, respectively, to obtain fifth and sixth parameters; performing a sum calculation on the fifth parameter and the sixth parameter to obtain an elevator control instruction of the target UAV; Based on the elevator control instruction of the target UAV, the target UAV is controlled to maintain a vertical state and move to the target mobile platform.

10. The vertical take-off and landing UAV landing control method according to claim 9, characterized in that: The step of obtaining the moving speed of the target mobile platform on which the target UAV is to land, and determining the target moving speed of the target UAV in the horizontal direction based on the moving speed, includes: Obtaining an actual moving speed of a target mobile platform on which the target UAV is to land, and obtaining an actual horizontal distance between the target UAV and the target mobile platform; Determining a target horizontal spacing between the target UAV and the target mobile platform based on the actual moving speed, the actual relative height between the target UAV and the target mobile platform, and the target vertical lifting speed of the target UAV; performing a proportional integral calculation on the actual horizontal separation and the target horizontal separation value to obtain a speed correction value for the target UAV, and determining a corrected target horizontal moving speed value for the target UAV based on the speed correction value for the target UAV and an initial target horizontal moving speed value for the target UAV; Based on the corrected moving speed target value, a target moving speed of the target UAV in the horizontal direction is determined.

11. The vertical take-off and landing UAV landing control method according to claim 8, characterized in that: The step of controlling the target UAV to maintain a vertical state and move to the target mobile platform based on the engine throttle control sub-scheme included in the second trajectory tracking control scheme configured for the second stage and the moving speed of the target mobile platform on which the target UAV is to land comprises: Determining a target vertical velocity of the target UAV in the second phase; Based on the actual lifting speed of the target UAV and the lifting speed target value, performing proportional calculation and integral calculation according to the engine throttle proportional control parameter and the engine throttle integral control parameter in the engine throttle control sub-scheme included in the second trajectory tracking control scheme configured for the second stage, respectively, to obtain a seventh parameter and an eighth parameter; performing a sum calculation on the seventh parameter and the eighth parameter to obtain an engine throttle control instruction of the target UAV; Based on the engine throttle control instruction of the target UAV, the target UAV is controlled to maintain a vertical state and move to the target mobile platform.

12. The vertical take-off and landing UAV landing control method according to any one of claims 1 to 11, characterized in that: The vertical take-off and landing UAV landing control method further includes: Determining a movement distance of the target UAV from the beginning to the end of the first phase; Determining a first movement duration of the target UAV from the beginning to the end of the first phase; Determining a second movement duration of the target UAV from the beginning to the end of the second phase; Determining a stage transition judgment distance based on the movement distance, the first movement duration, the second movement duration, the target movement speed of the target UAV in the horizontal direction in the second stage, and the movement speed of the target mobile platform; Based on the stage transition judgment distance, it is determined whether the target UAV enters the first stage, wherein if the horizontal distance between the target UAV and the target mobile platform is equal to the stage transition judgment distance, it is determined that the first stage has been entered, so that when the target UAV lands to the same height as the target mobile platform, the target mobile platform is located directly below the target UAV.

13. A vertical take-off and landing UAV landing control device, characterized in that: include: a target value trajectory determination module, configured to determine a target value trajectory of the target UAV in a first phase, wherein the target value trajectory is used to reflect target values ​​of motion parameters of the target UAV at various positions in the first phase, wherein the first phase refers to a phase in which the target UAV transitions from a horizontal state to a vertical state; A first stage control module is configured to control the target UAV to move from a horizontal state to a vertical state based on a first trajectory tracking control scheme configured for the first stage and the target value trajectory; The second stage control module is used to control the target UAV to maintain a vertical state and move to the target mobile platform based on the second trajectory tracking control scheme configured for the second stage and the moving speed of the target mobile platform to be landed by the target UAV, wherein the horizontal speed of the target UAV when moving to the target mobile platform is the same as the moving speed of the target mobile platform.

14. An electronic device, characterized in that: include: memory for storing computer programs; A processor connected to the memory is used to execute the computer program stored in the memory to implement the vertical take-off and landing UAV landing control method described in any one of claims 1-12.

15. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, which, when running, executes the vertical take-off and landing UAV landing control method according to any one of claims 1 to 12.

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