Vertical take-off and landing unmanned aerial vehicle landing control method, device, equipment and medium

Abstract

The application provides a vertical take-off and landing unmanned aerial vehicle landing control method, device, equipment and medium, and relates to the technical field of unmanned aerial vehicle control. In the application, first, a target value trajectory possessed by a target unmanned aerial vehicle in a first stage is determined; second, the target unmanned aerial vehicle is controlled 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; then, the target unmanned aerial vehicle is controlled to keep the vertical state and move to a target mobile platform based on a second trajectory tracking control scheme configured for a second stage and the moving speed of the target mobile platform to be landed by the target unmanned aerial vehicle. Based on the above, the problem that the reliability of the vertical take-off and landing unmanned aerial vehicle landing control is relatively low in the prior art can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicle control, in particular to a vertical take-off and landing unmanned aerial vehicle landing control method, device, equipment and medium. BACKGROUND

[0002] The vertical take-off and landing aircraft uses the vertical upward thrust provided by the engine to overcome gravity, thereby realizing vertical take-off and landing. Such aircraft can break away from the dependence on airport runways, has the advantages of flexible departure, high attendance rate, and low support cost; in addition, it can also take off and land on a mobile platform, which has incomparable advantages over the sliding take-off and landing aircraft. The main types of vertical take-off and landing aircrafts developed so far are: Vbat, tilt-rotor, rotor, jet engine thrust diversion, ducted fan, and hybrid of these methods.

[0003] Among them, the Vbat vertical take-off and landing unmanned aerial vehicle is a kind of aircraft that tilts the whole body during take-off and landing, which can hover vertically and also can cruise like a conventional fixed-wing aircraft. Generally, it uses propellers as power, and has the characteristics of light weight, small size and simple power system, etc. It can take off and land on a mobile platform (such as a ship deck, a vehicle platform, etc.), and can be used to perform various tasks after carrying a payload, and has a wide application prospect.

[0004] Therefore, how to plan the trajectory of the Vbat vertical take-off and landing unmanned aerial vehicle landing to the mobile platform is the key to ensure the safe landing of the Vbat vertical take-off and landing unmanned aerial vehicle to the mobile platform. That is, in the prior art, there is a problem that the reliability of vertical take-off and landing unmanned aerial vehicle landing control is relatively low. SUMMARY

[0005] Therefore, the purpose of the present application is to provide a vertical take-off and landing unmanned aerial vehicle landing control method, device, equipment and medium to improve the problem of relatively low reliability of vertical take-off and landing unmanned aerial vehicle landing control in the prior art.

[0006] To achieve the above-mentioned purpose, the present application adopts the following technical solutions:

[0007] A vertical take-off and landing unmanned aerial vehicle landing control method, comprising:

[0008] determining a target value trajectory that a target unmanned aerial vehicle has in a first stage, wherein the target value trajectory is used to reflect target values of motion parameters of each position of the target unmanned aerial vehicle in the first stage, and the first stage refers to a stage in which the target unmanned aerial vehicle transitions from a horizontal state to a vertical state;

[0009] controlling the target unmanned aerial vehicle to move from the horizontal state to the vertical state based on a first trajectory tracking control scheme configured for the first stage and the target value trajectory.

[0010] based on the second trajectory tracking control scheme configured for the second stage and a moving speed of the target mobile platform on which the target UAV is to be landed, control the target UAV to keep a vertical state and move to the target mobile platform, wherein a 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.

[0011] In a preferred selection of the present application, in the 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:

[0012] based on the target value trajectory of the center of gravity coordinates of the target UAV in the first stage, determine a target value trajectory of a flight path inclination of the target UAV in the first stage, wherein each target value of the flight path inclination in the target value trajectory of the flight path inclination is used to reflect a flight path inclination of the target UAV at a coordinate corresponding to each target value of the center of gravity coordinates in the target value trajectory of the center of gravity coordinates.

[0013] based on the target value trajectory of the center of gravity coordinates of the target UAV in the first stage, determine a target value trajectory of a speed of the target UAV in the first stage, wherein each target value of the speed in the target value trajectory of the speed is used to reflect a speed of the target UAV at a coordinate corresponding to each target value of the center of gravity coordinates in the target value trajectory of the center of gravity coordinates.

[0014] In a preferred selection of the present application, in the vertical take-off and landing UAV landing control method, the step of determining the target value trajectory of the flight path inclination of the target UAV in the first stage based on the target value trajectory of the center of gravity coordinates of the target UAV in the first stage includes:

[0015] for each target value of the center of gravity coordinates of the target UAV in the first stage, obtain a pitch angle of the target UAV at a coordinate corresponding to the target value of the center of gravity coordinates;

[0016] compare the pitch angle with a predetermined pitch angle threshold value;

[0017] if the pitch angle is less than the pitch angle threshold value, based on a horizontal coordinate value in the target value of the center of gravity coordinates and a first mapping function, determine a flight path inclination of the target UAV at the coordinate corresponding to the target value of the center of gravity coordinates, 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 a speed of the target UAV when entering the first stage and / or an allowable normal overload of the target UAV;

[0018] If the pitch angle is greater than or equal to the pitch angle threshold, a flight path bank angle of the target UAV at a coordinate corresponding to the gravity center coordinate value is determined based on a vertical direction coordinate value in the gravity center coordinate value and a second mapping function, wherein the second mapping function comprises the second mapping parameter.

[0019] In a preferred selection of the present application, in the vertical take-off and landing UAV landing control method, the step of determining a speed target value trajectory of the target UAV in the first stage based on the trajectory of the gravity center coordinate value of the target UAV in the first stage comprises:

[0020] For each gravity center coordinate value in the trajectory of the gravity center coordinate value of the target UAV in the first stage, an pitch angle of the target UAV at a coordinate corresponding to the gravity center coordinate value is obtained;

[0021] The pitch angle is compared with a predetermined pitch angle threshold;

[0022] If the pitch angle is less than the pitch angle threshold, a speed target value of the target UAV at the coordinate corresponding to the gravity center coordinate value is determined based on a horizontal direction coordinate value in the gravity center coordinate value and a third mapping function, wherein the third mapping function comprises a third mapping parameter, and the third mapping parameter is used to control the speed of the target UAV at the end of the first stage to be equal to 0;

[0023] If the pitch angle is greater than or equal to the pitch angle threshold, a speed target value of the target UAV at the coordinate corresponding to the gravity center coordinate value is determined based on a vertical direction coordinate value in the gravity center coordinate value and a fourth mapping function, wherein the fourth mapping function comprises the first mapping parameter, the 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 entering the first stage and / or the allowable normal overload of the target UAV.

[0024] In a preferred selection of the present application, in the vertical take-off and landing UAV landing control method, the step of controlling the target UAV to move from the horizontal state to the vertical state based on the first trajectory tracking control scheme configured for the first stage and the target value trajectory comprises:

[0025] The target UAV is controlled to move from the horizontal state to the vertical state based on an elevator control sub-scheme included in the first trajectory tracking control scheme configured for the first stage and a flight path bank angle target value trajectory included in the target value trajectory.

[0026] based on an engine throttle control sub-scheme included in the first trajectory tracking control scheme configured for the first stage and a speed target value trajectory included in the target value trajectory, control the target UAV to move from the horizontal state to the vertical state.

[0027] In a preferred selection of the present application, in the vertical take-off and landing UAV landing control method, the step of controlling the target UAV to move from the horizontal state to the vertical state based on an elevator control sub-scheme included in the first trajectory tracking control scheme configured for the first stage and a path inclination target value trajectory included in the target value trajectory, comprises:

[0028] For each path inclination target value in the path inclination target value trajectory included in the target value trajectory, obtain the pitch angular velocity corresponding to the path inclination target value, wherein the pitch angular velocity is detected based on the on-board attitude sensor of the target UAV;

[0029] based on the pitch angular velocity and the elevator damping control parameter in the elevator control sub-scheme included in the first trajectory tracking control scheme configured for the first stage, determine a first parameter;

[0030] based on the integral operation of the path inclination target value and the actual path inclination value corresponding to the path inclination target value, and based on the result of the integral operation and the elevator integral control parameter in the elevator control sub-scheme, determine a second parameter, wherein the actual path inclination value is determined based on the ratio between the actual elevator rate and the speed of the target UAV in the corresponding coordinate;

[0031] perform summation calculation on the first parameter and the second parameter to obtain the elevator control instruction of the target UAV;

[0032] based on the elevator control instruction corresponding to each path inclination target value in the path inclination target value trajectory, control the target UAV to move from the horizontal state to the vertical state.

[0033] In a preferred selection of the present application, in the vertical take-off and landing UAV landing control method, the step of controlling the target UAV to move from the horizontal state to the vertical state based on an engine throttle control sub-scheme included in the first trajectory tracking control scheme configured for the first stage and a speed target value trajectory included in the target value trajectory, comprises:

[0034] for each of the speed target values 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 coordinate, respectively 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 first trajectory tracking control scheme configured for the first stage, to obtain a third parameter and a fourth parameter;

[0035] performing summation calculation on the third parameter and the fourth parameter, to obtain the engine throttle control instruction of the target UAV;

[0036] based on the engine throttle control instruction corresponding to each of the speed target values in the speed target value trajectory, controlling the target UAV to move from the horizontal state to the vertical state.

[0037] In a preferred selection of the present application, in the vertical take-off and landing UAV landing control method, the step of controlling the target UAV to keep the 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, comprises:

[0038] controlling the target UAV to keep the 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 to be landed by the target UAV;

[0039] controlling the target UAV to keep the 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 to be landed by the target UAV.

[0040] In a preferred selection of the present application, in the vertical take-off and landing UAV landing control method, the step of controlling the target UAV to keep the 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, comprises:

[0041] obtaining the moving speed of the target mobile platform to be landed by the target UAV, and determining the target moving speed of the target UAV in the horizontal direction based on the moving speed;

[0042] Based on the actual moving speed of the target UAV in the horizontal direction and the target moving speed, proportional calculation and integral calculation are respectively performed on 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 according to the fifth parameter and the sixth parameter;

[0043] The fifth parameter and the sixth parameter are summed to obtain the elevator control instruction of the target UAV;

[0044] 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 moving platform.

[0045] In the preferred selection of the present application, in the vertical take-off and landing UAV landing control method, the step of obtaining the moving speed of the target moving platform to be landed by the target UAV, and determining the target moving speed of the target UAV in the horizontal direction based on the moving speed, comprises:

[0046] The actual moving speed of the target moving platform to be landed by the target UAV is obtained, and the actual horizontal distance between the target UAV and the target moving platform is obtained;

[0047] Based on the actual moving speed, the actual relative height between the target UAV and the target moving platform, and the target value of the lifting speed of the target UAV in the vertical direction, a target value of the horizontal distance between the target UAV and the target moving platform is determined;

[0048] The actual horizontal distance and the target value of the horizontal distance are proportionally integrated to obtain a speed correction amount of the target UAV, and based on the speed correction amount of the target UAV and the initial moving speed target value of the target UAV in the horizontal direction, a corrected moving speed target value of the target UAV in the horizontal direction is determined;

[0049] Based on the corrected moving speed target value, the target moving speed of the target UAV in the horizontal direction is determined.

[0050] In the preferred selection of the present application, in the 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 moving 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 moving platform to be landed by the target UAV, comprises:

[0051] The target value of the lifting speed of the target UAV in the vertical direction in the second stage is determined;

[0052] According to the actual ascending / descending speed of the target UAV and the ascending / descending speed target value, a proportional calculation and an integral calculation are respectively performed on an engine throttle proportional control parameter and an engine throttle integral control parameter included in an engine throttle control sub-scheme of a second trajectory tracking control scheme configured for a second stage, to obtain a seventh parameter and an eighth parameter;

[0053] A summation calculation is performed on the seventh parameter and the eighth parameter, to obtain an engine throttle control instruction of the target UAV;

[0054] Based on the engine throttle control instruction of the target UAV, the target UAV is controlled to keep a vertical state and move to the target moving platform.

[0055] In a preferred selection of the present application, in the vertical take-off and landing UAV landing control method, the vertical take-off and landing UAV landing control method further comprises:

[0056] A moving distance of the target UAV from the start to the end of the first stage is determined;

[0057] A first moving time length of the target UAV from the start to the end of the first stage is determined;

[0058] A second moving time length of the target UAV from the start to the end of the second stage is determined;

[0059] Based on the moving distance, the first moving time length, the second moving time length, a target moving speed of the target UAV in the horizontal direction in the second stage, and a moving speed of the target moving platform, a stage conversion judgment distance is determined;

[0060] Based on the stage conversion judgment distance, it is determined whether the target UAV enters the first stage, wherein if the distance between the target UAV and the target moving platform in the horizontal direction is equal to the stage conversion judgment distance, it is determined that the target UAV enters the first stage, so that when the target UAV lands to the same height as the target moving platform, the target moving platform is located directly below the target UAV.

[0061] The present application also provides a vertical take-off and landing UAV landing control device, comprising:

[0062] A target value trajectory determination module is configured to determine a target value trajectory of a target UAV in a first stage, wherein the target value trajectory is used to reflect target values of motion parameters of the target UAV at various positions in the first stage, and the first stage refers to a stage in which the target UAV transitions from a horizontal state to a vertical state;

[0063] a first-stage control module, 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;

[0064] a second-stage control module, configured to control the target UAV to keep the vertical state and move to a target mobile platform to be landed by the target UAV based on a second trajectory tracking control scheme configured for the second stage and a moving speed of the target mobile platform, wherein a 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.

[0065] On the basis of the above, the present application further provides an electronic device, comprising:

[0066] a memory, configured to store a computer program;

[0067] a processor connected with the memory, configured to execute the computer program stored in the memory to implement the vertical take-off and landing UAV landing control method.

[0068] On the basis of the above, the present application further provides a computer readable storage medium, which stores a computer program, and the computer program executes the steps of the vertical take-off and landing UAV landing control method.

[0069] The vertical take-off and landing UAV landing control method, device, equipment and medium provided by the present application first determine the target value trajectory of the target UAV in the first stage, then 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, and then control the target UAV to keep the vertical state and move to a target mobile platform to be landed by the target UAV based on a second trajectory tracking control scheme configured for the second stage and a moving speed of 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 value of the motion parameter of each position of the target UAV in the first stage, the accuracy of the motion control in the first stage is higher, thereby ensuring the reliability of the motion control, and on the other hand, since in the control in the second stage, 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, the problem of the body of the target UAV falling can be avoided when the target UAV lands on the target mobile platform, thereby ensuring the safe landing of the target UAV. Therefore, the problem of the relatively low reliability of the landing control of the vertical take-off and landing UAV in the prior art can be improved. BRIEF DESCRIPTION OF DRAWINGS

[0070] In order to make the above objectives, characteristics and advantages of the present application more apparent, more comprehensible, the following preferred embodiments are specifically described in detail below, together with the accompanying drawings.

[0071] Figure 1 A structural block diagram of an electronic device provided by an embodiment of the present application.

[0072] Figure 2 A schematic diagram of a vertical take-off and landing unmanned aerial vehicle landing control method provided by an embodiment of the present application.

[0073] Figure 3 A schematic diagram of an unmanned aerial vehicle landing process provided by an embodiment of the present application.

[0074] Figure 4 A schematic diagram of a flight trajectory simulation curve of an unmanned aerial vehicle in a horizontal transition vertical phase provided by an embodiment of the present application.

[0075] Figure 5 A schematic diagram of a flight path inclination simulation curve of an unmanned aerial vehicle in a horizontal transition vertical phase provided by an embodiment of the present application.

[0076] Figure 6 A schematic diagram of a speed simulation curve of an unmanned aerial vehicle in a horizontal transition vertical phase provided by an embodiment of the present application.

[0077] Figure 7 A schematic diagram of a vertical take-off and landing unmanned aerial vehicle landing control device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0078] In order to make the objectives, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments of the present application. 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.

[0079] Therefore, the detailed description of the embodiments of the present application provided in the drawings below is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. All other embodiments obtained by a person of ordinary skill in the art without creative labor based on the embodiments in the present application are within the scope of protection of the present application.

[0080] As Figure 1 shown, an embodiment of the present application provides an electronic device. The electronic device can include a memory, a processor and a vertical take-off and landing unmanned aerial vehicle landing control device.

[0081] In detail, the memory and the processor are directly or indirectly electrically connected to realize 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 unmanned aerial vehicle landing control device comprises at least one software function module stored in the memory in the form of software or firmware. The processor is configured to execute the executable computer program stored in the memory, for example, the software function module and the computer program comprised in the vertical take-off and landing unmanned aerial vehicle landing control device, to realize the vertical take-off and landing unmanned aerial vehicle landing control method provided in the embodiments of the present application.

[0082] Alternatively, the memory can 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. In addition, the processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), a system on chip (SoC), etc.; and can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component.

[0083] It can be understood that, Figure 1 The structure shown is only schematic, and the electronic device can further comprise more or less components than those shown in the figures, or have a different configuration of components than those shown in the figures, for example, it can further comprise a communication unit for information interaction with other devices. Figure 1 It can be understood that, Figure 1 The structure shown is only schematic, and the electronic device can further comprise more or less components than those shown in the figures, or have a different configuration of components than those shown in the figures, for example, it can further comprise a communication unit for information interaction with other devices.

[0084] In addition, it should be noted that the electronic device can be an airborne control device of an unmanned aerial vehicle, or other devices that have a communication connection with the unmanned aerial vehicle.

[0085] In combination with Figure 2The embodiment of the present application also provides a vertical take-off and landing UAV landing control method applicable to the electronic device. Figure 2 The specific process is shown in the following.

[0086] In step S110, a target value trajectory of the target UAV in the first stage is determined.

[0087] In the embodiment of the present application, the electronic device can determine a target value trajectory of the target UAV in the first stage. The target value trajectory is used to reflect target values of motion parameters of the target UAV at various positions in the first stage, and the first stage refers to a stage in which the target UAV transits from a horizontal state to a vertical state. That is, at the starting moment or starting position of the first stage, the target UAV is in the horizontal state, and then gradually adjusts to the vertical state at the ending moment or ending position of the first stage.

[0088] In step S120, the target UAV is controlled to move from the horizontal state to the vertical state based on a first trajectory tracking control scheme configured for the first stage and the target value trajectory.

[0089] In the embodiment of the present application, after the target value trajectory is determined, the electronic device can control the target UAV to move from the horizontal state to the vertical state based on a first trajectory tracking control scheme configured for the first stage and the target value trajectory. That is, since the target value trajectory has target values of motion parameters of the target UAV at various positions in the first stage, the target values of the motion parameters at the various positions can be converted into control instructions or control parameters through the first trajectory tracking control scheme, so that the target UAV can be controlled based on the control instructions or the control parameters, thereby making the target UAV move from the horizontal state to the vertical state.

[0090] In step S130, the target UAV is controlled to keep the vertical state and move to the target mobile platform based on a second trajectory tracking control scheme configured for the second stage and a moving speed of the target mobile platform to be landed by the target UAV.

[0091] In the embodiment of the present application, after the target UAV moves from the horizontal state to the vertical state, i.e., after the end of the first stage, the electronic device can control the target UAV to keep the 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 speed of the target UAV in the horizontal direction when moving to the target mobile platform is the same as the moving speed of the target mobile platform. That is to say, since the target UAV is in the vertical state at the end of the first stage, in the second stage, the vertical state can be maintained, and the target UAV can be controlled to land on the target mobile platform.

[0092] Based on the above, on the one hand, since the target UAV is controlled to move from the horizontal state to the vertical state based on the target values of the motion parameters of the target UAV at each position in the first stage, the accuracy of the motion control in the first stage is higher, thereby ensuring the reliability of the motion control. On the other hand, in the control in the second stage, the speed of the target UAV in the horizontal direction when moving to the target mobile platform is the same as the moving speed of the target mobile platform, which can avoid the problem of the body of the target UAV falling when landing on the target mobile platform, thereby ensuring the safe landing of the target UAV. Therefore, the problem that the reliability of the landing control of the vertical take-off and landing UAV in the prior art is relatively low can be improved.

[0093] In the first aspect, it needs to be explained that the specific manner of determining the target value trajectory possessed by the target UAV in the first stage is not limited, and can be selected according to actual needs.

[0094] For example, in an alternative implementation, only the flight path angle of the target UAV can be controlled, and for another example, in another alternative implementation, only the speed of the target UAV can be controlled.

[0095] For another example, in another alternative implementation, the flight path angle and the 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 flight path angle target value trajectory and a speed target value trajectory (thus, in the process of controlling the target UAV to move from the horizontal state to the vertical state when performing step S120, the flight path angle and the speed are considered). Therefore, the above step S110 can further include steps S111 and S112, and the specific contents of each step are as follows.

[0096] Step S111, based on the trajectory of the center of gravity coordinate value of the target UAV in the first stage, determine the trajectory of the target value of the flight path angle that the target UAV has in the first stage.

[0097] In the embodiments of the present application, the trajectory of the target value of the flight path angle that the target UAV has in the first stage can be determined based on the trajectory of the center of gravity coordinate value of the target UAV in the first stage. Each target value of the flight path angle in the trajectory of the target value of the flight path angle is used to reflect the flight path angle of the target UAV at the coordinate corresponding to each center of gravity coordinate value in the trajectory of the center of gravity coordinate value. For example, the first target value of the flight path angle in the trajectory of the target value of the flight path angle can be determined based on the first center of gravity coordinate value in the trajectory of the center of gravity coordinate value, which is the target value of the flight path angle of the coordinate or position corresponding to the first center of gravity coordinate value. And the second target value of the flight path angle in the trajectory of the target value of the flight path angle can be determined based on the second center of gravity coordinate value in the trajectory of the center of gravity coordinate value, which is the target value of the flight path angle of the coordinate or position corresponding to the second center of gravity coordinate value. And the third target value of the flight path angle in the trajectory of the target value of the flight path angle can be determined based on the third center of gravity coordinate value in the trajectory of the center of gravity coordinate value, which is the target value of the flight path angle of the coordinate or position corresponding to the third center of gravity coordinate value, and so on.

[0098] Step S112, based on the trajectory of the center of gravity coordinate value of the target UAV in the first stage, determine the trajectory of the target value of the speed that the target UAV has in the first stage.

[0099] In the embodiments of the present application, the trajectory of the target value of the speed that the target UAV has in the first stage can also be determined based on the trajectory of the center of gravity coordinate value of the target UAV in the first stage. Each target value of the speed in the trajectory of the target value of the speed is used to reflect the speed of the target UAV at the coordinate corresponding to each center of gravity coordinate value in the trajectory of the center of gravity coordinate value. For example, the first target value of the speed in the trajectory of the target value of the speed can be determined based on the first center of gravity coordinate value in the trajectory of the center of gravity coordinate value, which is the target value of the speed of the coordinate or position corresponding to the first center of gravity coordinate value. And the second target value of the speed in the trajectory of the target value of the speed can be determined based on the second center of gravity coordinate value in the trajectory of the center of gravity coordinate value, which is the target value of the speed of the coordinate or position corresponding to the second center of gravity coordinate value. And the third target value of the speed in the trajectory of the target value of the speed can be determined based on the third center of gravity coordinate value in the trajectory of the center of gravity coordinate value, which is the target value of the speed of the coordinate or position corresponding to the third center of gravity coordinate value, and so on.

[0100] It can be understood that, in the step S111, a specific manner of determining the trajectory of the target value 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 trajectory of the target value of the track inclination angle has high precision, the step S111 can further include steps S111a, S111b, S111c and S111d, and the specific contents of each step are as follows.

[0101] In step S111a, for each of the target value of the track inclination angle of the target UAV in the first stage, the pitch angle of the target UAV at the coordinate corresponding to the gravity coordinate value is obtained.

[0102] In the embodiment of the present application, for each of the target value of the track inclination angle of the target UAV in the first stage, the pitch angle of the target UAV at the coordinate corresponding to the gravity coordinate value can be obtained. It should be noted that each of the target value of the track inclination angle of the target UAV in the first stage can be determined based on the on-board navigation equipment of the target UAV. In addition, in the embodiment of the present application, the origin of the coordinate system can be the position of the target UAV at the beginning of the first stage.

[0103] In step S111b, the pitch angle is compared with a predetermined pitch angle threshold.

[0104] In the 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 judged whether the pitch angle is less than the pitch angle threshold, for example, the pitch angle threshold can be equal to 45 degrees.

[0105] In 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 gravity coordinate value is determined based on the horizontal coordinate value in the gravity coordinate value and the first mapping function.

[0106] In the embodiments of the present application, if the pitch angle is less than the pitch angle threshold, a flight path bank angle of the target UAV at a coordinate corresponding to the barycentric coordinate value is determined based on a horizontal direction coordinate value in the barycentric 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 a speed of the target UAV when the target UAV enters the first stage (i.e., a speed at the beginning of the first stage) and / or a normal load factor of the target UAV. For example, if the speed is large or the normal load factor is small, the values of the first mapping parameter and the second mapping parameter can be small, so that the problem of a large normal load factor of the target UAV can be avoided to some extent. Conversely, if the speed is small or the normal load factor is large, the values of the first mapping parameter and the second mapping parameter can be large, so that the time and the trajectory length of the first stage can be shortened as much as possible while ensuring that the normal load factor of the target UAV does not exceed the normal load factor.

[0107] In step S111d, if the pitch angle is greater than or equal to the pitch angle threshold, a flight path bank angle of the target UAV at a coordinate corresponding to the barycentric coordinate value is determined based on a vertical direction coordinate value in the barycentric coordinate value and a second mapping function.

[0108] In the embodiments of the present application, if the pitch angle is greater than or equal to the pitch angle threshold, a flight path bank angle of the target UAV at a coordinate corresponding to the barycentric coordinate value is determined based on a vertical direction coordinate value in the barycentric coordinate value and a second mapping function. The second mapping function includes the second mapping parameter.

[0109] For example, the first mapping function can be: first, calculating the product of the horizontal direction coordinate value in the barycentric coordinate value and the second mapping parameter, then, performing 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 then, calculating the arctangent value of the product, and finally, calculating the product of the arctangent value and a target parameter to obtain the corresponding flight path bank angle. For example, the target parameter can be equal to 57.3.

[0110] For example, the second mapping function can be: first, calculating the product of the vertical direction coordinate value in the barycentric coordinate value and the second mapping parameter, then, calculating the arctangent value of the product, and finally, calculating the product of the arctangent value and a target parameter to obtain the corresponding flight path bank angle.

[0111] It can be understood that the specific manner in which the speed target value trajectory that the target UAV has in the first stage is determined in step S112 is not limited, for example, in an alternative embodiment, in order to ensure that the determined speed target value trajectory has high precision, step S112 can further include steps S112a, S112b, S112c and S112d, and the specific contents of each step are as follows.

[0112] In step S112a, for each of the center of gravity coordinate values in the center of gravity coordinate value trajectory of the target UAV in the first stage, the pitch angle that the target UAV has at the coordinate corresponding to the center of gravity coordinate value is obtained.

[0113] In the embodiment of the present application, for each of the center of gravity coordinate values in the center of gravity coordinate value trajectory of the target UAV in the first stage, the pitch angle that the target UAV has at the coordinate corresponding to the center of gravity coordinate value can be obtained. It should be noted that each of the center of gravity coordinate values in the center of gravity coordinate value trajectory can be determined based on the on-board navigation equipment of the target UAV. In addition, in the embodiment of the present application, the origin of the coordinate system can be the position of the target UAV at the start time of the first stage.

[0114] In step S112b, the pitch angle is compared with a predetermined pitch angle threshold.

[0115] In the 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.

[0116] In 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 a third mapping function.

[0117] In the embodiments of the present application, if the pitch angle is less than the pitch angle threshold, a speed target value of the target UAV at a coordinate corresponding to the barycentric coordinate value is determined based on a coordinate value in the horizontal direction in the barycentric 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. Specifically, the third mapping parameter can be determined as follows: first, the square of the coordinate value in the horizontal direction of the target UAV at the end of the first stage is obtained (which can be configured based on actual requirements); then, a ratio between the speed of the target UAV at the beginning of the first stage (the speed in the horizontal direction) and the square is calculated; 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 0.

[0118] In step S112d, if the pitch angle is greater than or equal to the pitch angle threshold, a speed target value of the target UAV at a coordinate corresponding to the barycentric coordinate value is determined based on a coordinate value in the vertical direction in the barycentric coordinate value and a fourth mapping function.

[0119] In the embodiments of the present application, if the pitch angle is greater than or equal to the pitch angle threshold, a speed target value of the target UAV at a coordinate corresponding to the barycentric coordinate value is determined based on a coordinate value in the vertical direction in the barycentric 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 entering the first stage and / or the allowable normal overload of the target UAV (as described above).

[0120] For example, the third mapping function can be as follows: first, a product between the square of the coordinate value in the horizontal direction in the barycentric coordinate value and the third mapping parameter is calculated; then, a sum between the product and the speed of the target UAV at the beginning of the first stage (the speed in the horizontal direction) is calculated, thereby obtaining the corresponding speed target value.

[0121] For example, the fourth mapping function can be as follows: first, a ratio between the coordinate value in the vertical direction in the barycentric coordinate value and the first mapping parameter is calculated; then, a logarithmic function value of the ratio is calculated; further, a ratio between the square of the third mapping parameter and the second mapping parameter is calculated; further, a product between the square of the logarithmic function value and the ratio is calculated; further, a sum between the product and the speed of the target UAV at the beginning of the first stage (the speed in the horizontal direction) is calculated, thereby obtaining the corresponding speed target value.

[0122] The second aspect, for step S120, the specific way of controlling the target UAV to move from the horizontal state to the vertical state is not limited, and can be selected according to actual needs.

[0123] For example, in an alternative embodiment, the target UAV can be controlled to move from the horizontal state to the vertical state based on the target value trajectory including the trajectory inclination target value trajectory. For another example, in another alternative embodiment, the target UAV can be controlled to move from the horizontal state to the vertical state based on the target value trajectory including the speed target value trajectory.

[0124] For another example, in another alternative embodiment, in order to achieve reliable control of the target UAV in the process of moving from the horizontal state to the vertical state, the above step S120 can further include steps S121 and S122, and the specific contents of each step are as follows.

[0125] Step S121, based on the elevator control sub-scheme included in the first trajectory tracking control scheme configured for the first stage and the trajectory inclination target value trajectory included in the target value trajectory, the target UAV is controlled to move from the horizontal state to the vertical state.

[0126] In the embodiment of the present application, the target UAV can be controlled to move from the horizontal state to the vertical state based on the elevator control sub-scheme included in the first trajectory tracking control scheme configured for the first stage and the trajectory inclination target value trajectory included in the target value trajectory. That is, the control instruction or control parameter of the elevator can be generated based on the target value of the trajectory inclination, so as to achieve the corresponding control of the target UAV.

[0127] 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 the horizontal state to the vertical state.

[0128] In the embodiment of the present application, the target UAV can be controlled to move from the horizontal state to the 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. That is, the control instruction or control parameter of the engine throttle can be generated based on the target value of the speed, so as to achieve the corresponding control of the target UAV.

[0129] It can be understood that, in step S121, the specific control mode of the elevator is not limited during the movement of the target UAV from the horizontal state to the vertical state. For example, in an alternative embodiment, in order to achieve reliable control of the target UAV, step S121 can further include steps S121a, S121b, S121c, S121d, and S121e, and the specific contents of each step are as follows.

[0130] In step S121a, for each of the target value trajectories included in the target value trajectory, the pitch angle velocity corresponding to the target value trajectory is obtained.

[0131] In the embodiment of the present application, for each of the target value trajectories included in the target value trajectory, the pitch angle velocity corresponding to the target value trajectory is obtained. The pitch angle velocity is detected based on the on-board attitude sensor of the target UAV.

[0132] In step S121b, based on the pitch angle velocity and the elevator damping control parameter included in the elevator control sub-scheme of the first trajectory tracking control scheme configured for the first stage, a first parameter is determined.

[0133] In the embodiment of the present application, after obtaining the pitch angle velocity, the first parameter can be determined based on the pitch angle velocity and the elevator damping control parameter included in the elevator control sub-scheme of the first trajectory tracking control scheme configured for the first stage. For example, the pitch angle velocity and the elevator damping control parameter can be multiplied to obtain the first parameter.

[0134] In step S121c, based on the target value trajectory and the actual value of the target value trajectory corresponding to the target value trajectory, an integral operation is performed, and based on the result of the integral operation and the elevator integral control parameter included in the elevator control sub-scheme, a second parameter is determined.

[0135] In the embodiments of the present application, the first parameter can be determined based on the target value of the flight path angle and the integral operation result of the target value of the flight path angle and the actual value of the flight path angle corresponding to the target value of the flight path angle, and the second parameter can be determined based on the integral control parameter of the elevator in the elevator control sub-scheme. The actual value of the flight path angle can be determined based on the ratio between the actual elevator rate and the actual speed of the target UAV in the corresponding coordinate, and the flight path angle can be equal to the inverse sine function value of the ratio. In addition, the difference between the target value of the flight path angle and the actual value of the flight path angle corresponding to the target value of the flight path angle can be calculated, and the integral operation result of the difference and the integral control parameter of the elevator can be obtained by multiplying the integral operation result of the difference and the integral control parameter of the elevator.

[0136] In step S121d, the first parameter and the second parameter are summed to obtain the elevator control instruction of the target UAV.

[0137] In the embodiments of the present application, the first parameter and the second parameter can be summed to obtain the elevator control instruction of the target UAV. That is, the sum of the first parameter and the second parameter can be used as the control parameter of the elevator.

[0138] In step S121e, the target UAV is controlled to move from the horizontal state to the vertical state based on the elevator control instruction corresponding to each target value of the flight path angle in the target value trajectory of the flight path angle.

[0139] In the embodiments of the present application, after the elevator control instruction is obtained, the target UAV can be controlled to move from the horizontal state to the vertical state based on the elevator control instruction corresponding to each target value of the flight path angle in the target value trajectory of the flight path angle.

[0140] Based on this, proportional integral control of the elevator can be realized.

[0141] It can be understood that in the above step S122, the specific control mode of the engine throttle during the movement of the target UAV from the horizontal state to the vertical state is not limited, for example, in an alternative embodiment, in order to realize reliable control of the target UAV, the above step S122 can further include steps S122a, S122b and S122c, and the specific contents of each step are as follows.

[0142] In the embodiment of the present application, for each speed target value in the speed target value trajectory included in the target value trajectory, proportional calculation and integral calculation can be performed on 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 based on the speed target value and the actual speed of the target UAV at the corresponding coordinate, to obtain the third parameter and the 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, and the integral calculation of the difference can be performed, and then the integral calculation result obtained is multiplied by the engine throttle integral control parameter to obtain the fourth parameter.

[0143] In the embodiment of the present application, for each speed target value in the speed target value trajectory included in the target value trajectory, proportional calculation and integral calculation can be performed on 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 based on the speed target value and the actual speed of the target UAV at the corresponding coordinate, to obtain the third parameter and the 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, and the integral calculation of the difference can be performed, and then the integral calculation result obtained is multiplied by the engine throttle integral control parameter to obtain the fourth parameter.

[0144] In the embodiment of the present application, for each speed target value in the speed target value trajectory included in the target value trajectory, proportional calculation and integral calculation can be performed on 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 based on the speed target value and the actual speed of the target UAV at the corresponding coordinate, to obtain the third parameter and the 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, and the integral calculation of the difference can be performed, and then the integral calculation result obtained is multiplied by the engine throttle integral control parameter to obtain the fourth parameter.

[0145] In the embodiment of the present application, for each speed target value in the speed target value trajectory included in the target value trajectory, proportional calculation and integral calculation can be performed on 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 based on the speed target value and the actual speed of the target UAV at the corresponding coordinate, to obtain the third parameter and the 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, and the integral calculation of the difference can be performed, and then the integral calculation result obtained is multiplied by the engine throttle integral control parameter to obtain the fourth parameter.

[0146] In the embodiment of the present application, for each speed target value in the speed target value trajectory included in the target value trajectory, proportional calculation and integral calculation can be performed on 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 based on the speed target value and the actual speed of the target UAV at the corresponding coordinate, to obtain the third parameter and the 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, and the integral calculation of the difference can be performed, and then the integral calculation result obtained is multiplied by the engine throttle integral control parameter to obtain the fourth parameter.

[0147] In the embodiment of the present application, for each speed target value in the speed target value trajectory included in the target value trajectory, proportional calculation and integral calculation can be performed on 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 based on the speed target value and the actual speed of the target UAV at the corresponding coordinate, to obtain the third parameter and the 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, and the integral calculation of the difference can be performed, and then the integral calculation result obtained is multiplied by the engine throttle integral control parameter to obtain the fourth parameter.

[0148] Based on this, proportional integral control of the engine throttle can be implemented.

[0149] For step S130, the specific manner of controlling the target UAV to maintain the vertical state and move to the target mobile platform is not limited, and can be selected according to actual requirements.

[0150] For example, in an alternative implementation, 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, so that the speeds of the target UAV and the target mobile platform in the horizontal direction are both controlled to be zero, so that the target UAV can be directly controlled to land on the target mobile platform.

[0151] For another example, in another alternative implementation, considering that the target mobile platform can be difficult to be in a stationary state, in order to achieve safe landing of the target UAV, step S130 can further include steps S131 and S132, and specific contents of each step are as follows.

[0152] 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 be landed, the target UAV is controlled to maintain the vertical state and move to the target mobile platform.

[0153] In the embodiment of the present application, the target UAV can be controlled to maintain the 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 be landed. That is, the target UAV can be controlled to maintain the vertical state and move to the target mobile platform by controlling the elevator.

[0154] 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 be landed, the target UAV is controlled to maintain the vertical state and move to the target mobile platform.

[0155] In the embodiment of the present application, the target UAV can be controlled to maintain the 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 be landed. That is, the target UAV can be controlled to maintain the vertical state and move to the target mobile platform by controlling the engine throttle.

[0156] It can be understood that, in the step S131, the specific manner of controlling the elevator for controlling the target UAV to keep the vertical state and moving to the target mobile platform is not limited, for example, in an alternative embodiment, in order to realize reliable control of the elevator, the step S131 can further include steps S131a, S131b, S131c and S131d, and the specific contents of each step are as follows.

[0157] In step S131a, the moving speed of the target mobile platform on which the target UAV is to be landed is obtained, and based on the moving speed, the target moving speed of the target UAV in the horizontal direction is determined.

[0158] In the embodiment of the present application, the moving speed of the target mobile platform on which the target UAV is to be landed can be obtained, and based on the moving speed, the target moving speed of the target UAV in the horizontal direction is determined, for example, in order to avoid the problem of the body falling, the moving speed can be directly used as the target moving speed, so that the moving speed of the target UAV and the target mobile platform in the horizontal direction is consistent, thus the risk of landing falling can be reduced.

[0159] In step S131b, based on the actual moving speed of the target UAV in the horizontal direction and the target moving speed, 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 are used for proportional calculation and integral calculation respectively, to obtain the fifth parameter and the sixth parameter.

[0160] In the embodiment of the present application, after the target moving speed is determined, based on the actual moving speed of the target UAV in the horizontal direction and the target moving speed, 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 are used for proportional calculation and integral calculation respectively, to obtain the fifth parameter and the sixth parameter. For example, the difference between the actual moving speed and the target moving speed can be calculated first, then on one hand, the product of the difference and the elevator proportional control parameter can be calculated to obtain the fifth parameter, on the other hand, the integral calculation of the difference can be performed, and then the result of the integral calculation can be multiplied by the elevator integral control parameter to obtain the sixth parameter.

[0161] In step S131c, the fifth parameter and the sixth parameter are summed to obtain the elevator control instruction of the target UAV.

[0162] In the embodiments of the present application, after the fifth parameter and the sixth parameter are obtained, the fifth parameter and the sixth parameter can be summed to obtain the elevator control instruction of the target UAV. That is, the sum of the fifth parameter and the sixth parameter can be determined as the control instruction or control parameter of the elevator.

[0163] In step S131d, the target UAV is controlled to keep a vertical state and move to the target mobile platform based on the elevator control instruction of the target UAV.

[0164] In the embodiments of the present application, after the elevator control instruction is obtained, the target UAV can be controlled to keep a vertical state and move to the target mobile platform based on the elevator control instruction of the target UAV.

[0165] It can be understood that in the above step S131a, the specific manner of determining the target horizontal moving speed of the target UAV is not limited, for example, in an alternative embodiment, considering that the target UAV will be disturbed by wind and other external disturbances in actual application, the horizontal transition vertical stage (first stage) and the vertical landing stage (second stage) will generate trajectory tracking errors, in order to ensure that the target UAV can accurately land on the target mobile platform, the above step S131a can specifically include the following contents:

[0166] Firstly, the actual moving speed of the target mobile platform to be landed by the target UAV can be obtained, and the actual horizontal distance between the target UAV and the target mobile platform can be obtained;

[0167] Secondly, based on the actual moving speed, the actual relative height between the target UAV and the target mobile platform, and the target vertical speed value of the target UAV, a horizontal distance target value between the target UAV and the target mobile platform can be determined;

[0168] Then, proportional integral calculation can be performed on the actual horizontal distance and the horizontal distance target value to obtain a speed correction amount of the target UAV, and based on the speed correction amount of the target UAV and the initial horizontal moving speed target value of the target UAV, a corrected horizontal moving speed target value of the target UAV can be determined;

[0169] Finally, based on the corrected horizontal moving speed target value, the target horizontal moving speed of the target UAV can be determined, for example, the corrected horizontal moving speed target value can be taken as the target horizontal moving speed of the target UAV.

[0170] It can be understood that, in the step S132, the specific manner of controlling the engine throttle for controlling the target UAV to keep the vertical state and move to the target mobile platform is not limited, for example, in an alternative embodiment, in order to realize reliable control of the engine throttle, the step S132 can further include steps S132a, S132b, S132c and S132d, and the specific contents of each step are as follows.

[0171] In step S132a, the target UAV is determined to have a target value of the vertical direction lifting speed in the second stage.

[0172] In the embodiment of the present application, the target value of the vertical direction lifting speed of the target UAV in the second stage can be determined, which can be configured according to actual needs.

[0173] In step S132b, based on the actual lifting speed of the target UAV and the target value of the lifting speed, 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 are respectively subjected to proportional calculation and integral calculation, to obtain the seventh parameter and the eighth parameter.

[0174] In the embodiment of the present application, after the target value of the lifting speed is determined, based on the actual lifting speed of the target UAV and the target value of the lifting speed, 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 are respectively subjected to proportional calculation and integral calculation, to obtain the seventh parameter and the eighth parameter. For example, the difference between the actual lifting speed and the target value of the lifting speed can be calculated, then on one hand, the product of the difference and the engine throttle proportional control parameter can be calculated to obtain the seventh parameter, on the other hand, the difference can be subjected to integral calculation, and the product of the integral calculation result and the engine throttle integral control parameter can be calculated to obtain the eighth parameter.

[0175] In step S132c, the seventh parameter and the eighth parameter are subjected to summation calculation to obtain the engine throttle control instruction of the target UAV.

[0176] In the embodiment of the present application, after the seventh parameter and the eighth parameter are obtained, the seventh parameter and the eighth parameter can be subjected to summation calculation to obtain the engine throttle control instruction of the target UAV. That is, the sum of the seventh parameter and the eighth parameter can be used as the control instruction or control parameter of the engine throttle.

[0177] In step S132d, the target UAV is controlled to keep a vertical state and move to the target mobile platform based on the engine throttle control instruction of the target UAV.

[0178] In the embodiments of the present application, after obtaining the engine throttle control instruction of the target UAV, the target UAV can be controlled to keep a vertical state and move to the target mobile platform based on the engine throttle control instruction.

[0179] In the fourth aspect, it should be noted that, in order to enable the target UAV to land on the target mobile platform quickly and safely, the target mobile platform should just move to the position directly below the target UAV when the target UAV lands at the same height as the target mobile platform. Based on this, the vertical take-off and landing UAV landing control method can further include the following steps S140, S150, S160, S170 and S180 to determine whether to enter the first stage or determine the entering condition of the first stage, and the specific contents are as follows.

[0180] In step S140, the moving distance of the target UAV from the start to the end of the first stage is determined.

[0181] In the embodiments of the present application, the electronic device can determine the moving distance of the target UAV from the start to the end of the first stage, and the moving distance can be configured according to user demand.

[0182] In step S150, the first moving time length of the target UAV from the start to the end of the first stage is determined.

[0183] In the embodiments of the present application, the electronic device can determine the first moving time length of the target UAV from the start to the end of the first stage, for example, the first moving time length can be calculated based on the moving distance.

[0184] In step S160, the second moving time length of the target UAV from the start to the end of the second stage is determined.

[0185] In the embodiments of the present application, the electronic device can determine the second moving time length of the target UAV from the start 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, and the specific determination process is described below.

[0186] In step S170, the stage conversion judgment distance is determined based on the moving distance, the first moving time length, the second moving time length, 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.

[0187] In the embodiments of the present application, after the moving distance, the first moving time length, and the second moving time length are obtained, the electronic device can determine a stage conversion judgment distance based on the moving distance, the first moving time length, the second moving time length, a target moving speed of the target UAV in the horizontal direction in the second stage, and a moving speed of the target moving platform. The specific determination process is described below.

[0188] In step S180, it is determined whether the target UAV enters the first stage based on the stage conversion judgment distance.

[0189] In the embodiments of the present application, after the stage conversion judgment distance is obtained, the electronic device can determine whether the target UAV enters the first stage based on the stage conversion judgment distance. If the distance between the target UAV and the target moving platform in the horizontal direction is equal to the stage conversion judgment distance, it is determined that the target UAV enters the first stage, so that when the target UAV lands to the same height as the target moving platform, the target moving platform is located directly below the target UAV.

[0190] To facilitate the understanding of the vertical take-off and landing UAV landing control method described above, in the embodiments of the present application, the following specific implementation scheme is provided, which is combined with Figures 3-6 as shown.

[0191] Step S1: The UAV landing process is divided into three stages: landing preparation, horizontal transition vertical, and vertical landing, as shown in the accompanying Figure 3 .

[0192] The landing preparation stage is defined as: the process of flying the UAV from a distance behind the moving platform to a distance behind the moving platform. The stage conversion judgment distance is the distance when the horizontal distance between the UAV and the moving platform is less than or equal to , and the landing preparation stage is converted to the horizontal transition vertical stage.

[0193] Further, the distance may be set to hundreds of meters to several kilometers. If the flight height and speed of the UAV are low, the distance may be set to a smaller value; if the flight height and speed of the UAV are high, the distance should be set to a larger value, so that the UAV has enough time to adjust the height and speed to the target value before entering the horizontal transition vertical stage.

[0194] The horizontal transition vertical stage is defined as: the process of the UAV from the end time of the landing preparation stage to the target position The process. Among them, Let x be the x-coordinate of the UAV's center of gravity in the ground coordinate system OXY. This represents the expected value of the horizontal coordinate of the UAV's center of gravity in the ground coordinate system OXY at the end of the horizontal-to-vertical transition phase.

[0195] Furthermore, the ground coordinate system OXY is defined as follows: with the end point of the landing preparation phase, that is, the beginning point of the horizontal transition to vertical phase, as the origin O, the OX axis is located in the horizontal plane and points in the direction of the moving platform's movement as positive, and the OY axis is located in the vertical plane and points in the sky as positive.

[0196] The vertical landing phase is defined as the process by which the UAV gradually descends from the end of the horizontal-to-vertical transition phase until it lands on the mobile platform.

[0197] Step S2: Design the target value trajectory, including:

[0198] Step S21: Design the target trajectory for the horizontal to vertical transition phase.

[0199] Because the flight trajectory of a vertical takeoff and landing (VTOL) UAV during the horizontal-to-vertical transition phase exhibits exponential curve characteristics, the trajectory of the target value of the inclination angle during this phase can be described mathematically:

[0200] ;

[0201] in, The target value for the track inclination angle. Here are the coordinates of the UAV's center of gravity in the ground coordinate system OXY, and A and B are trajectory description parameters. This refers to the pitch angle of the drone.

[0202] Furthermore, the coordinates of the UAV's center of gravity It can be obtained through airborne navigation equipment.

[0203] Furthermore, the trajectory description parameters A and B are positive numbers, and their specific values ​​can be determined based on the target velocity values ​​during the landing preparation phase. And the determination of the allowable normal overload of the drone: if If the normal overload is relatively large, then the trajectory description parameters A and B should be selected with smaller values ​​to avoid large normal overloads on the aircraft; if If the normal overload is relatively small or large, then the trajectory description parameters A and B should be selected with larger values. In this way, while ensuring that the normal overload of the UAV does not exceed the allowable normal overload, the time and trajectory length of the horizontal to vertical transition phase can be shortened as much as possible.

[0204] Step S22: Design the target velocity trajectory for the horizontal-to-vertical transition phase.

[0205] Since the speed change of the VTOL UAV in the horizontal-to-vertical transition phase has the characteristics of a parabolic curve, the speed target value trajectory of the horizontal-to-vertical transition phase can be described by a mathematical formula:

[0206]

[0207] wherein, is the speed target value of the horizontal-to-vertical transition phase, is the speed target value of the landing preparation phase, and C is a trajectory description parameter.

[0208] Further, the trajectory description parameter C is a negative number, and it is expected that the speed of the UAV can be substantially reduced to zero at the end of the horizontal-to-vertical transition phase, and thus the following formula can be used to determine:

[0209]

[0210] wherein, 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-to-vertical transition phase.

[0211] Step S23: Calculate the time of the horizontal-to-vertical transition phase

[0212] The calculation formula of the time of the horizontal-to-vertical transition phase is:

[0213]

[0214] wherein, is the time of the horizontal-to-vertical transition phase, and .

[0215] Step S24: Calculate the time of the vertical landing phase

[0216] The calculation formula of the time of the vertical landing phase is:

[0217]

[0218] wherein, is the time of the vertical landing phase, is the relative height target value of the UAV from the moving platform in the landing preparation phase, is the lifting speed target value of the UAV in the vertical landing phase.

[0219] Step S3: Calculate the phase conversion criterion distance

[0220] ​​​​To enable the UAV to quickly and safely land on the moving platform, the following conditions should be met: the UAV lands at the same height as the moving platform, and the moving platform just moves to the position directly below the UAV. Therefore, the calculation formula of the phase transition criterion distance is:

[0221]

[0222] wherein, is the phase transition criterion distance, is the forward movement speed of the moving platform (horizontal direction), is the target value of the forward movement speed of the UAV in the vertical landing phase (horizontal direction).

[0223] Further, to avoid the UAV body from falling when landing on the moving platform, the forward movement speeds of the UAV and the moving platform should be consistent, i.e. Therefore, the calculation formula of the phase transition criterion distance can be simplified as:

[0224]

[0225] Step S4: designing a trajectory tracking control law, including:

[0226] Step S41: designing a landing preparation phase control law

[0227] In the landing preparation phase, the UAV maintains a constant height, and the elevator control law is:

[0228]

[0229] wherein, is the elevator control command, V y is the UAV's lifting rate, which can be measured by an on-board navigation device, H is the relative height of the UAV from the moving platform, H g is the target value of the relative height of the UAV from the moving platform, K1 is the elevator damping control parameter in the landing preparation phase, K2 is the elevator proportional control parameter in the landing preparation phase, and K3 is the elevator integral control parameter in the landing preparation phase.

[0230] Further, the value of H g should be appropriate. If the value is too small, the UAV is too close to the ground or water surface, which is not conducive to flight safety; if the value is too large, it is not conducive to rapid landing.

[0231] In the landing preparation phase, the engine throttle control law of the UAV is used to track the target value of the speed, so that the UAV maintains a constant speed. Based on this, the engine throttle control law of the UAV in the landing preparation phase can be:

[0232] ​​​​

[0233] wherein, is the engine throttle control command, V is the UAV speed, V0 is the speed target value in the landing preparation phase, x is the UAV forward (horizontal direction) acceleration, which can be measured by the on-board inertial sensor, K4 is the engine throttle damping control parameter in the landing preparation phase, K5 is the engine throttle proportional control parameter in the landing preparation phase, and K6 is the engine throttle integral control parameter in the landing preparation phase.

[0234] Further, the value of V0 should be appropriate. If it is too small, the flight attack angle is large, which is not conducive to flight safety. If it is too large, the height of the horizontal transition vertical phase increases too much, which is not conducive to rapid landing.

[0235] Step S42: design the horizontal transition vertical phase control law

[0236] The elevator control law of the UAV in the horizontal transition vertical phase can be:

[0237] ;

[0238] wherein, is the pitch rate of the UAV, which can be measured by the on-board attitude sensor, is the track angle of the UAV, K7 is the elevator damping control parameter in the horizontal transition vertical phase, and K8 is the elevator integral control parameter in the horizontal transition vertical phase.

[0239] Further, the track angle can be calculated as:

[0240] ;

[0241] The engine throttle control law of the UAV in the horizontal transition vertical phase can be:

[0242] ;

[0243] wherein, K9 is the engine throttle proportional control parameter in the horizontal transition vertical phase, and K 10 is the engine throttle integral control parameter in the horizontal transition vertical phase.

[0244] Step S43: design the vertical landing phase control law

[0245] The elevator control law of the UAV in the vertical landing phase can be:

[0246] ;

[0247] wherein, V x is the forward movement speed of the UAV in the vertical landing phase, K11 K is a proportional control parameter of the elevator in the vertical landing phase 12 K is an integral control parameter of the elevator in the vertical landing phase.

[0248] The engine throttle control law of the UAV in the vertical landing phase can be:

[0249] ;

[0250] wherein V y K is a vertical landing speed of the UAV, K 13 K is a proportional control parameter of the engine throttle in the vertical landing phase, K 14 K is an integral control parameter of the engine throttle in the vertical landing phase.

[0251] Further, considering that the UAV will be disturbed by wind and other external disturbances in actual application, trajectory tracking errors will be generated in the horizontal transition vertical phase and the vertical landing phase. In order to ensure that the UAV can accurately land on the mobile platform, a speed correction amount needs to be added to the elevator control law of the UAV in the vertical landing phase. Therefore, the elevator control law of the UAV in the vertical landing phase can be:

[0252] ;

[0253] wherein, V is a forward movement speed target value of the UAV in the vertical landing phase considering the speed correction amount, and the calculation formula is:

[0254] ;

[0255] wherein, V is a speed correction amount, and the calculation formula is:

[0256] ;

[0257] wherein K 15 K is a proportional control parameter of the speed correction amount, K 16 K is an integral control parameter of the speed correction amount, S is a horizontal distance between the mobile platform and the UAV, S g V is a horizontal distance target value between the mobile platform and the UAV, and the calculation formula is:

[0258] .

[0259] Exemplarily, the simulation initial value condition can be that the relative height of the UAV from the mobile platform is 50 m, and the initial flight speed is 30 m / s.

[0260] Trajectory description parameters: A = 1.06, B = 0.033, C = -0.001.

[0261] The speed target value of the landing preparation phase is V0=30m / s.

[0262] The ideal flight trajectory of the horizontal transition vertical phase is:

[0263] .

[0264] The trajectory inclination target value trajectory of the horizontal transition vertical phase is:

[0265]

[0266] The speed target value trajectory of the horizontal transition vertical phase is:

[0267]

[0268] The expected value of the horizontal coordinate value of the center of gravity of the unmanned aerial vehicle in the ground coordinate system OXY at the end time of the horizontal transition vertical phase is x t =130m, and =76.3m.

[0269] The time used for the horizontal transition vertical phase is: =8.4s.

[0270] The forward movement speed of the mobile platform is V s =5m / s.

[0271] The phase conversion criterion distance is: =88m.

[0272] As shown in the horizontal transition vertical phase shown in Figure 4 , the height of the unmanned aerial vehicle is increased by 77.5m. As shown in Figure 5 , the trajectory inclination tracks the target value well, and the trajectory inclination at the end time of the horizontal transition vertical phase is 62.3°. As shown in Figure 6 , the speed tracks the target value well, and the speed at the end time of the horizontal transition vertical phase is 9.3m / s.

[0273] In combination with Figure 7 , the embodiment of the present application further provides a vertical take-off and landing unmanned aerial vehicle landing control device applicable to the above-mentioned electronic device. The vertical take-off and landing unmanned aerial vehicle landing control device can include a target value trajectory determination module, a first phase control module, and a second phase control module.

[0274] The target value trajectory determination module is configured to determine a target value trajectory of the target UAV in a first stage, wherein the target value trajectory is used to reflect target values of motion parameters of the target UAV at different positions in the first stage, and the first stage refers to a stage in which the target UAV transitions from a horizontal state to a vertical state. In the embodiments of the present application, the target value trajectory determination module can be configured to perform the following steps. Figure 2 The step S110 is shown, and the related content of the target value trajectory determination module can be referred to the foregoing description of the step S110.

[0275] The first stage control module is configured to control the target UAV to move from the horizontal state to the vertical state based on a first trajectory tracking control scheme configured for the first stage and the target value trajectory. In the embodiments of the present application, the first stage control module can be configured to perform the following steps. Figure 2 The step S120 is shown, and the related content of the first stage control module can be referred to the foregoing description of the step S120.

[0276] The second stage control module is configured to control the target UAV to keep the vertical state and move to a target mobile platform based on a second trajectory tracking control scheme configured for the second stage and a moving speed of the target mobile platform, wherein the target UAV has the same horizontal speed as the moving speed of the target mobile platform when moving to the target mobile platform. In the embodiments of the present application, the second stage control module can be configured to perform the following steps. Figure 2 The step S130 is shown, and the related content of the second stage control module can be referred to the foregoing description of the step S130.

[0277] In the embodiments of the present application, corresponding to the vertical take-off and landing UAV landing control method applied to the electronic device, a computer readable storage medium is also provided, and the computer readable storage medium stores a computer program. The computer program performs each step of the vertical take-off and landing UAV landing control method when running.

[0278] Each step performed by the computer program when running is not described again here, and can be referred to the foregoing explanation and description of the vertical take-off and landing UAV landing control method.

[0279] To sum up, the vertical take-off and landing unmanned aerial vehicle landing control method, device, equipment and medium provided by the application firstly determine the target value trajectory that the target unmanned aerial vehicle has in the first stage, secondly control the target unmanned aerial vehicle 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, and then control the target unmanned aerial vehicle to keep the 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 unmanned aerial vehicle. Based on the above, on the one hand, since the target unmanned aerial vehicle is controlled to move from the horizontal state to the vertical state based on the target value of the motion parameter of each position of the target unmanned aerial vehicle in the first stage, the accuracy of the motion control in the first stage is higher, thereby guaranteeing the reliability of the motion control, and on the other hand, since in the control in the second stage, the speed of the target unmanned aerial vehicle in the horizontal direction when moving to the target mobile platform is the same as the moving speed of the target mobile platform, the problem of the body of the target unmanned aerial vehicle falling can be avoided when the target unmanned aerial vehicle lands on the target mobile platform, thereby guaranteeing the safe landing of the target unmanned aerial vehicle. Therefore, the problem that the reliability of the landing control of the vertical take-off and landing unmanned aerial vehicle in the prior art is relatively low can be improved.

[0280] In several embodiments provided by the embodiments of the present application, it should be understood that the disclosed apparatus and method can also be implemented by other manners. The apparatus and method embodiments described above are only illustrative, for example, the flowchart and block diagram in the drawings show the possible implementation architecture, function and operation of the apparatus, method and computer program product according to the embodiments of the present application. In this regard, each block in the flowchart or block diagram can represent a module, program segment or part of code containing one or more executable instructions for implementing the specified logic function. It should also be noted that in some alternative implementation manners, the functions noted in the blocks can also occur in different order from that noted in the drawings. For example, two consecutive blocks can actually be executed substantially in parallel, and sometimes they can be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and the combination of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system that performs the specified function or action, or can be implemented by a combination of special-purpose hardware and computer instructions.

[0281] In addition, each functional module in the embodiments 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.

[0282] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application can be embodied in the form of a software product in essence or in the form of a part of the prior art or part of the technical solutions of the present application. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, an electronic device, or a network device, etc.) to execute all or part of the steps of the method described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various program code storage media. It should be noted that in this paper, the terms "include", "contain" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the element defined by the statement "including a" does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0283] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A vertical take-off and landing drone landing control method, characterized by, The method comprises the following steps: determining a target value trajectory of the target UAV in the first stage, wherein the target value trajectory is used to reflect target values of motion parameters of the target UAV at different positions in the first stage, and the first stage refers to a stage in which the target UAV transitions from a horizontal state to a vertical state; controlling the target UAV to move from the horizontal state to the vertical state based on a first trajectory tracking control scheme configured for the first stage and the target value trajectory; controlling the target UAV to maintain the vertical state and move to a target mobile platform based on a second trajectory tracking control scheme configured for the second stage and a moving speed of the target mobile platform, wherein the target UAV has the same horizontal speed as the moving speed of the target mobile platform when moving to the target mobile platform; wherein the VTOL UAV landing control method further comprises: determining a moving distance of the target UAV from the beginning to the end of the first stage; determining a first moving time length of the target UAV from the beginning to the end of the first stage; determining a second moving time length of the target UAV from the beginning to the end of the second stage; determining a stage conversion judgment distance based on the moving distance, the first moving time length, the second moving time length, a target moving speed of the target UAV in the horizontal direction in the second stage, and a moving speed of the target mobile platform; determining whether the target UAV enters the first stage based on the stage conversion judgment distance, wherein if the distance between the target UAV and the target mobile platform in the horizontal direction is equal to the stage conversion judgment distance, it is determined that the target UAV enters the first stage, 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.

2. The VTOL UAV landing control method of claim 1, wherein, The step of determining the target value trajectory of the target UAV in the first stage comprises: determining a target value trajectory of a flight path inclination of the target UAV in the first stage based on a center of gravity coordinate value trajectory of the target UAV in the first stage, wherein each target value of the flight path inclination in the target value trajectory of the flight path inclination is used to reflect a flight path inclination of the target UAV at a coordinate corresponding to each center of gravity coordinate value in the center of gravity coordinate value trajectory; determining a target value trajectory of a speed 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, wherein each target value of the speed in the target value trajectory of the speed is used to reflect a speed of the target UAV at a coordinate corresponding to each center of gravity coordinate value in the center of gravity coordinate value trajectory.

3. The VTOL UAV landing control method of claim 2, wherein, The step of determining the target value trajectory of the flight path inclination 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 comprises: for each center of gravity coordinate value in the center of gravity coordinate value trajectory of the target UAV in the first stage, obtaining a pitch angle of the target UAV at a coordinate corresponding to the center of gravity coordinate value; comparing the pitch angle with a pre-determined pitch angle threshold value; if the pitch angle is less than the pitch angle threshold, determining a flight path bank angle of the target UAV at a coordinate corresponding to the gravity center coordinate value based on a horizontal direction coordinate value in the gravity center coordinate value and a first mapping function, wherein the first mapping function comprises a first mapping parameter and a second mapping parameter, and the first mapping parameter and the second mapping parameter are determined based on a speed of the target UAV when entering the first stage and / or a permissible normal overload of the target UAV; if the pitch angle is greater than or equal to the pitch angle threshold, determining the flight path bank angle of the target UAV at the coordinate corresponding to the gravity center coordinate value based on a vertical direction coordinate value in the gravity center coordinate value and a second mapping function, wherein the second mapping function comprises the second mapping parameter.

4. The VTOL UAV landing control method of claim 2, wherein, The step of determining a speed target value trajectory of the target UAV in the first stage based on the gravity center coordinate value trajectory of the target UAV in the first stage comprises: for each gravity center coordinate value in the gravity center coordinate value trajectory of the target UAV in the first stage, obtaining a pitch angle of the target UAV at a coordinate corresponding to the gravity center 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 speed target value of the target UAV at the coordinate corresponding to the gravity center coordinate value based on a horizontal direction coordinate value in the gravity center coordinate value and a third mapping function, wherein the third mapping function comprises a third mapping parameter, and the third mapping parameter is used to control the speed of the target UAV at an end time of the first stage to be equal to 0; if the pitch angle is greater than or equal to the pitch angle threshold, determining the speed target value of the target UAV at the coordinate corresponding to the gravity center coordinate value based on a vertical direction coordinate value in the gravity center coordinate value and a fourth mapping function, wherein the fourth mapping function comprises the first mapping parameter, the 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 entering the first stage and / or the permissible normal overload of the target UAV.

5. The VTOL UAV landing control method of claim 1, wherein, The step of controlling the target UAV to move from the horizontal state to the vertical state based on the first trajectory tracking control scheme configured for the first stage and the target value trajectory comprises: controlling the target UAV to move from the horizontal state to the vertical state based on an elevator control sub-scheme included in the first trajectory tracking control scheme configured for the first stage and a flight path bank angle target value trajectory included in the target value trajectory; controlling the target UAV to move from the horizontal state to the vertical state based on a motor throttle control sub-scheme included in the first trajectory tracking control scheme configured for the first stage and a speed target value trajectory included in the target value trajectory.

6. The VTOL UAV landing control method of claim 5, wherein, The step of controlling the target UAV to move from the horizontal state to the vertical state based on the first trajectory tracking control scheme configured for the first stage and the target value trajectory includes: For each of the target value trajectories of the target value trajectory of the target value trajectory of the target value trajectory, the target value trajectory of the target value trajectory is obtained, and the target value trajectory of the target value trajectory is obtained. For each of the target value trajectories of the target value trajectory of the target value trajectory of the target value trajectory, the target value trajectory of the target value trajectory is obtained, and the target value trajectory of the target value trajectory is obtained. For each of the target value trajectories of the target value trajectory of the target value trajectory of the target value trajectory, the target value trajectory of the target value trajectory is obtained, and the target value trajectory of the target value trajectory is obtained. For each of the target value trajectories of the target value trajectory of the target value trajectory of the target value trajectory, the target value trajectory of the target value trajectory is obtained, and the target value trajectory of the target value trajectory is obtained. For each of the target value trajectories of the target value trajectory of the target value trajectory of the target value trajectory, the target value trajectory of the target value trajectory is obtained, and the target value trajectory of the target value trajectory is obtained.

7. The VTOL UAV landing control method of claim 5, wherein, For each of the target value trajectories of the target value trajectory of the target value trajectory of the target value trajectory, the target value trajectory of the target value trajectory is obtained, and the target value trajectory of the target value trajectory is obtained. The step of controlling the target UAV to move from the horizontal state to the vertical state based on the first trajectory tracking control scheme configured for the first stage and the target value trajectory includes: For each of the target value trajectories of the target value trajectory of the target value trajectory of the target value trajectory, the target value trajectory of the target value trajectory is obtained, and the target value trajectory of the target value trajectory is obtained. For each of the target value trajectories of the target value trajectory of the target value trajectory of the target value trajectory, the target value trajectory of the target value trajectory is obtained, and the target value trajectory of the target value trajectory is obtained.

8. The VTOL UAV landing control method of claim 1, wherein, For each of the target value trajectories of the target value trajectory of the target value trajectory of the target value trajectory, the target value trajectory of the target value trajectory is obtained, and the target value trajectory of the target value trajectory is obtained. For each of the target value trajectories of the target value trajectory of the target value trajectory of the target value trajectory, the target value trajectory of the target value trajectory is obtained, and the target value trajectory of the target value trajectory is obtained. For each of the target value trajectories of the target value trajectory of the target value trajectory of the target value trajectory, the target value trajectory of the target value trajectory is obtained, and the target value trajectory of the target value trajectory is obtained. The step of controlling the target UAV to move from the horizontal state to the vertical state based on the first trajectory tracking control scheme configured for the first stage and the target value trajectory includes: For each of the target value trajectories of the target value trajectory of the target value trajectory of the target value trajectory, the target value trajectory of the target value trajectory is obtained, and the target value trajectory of the target value trajectory is obtained. For each of the target value trajectories of the target value trajectory of the target value trajectory of the target value trajectory, the target value trajectory of the target value trajectory is obtained, and the target value trajectory of the target value trajectory is obtained. For each of the target value trajectories of the target value trajectory of the target value trajectory of the target value trajectory, the target value trajectory of the target value trajectory is obtained, and the target value trajectory of the target value trajectory is obtained. For each of the target value trajectories of the target value trajectory of the target value trajectory of the target value trajectory, the target value trajectory of the target value trajectory is obtained, and the target value trajectory of the target value trajectory is obtained. For each of the target value trajectories of the target value trajectory of the target value trajectory of the target value trajectory, the target value trajectory of the target value trajectory is obtained, and the target value trajectory of the target value trajectory is obtained. The step of controlling the target UAV to move from the horizontal state to the vertical state based on the first trajectory tracking control scheme configured for the first stage and the target value trajectory includes: For each of the target value trajectories of the target value trajectory of the target value trajectory of the target value trajectory, the target value trajectory of the target value trajectory is obtained, and the target value trajectory of the target value trajectory is obtained. The step of controlling the target UAV to keep 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 be landed, comprises:

9. The VTOL UAV landing control method of claim 8, wherein, The step of controlling the target UAV to keep 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 be landed, comprises: obtaining the moving speed of the target mobile platform on which the target UAV is to be landed, and determining a target moving speed of the target UAV in the horizontal direction based on the moving speed; performing proportional calculation and integral calculation on 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 based on the actual moving speed of the target UAV in the horizontal direction and the target moving speed, to obtain a fifth parameter and a sixth parameter; performing sum calculation on the fifth parameter and the sixth parameter to obtain an elevator control instruction of the target UAV; controlling the target UAV to keep a vertical state and move to the target mobile platform based on the elevator control instruction of the target UAV.

10. The VTOL UAV landing control method of claim 9, wherein, The step of obtaining the moving speed of the target mobile platform on which the target UAV is to be landed, and determining a target moving speed of the target UAV in the horizontal direction based on the moving speed, comprises: obtaining the actual moving speed of the target mobile platform on which the target UAV is to be landed, and obtaining the actual horizontal distance between the target UAV and the target mobile platform; determining a horizontal distance target value 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 a target value of the lifting speed of the target UAV in the vertical direction; performing proportional integral calculation on the actual horizontal distance and the horizontal distance target value to obtain a speed correction amount of the target UAV, and determining a corrected moving speed target value of the target UAV in the horizontal direction based on the speed correction amount of the target UAV and an initial moving speed target value of the target UAV in the horizontal direction; determining the target moving speed of the target UAV in the horizontal direction based on the corrected moving speed target value.

11. The VTOL UAV landing control method of claim 8, wherein, The step of controlling the target UAV to keep 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 be landed, comprises: determining a target value of the lifting speed of the target UAV in the vertical direction in the second stage; According to the actual lifting speed of the target UAV and the lifting speed target value, a proportional calculation and an integral calculation are respectively performed on an engine throttle proportional control parameter and an engine throttle integral control parameter in an engine throttle control sub-scheme included in a second trajectory tracking control scheme configured for a second stage, to obtain a seventh parameter and an eighth parameter; A summation calculation is performed 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 keep a vertical state and move to the target mobile platform.

12. A vertical take-off and landing drone landing control device, characterized in that, Comprise: A target value trajectory determination module is configured to determine a target value trajectory of a target UAV in a first stage, wherein the target value trajectory is used to reflect target values of motion parameters of the target UAV at various positions in the first stage, and the first stage refers to a stage 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; A second stage control module is configured to control the target UAV to keep a vertical state and move to a target mobile platform based on a second trajectory tracking control scheme configured for a second stage and a moving speed of the target mobile platform, wherein a horizontal direction speed of the target UAV when moving to the target mobile platform is the same as the moving speed of the target mobile platform; The vertical take-off and landing UAV landing control device is further configured to: Determine a moving distance of the target UAV from the beginning to the end of the first stage; Determine a first moving time length of the target UAV from the beginning to the end of the first stage; Determine a second moving time length of the target UAV from the beginning to the end of the second stage; Determine a stage conversion judgment distance based on the moving distance, the first moving time length, the second moving time length, a target moving speed of the target UAV in the horizontal direction in the second stage, and the moving speed of the target mobile platform; Determine whether the target UAV enters the first stage based on the stage conversion judgment distance, wherein if the distance between the target UAV and the target mobile platform in the horizontal direction is equal to the stage conversion judgment distance, it is determined that the target UAV enters the first stage, 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. An electronic device, comprising: Comprise: A memory is configured to store a computer program; A processor connected with the memory is configured to execute the computer program stored in the memory, so as to implement the vertical take-off and landing UAV landing control method in any one of claims 1-11.

14. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, and the computer program performs the vertical take-off and landing UAV landing control method in any one of claims 1-11 when running.

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