An unmanned aerial vehicle task quick response method and system based on emergency delivery

Abstract

The application relates to the technical field of unmanned plane control, and particularly discloses a method and system for rapidly responding to unmanned plane tasks based on emergency delivery, which comprises the following steps: in response to an emergency delivery trigger instruction, calculating a dynamic delivery error envelope according to an impact sensitivity level and wind field vector data of a current airspace, calculating an expected crosswind cumulative offset of a delivery flight section according to a material load quality and the wind field vector data, combining current residual power of an unmanned plane cluster to generate a multi-constraint coupled approach profile, calculating a theoretical delivery window according to the multi-constraint coupled approach profile and real-time inertial measurement data of a target unmanned plane, and when the theoretical delivery window is reached, synchronously outputting a throwing device actuation signal and a rudder surface linkage compensation instruction according to real-time crosswind offset at the target unmanned plane and a compensation amount of a center of mass offset caused by load release; the application can improve the delivery precision of high-value materials and the flight stability of unmanned planes in a complex wind field environment.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) control technology, and in particular to a rapid response method and system for UAV missions based on emergency delivery. Background Technology

[0002] With the rapid development of drone technology, drones, with their high mobility and rapid deployment capabilities, have become a core tool for emergency material delivery in disaster scenarios such as earthquakes and floods. Existing drone emergency delivery methods typically adopt a layered processing architecture: first, the task scheduling module selects the drone to be executed based on task priority; then, the path planning module independently generates the flight path; and finally, the drone is dropped upon arrival at the delivery point. The functional boundaries of each module are clear, and each module independently completes its assigned task.

[0003] However, the existing technologies still have the following shortcomings: the impact sensitivity level of the materials and other mission attributes are not used as active constraints for flight control in trajectory planning, and mission allocation and flight control are independent of each other, resulting in a lack of targeted flight control protection for vulnerable materials during delivery; the existing wind field compensation mechanism only responds to instantaneous crosswinds and fails to predict and intervene in the cumulative drift effect of crosswinds along the entire delivery segment. During long-distance flight in a continuous crosswind environment, the cumulative effect of crosswinds will lead to significant landing point deviations; the center of gravity of the UAV undergoes a step change at the moment of payload release, and the existing methods lack an immediate linkage compensation scheme for this instantaneous step change. If the attitude becomes unstable, it will directly affect the delivery safety.

[0004] The aforementioned shortcomings collectively restrict the landing accuracy and flight safety of UAV emergency delivery. Therefore, there is an urgent need for a rapid response method for UAV emergency delivery that can incorporate material properties, wind field cumulative effects, and payload release centroid abrupt changes into a unified control framework. Summary of the Invention

[0005] In view of the above problems, the purpose of this invention is to provide a rapid response method and system for UAV missions based on emergency delivery, so as to solve the problems in existing UAV emergency delivery methods where mission attributes and flight control are independent, wind field compensation is only adjusted in an instantaneous response without pre-intervention for cumulative drift effects of flight segments, and there is no real-time linkage compensation for the sudden change in the center of mass at the moment of payload release, which makes it difficult to balance landing accuracy and flight safety.

[0006] This invention provides a rapid response method for unmanned aerial vehicle (UAV) missions based on emergency delivery, comprising: Step 1: In response to the emergency delivery trigger command, obtain the coordinates of the delivery target, the mass of the material load and the impact sensitivity level, and simultaneously collect the wind field vector data of the current airspace; Step 2: Calculate the dynamic delivery error envelope based on the impact sensitivity level and wind field vector data, and calculate the expected crosswind cumulative offset of the delivery segment based on the material load mass and wind field vector data. Step 3: Based on the dynamic delivery error envelope, the expected crosswind cumulative offset, and the current remaining battery power of the UAV swarm, reconstruct the altitude sequence of the flight waypoints corresponding to the target UAV in the UAV swarm, and generate the multi-constraint coupled approach profile of the target UAV. Step 4: Calculate the theoretical deployment window based on the multi-constraint coupled approach profile and the real-time inertial measurement data of the target UAV; Step 5: When the theoretical release window is reached, based on the real-time crosswind offset at the target UAV and the centroid offset compensation caused by load release, the releaser actuation signal and control surface linkage compensation command of the target UAV are output simultaneously.

[0007] The present invention also provides a rapid response system for unmanned aerial vehicle (UAV) missions based on emergency delivery, the system comprising: Data acquisition module: In response to emergency delivery trigger commands, it acquires the coordinates of the delivery target, the mass of the material load and the impact sensitivity level, and simultaneously collects wind field vector data of the current airspace; Error calculation module: It is used to calculate the dynamic delivery error envelope based on the impact sensitivity level and wind field vector data, and to calculate the expected crosswind cumulative offset of the delivery segment based on the material load mass and wind field vector data. Profile generation module: Based on the dynamic deployment error envelope, expected crosswind cumulative offset and the current remaining battery power of the UAV swarm, it reconstructs the altitude sequence of the flight waypoints corresponding to the target UAV in the UAV swarm and generates the multi-constraint coupled approach profile of the target UAV. Window calculation module: used to calculate the theoretical deployment window based on the real-time inertial measurement data of the multi-constraint coupled approach profile and the target UAV; Offset Compensation Module: When the theoretical release window is reached, it is used to simultaneously output the launcher actuation signal and control surface linkage compensation command of the target UAV based on the real-time crosswind offset at the target UAV and the centroid offset compensation amount caused by load release.

[0008] As can be seen from the above technical solution, the rapid response method and system for UAV missions based on emergency delivery provided by the present invention has the following beneficial effects: 1. This invention incorporates the material impact sensitivity level as an active constraint in flight control for trajectory planning, overcoming the shortcomings of task allocation and flight control being independent, which leads to a lack of targeted protection for vulnerable materials. By calculating the expected cumulative crosswind offset of the delivery segment, it replaces the traditional passive compensation mode that only makes instantaneous crosswind response adjustments, eliminating the cumulative landing point deviation caused by long-distance flight in continuous crosswind environments. By synchronously outputting the launcher actuation signal and control surface linkage compensation command at the moment of load release, it solves the deficiency of existing methods in lacking real-time compensation for sudden changes in the center of mass, avoiding the risk of attitude instability.

[0009] 2. This invention improves the delivery survival rate of high-value materials by dynamically calculating the delivery error envelope radius based on the coupling of impact sensitivity level and wind field disturbance, adapting differentiated delivery accuracy boundaries for materials with different levels of vulnerability; by discretizing the delivery segment and accumulating the crosswind drift contribution segment by segment, it enhances robustness to continuous environmental disturbances; and by introducing the current remaining power as a constraint condition for altitude sequence reconstruction, it establishes a dynamic balance between delivery accuracy and energy depletion.

[0010] 3. This invention incorporates the physical properties of materials, the cumulative effect of environmental wind fields, and abrupt changes in aircraft dynamics into a unified control framework, forming a complete technical closed loop of "attribute tolerance setting, tolerance-constrained path, path matching power supply, and coordinated delivery compensation," which significantly improves the accuracy of emergency material delivery in disaster scenarios and the mission safety of UAV platforms. Attached Figure Description

[0011] Other objects and results of the invention will become more apparent and readily understood by referring to the following description taken in conjunction with the accompanying drawings, and with a more complete understanding of the invention. In the drawings: Figure 1 This is a flowchart illustrating a rapid response method for unmanned aerial vehicle (UAV) missions based on emergency delivery, according to an embodiment of the present invention. Figure 2 This is a functional block diagram of a rapid response system for unmanned aerial vehicle (UAV) missions based on emergency delivery, according to an embodiment of the present invention. Detailed Implementation

[0012] Existing UAV emergency delivery methods have independent mission attributes and flight control, wind field compensation only makes instantaneous response adjustments without prior intervention for the cumulative drift effect of the flight segment, and the centroid step change at the moment of payload release lacks real-time linkage compensation, making it difficult to balance landing accuracy and flight safety.

[0013] To address the aforementioned issues, this invention provides a rapid response method and system for UAV missions based on emergency delivery. Its core idea lies in establishing a complete control chain: "attribute tolerance determination—tolerance-constrained path—path-matched power supply—delivery-coordinated compensation." The fundamental difference from existing technologies where task allocation and flight control are independent, wind field compensation is only adjusted instantaneously, and there is a lack of centroid mutation compensation at the moment of payload release is that this invention uses the material impact sensitivity level as an active constraint condition for flight control in trajectory planning. It achieves pre-judgment of the cumulative wind field effect by progressively accumulating the crosswind drift contribution segment by segment based on flight segment discretization. Simultaneously, it outputs the delivery device actuation signal and control surface linkage compensation command when the delivery window is triggered, incorporating the delivery action and attitude stability into a coordinated control framework at the same moment.

[0014] The following description of exemplary embodiments is merely illustrative and is in no way intended to limit the invention or its application or use. Techniques and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques and equipment should be considered part of the specification.

[0015] Reference Figure 1 The diagram shown is a flowchart illustrating a rapid response method for unmanned aerial vehicle (UAV) missions based on emergency delivery, according to an embodiment of the present invention. In this embodiment, the rapid response method for UAV missions based on emergency delivery includes: In step 1, in response to the emergency delivery trigger command, the coordinates of the delivery target, the mass of the material load, and the impact sensitivity level are acquired, and wind field vector data of the current airspace are collected simultaneously. This step is the data entry point for the entire method, providing basic input parameters for all subsequent calculations. The emergency delivery trigger command is issued by the ground control station and contains basic information about the delivery mission. After receiving the command, the UAV's onboard communication module sends a confirmation signal back to the mission scheduling center.

[0016] During this step, the UAV's onboard communication module receives an emergency delivery trigger command from the ground control station and parses the target coordinates, cargo load mass, and impact sensitivity level from the command data packet. Specifically, the impact sensitivity level is obtained by querying a pre-stored cargo-sensitivity mapping table in the UAV's onboard memory based on the cargo load's outer packaging type and the inherent fragility level of the internal items. This mapping table is a two-dimensional index table. Its row index is the packaging type, which includes cardboard boxes, wooden boxes, foam boxes, and metal boxes; its column index is the fragility level of the internal items, divided into high, medium, and low levels; and the table entry value is the impact sensitivity level, also corresponding to high, medium, and low levels. For example, when the packaging type is a foam box and the internal item's fragility level is high, the mapping table outputs a high-level impact sensitivity; when the packaging type is a metal box and the internal item's fragility level is low, the mapping table outputs a low-level impact sensitivity. The mapping table is pre-configured by the ground control station based on the material category database and uploaded to the UAV via a data link. Alternatively, it can be manually entered by the operator during the mission preparation phase.

[0017] The target coordinates are expressed in latitude and longitude, and the payload mass is measured in kilograms. Simultaneously, airborne anemometers collect wind field vector data of the current airspace, including wind speed scalar values ​​and wind direction angles. The time deviation between the acquisition time and the command reception time does not exceed a preset time synchronization threshold to ensure the temporal consistency of the data acquired in step 1. The target coordinates, payload mass, impact sensitivity level, and wind field vector data output from step 1 serve as input parameters for subsequent steps.

[0018] In step 2, the dynamic delivery error envelope is calculated based on the impact sensitivity level and wind field vector data. Furthermore, the expected cumulative crosswind offset for the delivery segment is calculated based on the cargo load mass and wind field vector data. This step couples mission attributes with the wind field environment to generate two key control constraint parameters, providing a quantitative basis for subsequent flight path reconstruction.

[0019] The calculation process for the dynamic delivery error envelope is as follows. First, the basic error radius is determined based on the impact sensitivity level. Different impact sensitivity levels correspond to different basic error radius values; the higher the impact sensitivity level, i.e., the more fragile the material, the smaller the basic error radius value. Then, the wind speed scalar value is extracted from the wind field vector data, and the envelope radius is calculated according to the following formula: ; In the formula, The envelope radius of the dynamic delivery error envelope, which physically represents the maximum distance the landing point is allowed to deviate from the delivery target, is expressed in meters. The basic error radius, in physical terms, is the allowable deviation distance of the landing point set according to the fragility of the material under windless conditions, and is expressed in meters. The wind speed is a scalar value, in meters per second. This is a preset reference wind speed constant, in meters per second; The wind field influence weighting coefficient is a preset value and is dimensionless. This formula reflects the amplification effect of wind field intensity on the allowable error range of the delivery: the higher the wind speed, the larger the radius of the dynamic delivery error envelope, meaning the allowable landing point deviation range is correspondingly widened. The calculated envelope radius is used as the core quantitative indicator of the dynamic delivery error envelope.

[0020] The calculation process for the expected crosswind cumulative offset is as follows: The delivery segment parsed from the emergency delivery trigger command is divided into multiple continuous sub-segments according to a preset unit distance step size. The wind field vector data is decomposed into the along-track component and vertical-track component of each sub-segment, and the vertical-track component is used as the crosswind speed component of each sub-segment. Based on the preset airspeed value and the segment length of each sub-segment, the segment time required to fly over each sub-segment is calculated. The product between the crosswind speed component of each sub-segment and the corresponding segment time is used as the single-segment crosswind offset of each sub-segment. The single-segment crosswind offsets of all sub-segments traversed from the delivery segment starting point to the current waypoint are summed to obtain the expected crosswind cumulative offset. This summation process reflects the spatiotemporal cumulative effect of crosswind on the UAV's positional offset: the longer the UAV flies in continuous crosswinds and the farther the distance, the greater the cumulative offset. The dynamic delivery error envelope and the expected crosswind cumulative offset output in step 2 are used as input parameters for step 3.

[0021] In step 3, based on the dynamic delivery error envelope, the expected cumulative crosswind offset, and the current remaining battery power of the UAV swarm, the altitude sequence of the flight waypoints corresponding to the target UAV in the UAV swarm is reconstructed, generating a multi-constraint coupled approach profile of the target UAV. This step is the core processing step of the method of this invention, coupling accuracy constraints, environmental prediction, and energy constraints to jointly determine the flight trajectory of the target UAV.

[0022] Before reconstructing the altitude sequence, target UAVs are first screened. Based on the dynamic deployment error envelope and the hovering accuracy level of each candidate UAV, those with hovering accuracy levels below the accuracy requirement threshold corresponding to the dynamic deployment error envelope are eliminated, resulting in a candidate UAV set. The hovering accuracy level reflects the UAV's ability to maintain its spatial position while hovering; this ability is characterized by the positioning error statistics of the flight control system, with smaller values ​​indicating more accurate positioning. A smaller dynamic deployment error envelope corresponds to a higher accuracy requirement threshold, resulting in fewer UAVs entering the candidate set. Then, the UAV with the highest remaining battery power is selected from the candidate set as the target UAV.

[0023] After identifying the target UAV, the altitude sequence is reconstructed. This involves determining the projected path from the target UAV's current position to the target's coordinates. equidistant waypoints. For the first... The waypoints are determined based on the target drone's location on the [number]th waypoint. The comparison results of the expected cumulative crosswind offset at each waypoint and the dynamic deployment error envelope determine the first... The corrected altitude values ​​for each waypoint. Specifically, when the expected cumulative crosswind offset at a waypoint exceeds the envelope radius of the dynamic deployment error envelope, it indicates that maintaining the current altitude will cause the cumulative crosswind effect to result in the final landing point exceeding the allowable error range. In this case, the flight altitude at that waypoint is reduced to decrease the effective cross-sectional area of ​​the wind field on the UAV, thereby suppressing the subsequent increase in the cumulative offset. Conversely, when the expected cumulative crosswind offset is not greater than the envelope radius, the flight altitude is maintained or appropriately increased to save energy. , This is a preset positive integer, the value of which is determined based on the total length of the delivery segment and the desired track control granularity. The corrected altitude values ​​are combined into an initial altitude sequence according to the spatial order of each waypoint.

[0024] Energy constraints are then introduced for verification. The estimated total energy consumption required for flight according to the initial altitude sequence is calculated based on the current remaining battery power. The estimated total energy consumption is calculated based on the air density, flight speed, and segment length corresponding to each waypoint altitude. The relationship between air density and altitude adopts the international standard atmospheric model. If the estimated total energy consumption exceeds the current remaining battery power, the corrected altitude values ​​for each waypoint are raised. This raising operation increases the flight altitude, as the air is thinner at high altitudes, resulting in lower drag and reduced energy consumption, until the estimated total energy consumption does not exceed the current remaining battery power, yielding the final altitude sequence. This final altitude sequence is used as the multi-constraint coupled approach profile for the target UAV's variable altitude flight. This profile defines the flight altitude that the target UAV should maintain at each waypoint, and is a discrete altitude command sequence that varies with horizontal position. The multi-constraint coupled approach profile output in step 3 is used as the input parameter for step 4.

[0025] In step 4, the theoretical delivery window is calculated based on the multi-constraint coupled approach profile and the real-time inertial measurement data of the target UAV. This step compares the offline-planned approach profile with the real-time flight status of the UAV to determine the optimal timing for material delivery.

[0026] During this step, the onboard inertial measurement unit outputs real-time inertial measurement data of the target UAV, including three-axis acceleration and three-axis angular velocity. Based on the real-time inertial measurement data, the current flight attitude angles and current ground speed vector of the target UAV are calculated and tracked in real time through inertial navigation. The flight attitude angles include pitch angle, roll angle, and yaw angle, and the ground speed vector includes the magnitude and direction of the horizontal velocity.

[0027] The theoretical delivery window is calculated using a dual-condition triggering logic. The first condition is the attitude condition: when the deviation between the current flight attitude angle and the expected attitude angle of the corresponding waypoint in the multi-constraint coupled approach profile is less than a preset attitude deviation threshold, it indicates that the UAV's current attitude is in place. The second condition is the direction condition: when the angle between the current ground velocity vector and the direction of the line connecting the target coordinates is less than a preset direction deviation threshold, it indicates that the UAV's flight direction is aligned with the target. When both conditions are met simultaneously, the current time is recorded as the theoretical delivery time. The theoretical delivery time and the corresponding current flight attitude angle are defined together as the theoretical delivery window. This dual-condition triggering mechanism avoids the risk of delivery deviating from the target center due to attitude inaccuracy in the single-time triggering mode. The theoretical delivery window output in step 4 serves as the triggering condition for step 5.

[0028] In step 5, upon reaching the theoretical delivery window, based on the real-time crosswind offset at the target UAV and the compensation amount for the center of gravity offset caused by load release, the launcher actuation signal and control surface linkage compensation command of the target UAV are simultaneously output. This step controls the launcher action and UAV attitude compensation simultaneously at the moment of delivery execution, achieving coordinated control of delivery action and attitude stability.

[0029] The real-time crosswind offset is obtained by reading the instantaneous wind field measurement value output by the onboard wind speed and direction sensor of the target UAV in real time, and using the instantaneous deviation of the instantaneous wind field measurement value relative to the wind field vector data collected in step 1 as the real-time crosswind offset. This real-time crosswind offset reflects the difference between the actual wind field at the moment of deployment and the wind field data used during planning.

[0030] The calculation process for the center of gravity offset compensation is as follows: Obtain the empty mass of the target UAV, the mass of the payload, and the lever arm length of the payload's mounting point relative to the target UAV's center of gravity. Calculate the center of gravity offset compensation caused by payload release using the following formula: ; In the formula, The center of gravity offset compensation amount represents the increment of attitude angle required to compensate for the center of gravity offset caused by load release, in radians. The mass of the material load is expressed in kilograms. The length of the lever arm of the mounting point relative to the center of gravity of the target UAV, in meters; The empty mass of the target drone is expressed in kilograms. The equivalent turning radius of the target UAV, in meters; This is the tangent function. The physical meaning of this formula is: at the instant the load is released, the load's gravitational torque at the mounting point suddenly disappears, causing a step abrupt change in the UAV's center of mass towards the empty center of mass. To counteract the additional torque generated by this abrupt change, an attitude angle compensation amount needs to be applied in the opposite direction. The magnitude of the compensation amount is directly proportional to the load mass and the mounting arm, and inversely proportional to the UAV's empty mass and equivalent turning radius. The equivalent turning radius is pre-calibrated based on the UAV's mass distribution characteristics through rotational inertia testing or CAD model calculations and is stored in the UAV's flight control parameter table.

[0031] At the instant the theoretical delivery window is reached, the actuation angle of the launcher is adjusted according to the real-time crosswind offset to compensate for the instantaneous wind field deviation. At the same time, a control surface linkage compensation command is output according to the center of gravity offset compensation to counteract the attitude disturbance caused by the sudden change in the center of gravity. The launcher actuation signal and the control surface linkage compensation command are output at the same time, realizing synchronous control of delivery action and attitude stability.

[0032] In one feasible implementation, taking an emergency delivery scenario during an earthquake disaster as an example, the ground control station issues an emergency delivery trigger command to the drone swarm. The delivery target coordinates are set as 118.5°E, 32.3°N, the payload mass is 5kg, the impact sensitivity level is high (corresponding to emergency medical supplies), and the current airspace wind speed scalar value is 8m / s. There are five candidate drones with hovering accuracy levels of 0.05m, 0.08m, 0.10m, 0.12m, and 0.15m, respectively. The hovering accuracy level value represents the standard deviation of the position error while hovering, and the current remaining battery power is 85%, 72%, 68%, 55%, and 43%, respectively.

[0033] In step 1, the UAV's onboard communication module receives the command and parses the above parameters. Simultaneously, it collects wind field vector data through the onboard wind speed and direction sensors. The wind speed is 8 m / s and the angle between the wind direction and the flight path is 30°.

[0034] Perform step 2 to determine the basic error radius based on the high impact sensitivity level. The reference wind speed constant is set to 1.0m. The wind speed is 5 m / s, and the wind field influence weighting coefficient is... The value is 0.3. Substitute this value into the formula to calculate the envelope radius. Meanwhile, the total length of the delivery segment, 1200m, was divided into 24 sub-segments with a unit distance step of 50m. The crosswind speed component of each sub-segment varied between 5.2m / s and 6.8m / s, and the time taken for each sub-segment ranged from 1.8s to 2.3s. After accumulating the values ​​of each sub-segment, the expected cumulative crosswind offset at the end of the delivery segment was 14.6m.

[0035] Step 3 is executed, with a dynamic deployment error envelope accuracy threshold of 0.10m. Candidate drones with hovering accuracy below 0.10m are eliminated; specifically, drones with hovering accuracies of 0.12m and 0.15m are removed, leaving three candidate drones with hovering accuracies of 0.05m, 0.08m, and 0.10m. The drone with the highest remaining battery power (85%) from the candidate set is selected as the target drone. Twenty-four equidistant waypoints are determined, and the expected cumulative crosswind offset at each waypoint is compared to the envelope radius of 1.48m. For the first eight waypoints, the cumulative offset is less than 1.48m, maintaining a cruising altitude of 100m. From the 9th to the 24th waypoints, the cumulative offset gradually exceeds 1.48m, and the corrected altitude value gradually decreases from 95m to 65m. After combining these into an initial altitude sequence, the estimated total energy consumption is 78% of the battery power, lower than the current remaining 85%, requiring no further elevation adjustment and directly used as the final multi-constraint coupled approach profile.

[0036] The following table shows the point-by-point comparison results of the expected cumulative crosswind offset and envelope radius for each waypoint, along with the corresponding corrected altitude values: Table 1. Point-by-point comparison results of expected crosswind cumulative offset and envelope radius at each waypoint.

[0037] In step 4, during the UAV's flight along the approach profile, the onboard IMU tracks the flight attitude angles and ground speed vector in real time. When the UAV reaches the vicinity of the 22nd waypoint, the current flight attitude angles are pitch -1.2°, roll 0.8°, and yaw 2.1°, while the expected attitude angles are pitch -1.0°, roll 0.5°, and yaw 1.8°. All deviations are less than the preset attitude deviation threshold of 3°, and the angle between the current ground speed vector direction and the direction of the line connecting the target coordinates is 2.5°, which is less than the preset direction deviation threshold of 5°. Both conditions are met simultaneously, and the current time is recorded as the theoretical delivery time. This time and the corresponding flight attitude angle together constitute the theoretical delivery window.

[0038] Step 5 is executed. At the instant the theoretical deployment window is triggered, the airborne wind speed and direction sensors read the instantaneous wind field measurement value. The wind speed is 8.5 m / s, and the angle between the wind direction and the flight path is 32°. The instantaneous deviation relative to the wind field vector data collected in step 1 is used as the real-time crosswind offset. Simultaneously, the empty mass of the UAV is acquired. It weighs 12kg and has a load arm at the mounting point. The equivalent radius of gyration is 0.4m. The value is 0.6m. Substituting this into the formula for centroid offset compensation... The launcher's actuation angle is corrected based on real-time crosswind offset, and a 16.1° control surface linkage compensation command is output simultaneously to complete material launching and attitude compensation.

[0039] Under the same wind field conditions, a comparative test was conducted using the traditional method, which only performs instantaneous crosswind response compensation and lacks centroid change compensation. The average landing point deviation of the traditional method was 4.2m, with a maximum deviation of 6.8m. The average landing point deviation using the method of this invention was 1.1m, with a maximum deviation of 1.6m. The delivery accuracy was improved from 4.2m to 1.1m. Furthermore, the maximum attitude angle deviation at the moment of load release was 8.5m with the traditional method, while it was only 2.1° with the method of this invention. These comparative data were obtained through actual measurements.

[0040] In one feasible implementation, taking an emergency delivery scenario during a flood disaster as an example, the delivery target is a dynamically moving life raft whose coordinates change over time. The payload mass is 8 kg, corresponding to life-saving equipment, with a medium impact sensitivity level. The current airspace wind speed scalar value is 6 m / s. Four alternative drones are available, with hovering accuracy levels of 0.06 m, 0.09 m, 0.11 m, and 0.14 m, respectively, and their current remaining battery power is 90%, 78%, 62%, and 50%, respectively.

[0041] When performing step 1, since the target coordinates are dynamic, multiple historical position sequences of the dynamic target coordinates are continuously received. Based on the position sequences, a linear extrapolation method is used to predict the estimated landing point coordinates when the target UAV arrives at the expected delivery area. The estimated landing point coordinates are then used to replace the dynamic target coordinates in subsequent steps.

[0042] Perform step 2 to determine the basic error radius based on the medium impact sensitivity level. The value is 1.5m. Substitute this value into the formula to calculate the envelope radius. The total length of the delivery segment is 1500m, which is divided into 30 sub-segments in 50m increments. After accumulating the crosswind drift of each segment, the expected cumulative crosswind drift is 9.8m.

[0043] Step 3 is executed. The accuracy requirement threshold corresponding to the dynamic deployment error envelope is 0.12m. Candidate drones with a hovering accuracy level below 0.12m (i.e., 0.14m) are eliminated, leaving three candidate drones. The drone with the highest remaining battery power (90%) is selected as the target drone. The expected cumulative crosswind offset at each waypoint is compared with the envelope radius of 2.04m to determine the corrected altitude value for each waypoint, which is then combined to form the initial altitude sequence. The estimated total energy consumption is 82% of the battery power, lower than the current remaining 90%, so no lifting is required; it is directly used as the multi-constraint coupled approach profile.

[0044] The process of performing steps 4 and 5 is the same as in Example 1. The difference is that, since the target is a dynamic target, the target coordinates in the theoretical delivery window calculation use the estimated landing point coordinates predicted in step 1.

[0045] Comparative tests were conducted under the same wind field and dynamic target conditions. The average landing point deviation of the traditional method was 3.8m, with a maximum deviation of 5.9m. The average landing point deviation of the method of this invention was 0.9m, with a maximum deviation of 1.4m. Furthermore, the method of this invention achieved a 94% hit rate in dynamic target tracking scenarios. This hit rate is defined as the ratio of the number of deployments with landing point deviations smaller than the dynamic deployment error envelope radius to the total number of deployments. In contrast, the traditional method achieved a hit rate of 62% under the same conditions. These comparative data were obtained through actual measurements.

[0046] like Figure 2 As shown, the present invention also provides a rapid response system for UAV missions based on emergency delivery, used to implement the above method. The system includes a data acquisition module 101, an error calculation module 102, a profile generation module 103, a window calculation module 104, and an offset compensation module 105.

[0047] The data acquisition module 101 is used to respond to the emergency delivery trigger command, acquire the coordinates of the delivery target, the mass of the material load, and the impact sensitivity level, and simultaneously collect the wind field vector data of the current airspace. This module corresponds to step 1 of the method. Its inputs are the trigger command from the ground control station and the environmental data from the airborne sensors, and its outputs are the basic parameters required by subsequent modules.

[0048] The error calculation module 102 is used to calculate the dynamic delivery error envelope based on the impact sensitivity level and wind field vector data, and to calculate the expected crosswind cumulative offset of the delivery segment based on the material load mass and wind field vector data. This module corresponds to step 2 of the method. Its inputs are various parameters output by the data acquisition module, and its outputs are the dynamic delivery error envelope and the expected crosswind cumulative offset.

[0049] The profile generation module 103 is used to reconstruct the altitude sequence of the flight waypoints corresponding to the target UAVs in the UAV swarm based on the dynamic deployment error envelope, the expected crosswind cumulative offset, and the current remaining battery power of the UAV swarm, and to generate a multi-constraint coupled approach profile of the target UAVs. This module corresponds to step 3 of the method. Its inputs are the two constraint parameters output by the error calculation module and the current remaining battery power of each candidate UAV read from the UAV swarm management system. The output is the multi-constraint coupled approach profile.

[0050] The window calculation module 104 is used to calculate the theoretical deployment window based on the multi-constraint coupled approach profile and the real-time inertial measurement data of the target UAV. This module corresponds to step 4 of the method. Its inputs are the approach profile output by the profile generation module and the real-time inertial measurement data output by the airborne IMU, and its output is the theoretical deployment window.

[0051] The offset compensation module 105 is used to simultaneously output the launcher actuation signal and control surface linkage compensation command of the target UAV when the theoretical launch window is reached, based on the real-time crosswind offset at the target UAV and the centroid offset compensation amount caused by load release. This module corresponds to step 5 of the method. Its inputs are the theoretical launch window output by the window calculation module, the instantaneous wind field measurement value output by the airborne wind speed and direction sensor, and the pre-stored UAV body parameters, including empty mass, equivalent turning radius, etc. The output is the launcher actuation signal and control surface linkage compensation command.

[0052] The above modules are deployed in the UAV's onboard flight control computer and are connected to the wind speed and direction sensors, inertial measurement unit, launcher actuation mechanism and control surface actuation mechanism via the onboard bus.

[0053] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention.

[0054] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A rapid response method for unmanned aerial vehicle (UAV) missions based on emergency delivery, characterized in that, The method includes: Step 1: In response to the emergency delivery trigger command, obtain the coordinates of the delivery target, the mass of the material load and the impact sensitivity level, and simultaneously collect the wind field vector data of the current airspace; Step 2: Calculate the dynamic delivery error envelope based on the impact sensitivity level and wind field vector data, and calculate the expected crosswind cumulative offset of the delivery segment based on the material load mass and wind field vector data. Step 3: Based on the dynamic delivery error envelope, the expected crosswind cumulative offset, and the current remaining battery power of the UAV swarm, reconstruct the altitude sequence of the flight waypoints corresponding to the target UAV in the UAV swarm, and generate the multi-constraint coupled approach profile of the target UAV. Step 4: Calculate the theoretical deployment window based on the multi-constraint coupled approach profile and the real-time inertial measurement data of the target UAV; Step 5: When the theoretical release window is reached, based on the real-time crosswind offset at the target UAV and the centroid offset compensation caused by load release, the releaser actuation signal and control surface linkage compensation command of the target UAV are output simultaneously.

2. The rapid response method for UAV missions based on emergency delivery as described in claim 1, characterized in that, The impact sensitivity level is obtained by querying a preset material-sensitivity mapping table based on the packaging type of the material load and the fragility level of the internal items to obtain the impact sensitivity level corresponding to the material load.

3. The rapid response method for UAV missions based on emergency delivery as described in claim 1, characterized in that, The calculation of the dynamic delivery error envelope based on the impact sensitivity level and wind field vector data includes: The basic error radius is determined based on the aforementioned impact sensitivity level; Extract the wind speed scalar value from the wind field vector data and calculate the envelope radius. The formula for calculating the envelope radius is as follows: ； In the formula, The envelope radius is used to dynamically distribute the error envelope. The basic error radius is... The wind speed scalar value is... The preset reference wind speed constant, The preset wind field influence weighting coefficient; The envelope radius is used as the core quantitative indicator of the dynamic delivery error envelope.

4. The rapid response method for UAV missions based on emergency delivery as described in claim 1, characterized in that, The calculation of the expected cumulative crosswind offset for the delivery segment includes: The delivery segment parsed from the emergency delivery trigger command will be divided into multiple continuous sub-segments according to a preset unit distance step size; The wind field vector data is decomposed into the along-track component and the vertical track component of each sub-segment, and the vertical track component is used as the crosswind speed component of each sub-segment. Calculate the time required to fly over each sub-segment based on the preset airspeed value and the segment length of each sub-segment; The product of the crosswind speed component of each sub-segment and the corresponding segment time is used as the single-segment crosswind offset of each sub-segment. The expected cumulative crosswind offset is obtained by summing up the crosswind offsets of all sub-segments traversed from the starting point of the delivery segment to the current waypoint.

5. A rapid response method for UAV missions based on emergency delivery as described in claim 1, characterized in that, Before reconstructing the altitude sequence of the flight waypoints corresponding to the target UAVs in the UAV cluster, the following is also included: Based on the dynamic deployment error envelope and the hovering accuracy level of each candidate drone, candidate drones with hovering accuracy levels lower than the accuracy requirement threshold corresponding to the dynamic deployment error envelope are screened out, resulting in a candidate drone set. Select the drone with the highest remaining battery power from the candidate drone set as the target drone.

6. The rapid response method for UAV missions based on emergency delivery as described in claim 1, characterized in that, The reconstructed altitude sequence of the flight waypoints corresponding to the target UAVs in the UAV cluster includes: Determine the projected path from the current position of the target UAV to the coordinates of the delivery target. equidistant waypoints; Regarding the first The waypoint, based on the target drone's number of waypoints. The comparison results of the expected cumulative crosswind offset at each waypoint and the dynamic deployment error envelope determine the first... The corrected altitude values ​​for each waypoint, where... , It is a preset positive integer; According to the spatial order of each waypoint, the corrected altitude values ​​are combined into an initial altitude sequence; Calculate the estimated total energy consumption required for flight according to the initial altitude sequence based on the current remaining battery power. If the estimated total energy consumption exceeds the current remaining battery power, raise the corrected altitude value of each waypoint until the estimated total energy consumption does not exceed the current remaining battery power, thus obtaining the final altitude sequence. The final altitude sequence is used as the multi-constraint coupled approach profile for the target UAV's variable altitude flight.

7. A rapid response method for unmanned aerial vehicle (UAV) missions based on emergency delivery as described in claim 1, characterized in that, The theoretical deployment window is calculated based on the multi-constraint coupled approach profile and the real-time inertial measurement data of the target UAV, including: Based on the real-time inertial measurement data of the target UAV, the current flight attitude angle and current ground speed vector of the target UAV are tracked in real time; When the deviation between the current flight attitude angle and the expected attitude angle of the corresponding waypoint in the multi-constraint coupled approach profile is less than the preset attitude deviation threshold, and the angle between the current ground speed vector and the direction of the line connecting the coordinates of the delivery target is less than the preset direction deviation threshold, the current time is recorded as the theoretical delivery time. The theoretical release time and the corresponding current flight attitude angle are defined together as the theoretical release window.

8. A rapid response method for UAV missions based on emergency delivery as described in claim 1, characterized in that, The real-time crosswind offset at the target UAV is obtained by reading the instantaneous wind field measurement value output by the airborne wind speed and direction sensor of the target UAV in real time, and using the instantaneous deviation of the instantaneous wind field measurement value relative to the wind field vector data as the real-time crosswind offset.

9. A rapid response method for UAV missions based on emergency delivery as described in claim 1, characterized in that, The compensation amount for the centroid shift caused by load release is calculated in the following manner: Obtain the empty weight of the target drone, the payload weight, and the lever arm length of the payload mounting point relative to the target drone's center of gravity; The centroid shift compensation caused by payload release of the target UAV is calculated using the following formula: ； In the formula, This is the amount of compensation for centroid offset. For the mass of the material load, Let L be the length of the load arm relative to the center of gravity of the target UAV. The empty mass of the target drone, Let be the equivalent turning radius of the target UAV. It is the tangent function.

10. A rapid response system for unmanned aerial vehicle (UAV) missions based on emergency delivery, characterized in that: The system is used to implement the rapid response method for UAV missions based on emergency delivery as described in any one of claims 1-9, the system comprising: Data acquisition module: In response to emergency delivery trigger commands, it acquires the coordinates of the delivery target, the mass of the material load and the impact sensitivity level, and simultaneously collects wind field vector data of the current airspace; Error calculation module: It is used to calculate the dynamic delivery error envelope based on the impact sensitivity level and wind field vector data, and to calculate the expected crosswind cumulative offset of the delivery segment based on the material load mass and wind field vector data. Profile generation module: Based on the dynamic deployment error envelope, expected crosswind cumulative offset and the current remaining battery power of the UAV swarm, it reconstructs the altitude sequence of the flight waypoints corresponding to the target UAV in the UAV swarm and generates the multi-constraint coupled approach profile of the target UAV. Window calculation module: used to calculate the theoretical deployment window based on the real-time inertial measurement data of the multi-constraint coupled approach profile and the target UAV; Offset Compensation Module: When the theoretical release window is reached, it is used to simultaneously output the launcher actuation signal and control surface linkage compensation command of the target UAV based on the real-time crosswind offset at the target UAV and the centroid offset compensation amount caused by load release.

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