14781 results about "Aerospace engineering" patented technology

Disclosed herein are a system and a method for controlling multi-UAV cooperative tracking of a ground-moving target. The system includes UAVs, a processor, and a storage device. The UAVs are wirelessly communicatively connected to the processor. The processor is configured to generate a UAV command transmitted to the UAVs. The UAVs are configured to transmit tracking data to the processor. The processor includes a terrain building module, a flight simulation module, a UAV parameter generation module, a flight trajectory prediction module, a flight trajectory determination module, and a flight trajectory control module. The system provided in the embodiments of the present disclosure integrates Model Predictive Control (MPC) with an Improved Whale Optimization Algorithm (IWOA) to enhance the algorithm's convergence speed and precision, thereby improving the accuracy and stability of target tracking.

The invention relates to the technical field of unmanned aerial vehicles, and discloses an unmanned aerial vehicle parking apron dynamic landing point adjustment method and system based on environment awareness, and the method comprises the steps: obtaining environment data and flight parameters, constructing a three-dimensional terrain grid model, and analyzing the stability; loading obstacle data and path constraints to generate a comprehensive evaluation model, and simulating to obtain regulation and control data; training the model to generate initial adjustment parameters, and combining the parameters with the model to obtain dynamic adjustment simulation information; constructing a multi-path optimization model to obtain optimal parameters; and combining real-time sensing to generate a safety probability, and adjusting a landing strategy. The system comprises a data acquisition module, a terrain modeling module and the like. According to the scheme, intelligent optimization and real-time adjustment of a landing point are realized through multi-dimensional environment perception and dynamic modeling, the landing safety and reliability of the unmanned aerial vehicle in a complex environment are improved, and the method is suitable for an intelligent landing scene of the unmanned aerial vehicle.

The invention discloses an unmanned aerial vehicle low-altitude intelligent collaborative management system based on dynamic airspace gridding, and relates to the technical field of unmanned aerial vehicle management. Comprising the following steps: acquiring real-time environment information of a low-altitude airspace and operation state information of an unmanned aerial vehicle group; performing dynamic airspace gridding processing according to the real-time environment information to obtain a plurality of airspace grid units and airspace attribute information; according to the airspace grid units, the airspace attribute information and the operation state information of the unmanned aerial vehicle group, a cooperative flight path planning scheme is generated, and the technical key points are as follows: the information acquisition link provides comprehensive and accurate basic data, the dynamic airspace gridding processing realizes flexible adaptation of the airspace, and the cooperative path planning ensures efficient and ordered group flight. Flight control and dynamic adjustment guarantee smooth propulsion of tasks; all links support and promote each other, for example, a prediction result of the airspace state advanced judgment model can provide prospective guidance for path planning, and a deviation monitoring and adjusting mechanism can correct flight deviation in time.

The invention discloses a multi-unmanned aerial vehicle combined flight control system coping with wind power change, and relates to unmanned aerial vehicle flight control, and the system comprises a flight data collection module which is used for collecting unmanned aerial vehicle flight data in real time, and the unmanned aerial vehicle flight data comprises wind power data, attitude angle data and height data of each unmanned aerial vehicle; the data receiving and processing module is electrically connected with the flight data acquisition module, and the data receiving and processing module is used for receiving unmanned aerial vehicle flight data acquired in real time and performing noise removal on the acquired data. According to the multi-unmanned aerial vehicle combined flight control system provided by the invention, the wind field prediction model is constructed by combining the LSTM neural network with the time attention mechanism, wind power periodic change characteristics are accurately captured, real-time correction is performed in cooperation with the Kalman filter, the prediction precision and timeliness are both optimized, and the system is suitable for large-scale popularization and application. A multi-unmanned aerial vehicle cooperative kinetic model is constructed based on a prediction result, so that the formation trajectory tracking error is reduced.

The disclosure provides a method and system for trajectory tracking control of a vehicle-manipulator coupling system with finite time prescribed performance. Specifically, a coupling weaken trajectory planning method is designed to reduce the system's coupling effects. A finite time performance function is designed to constrain the trajectory tracking error. In a case the constraint conditions corresponding to the finite time performance function are satisfied, the trajectory tracking error is converted to obtain a transformed error. The sliding mode surface is designed based on the transformed error to control the transformed error to converge in a finite time, and the external disturbance of the vehicle-manipulator coupling system is observed based on non-linear disturbance observer. The control input of the vehicle-manipulator coupling system is designed based on the sliding mode surface and the non-linear disturbance observer output. This ensures that the vehicle-manipulator coupling system can operate precisely along the desired trajectory.

The invention relates to the technical field of unmanned aerial vehicle positioning, in particular to an unmanned aerial vehicle flight path positioning method and system based on multi-source information fusion. The method comprises the following steps: acquiring an original observation data stream of an unmanned aerial vehicle in real time through a sensor array, and preprocessing to output a multi-source data sample set; calculating relative motion increment between adjacent key frames through an IMU pre-integration model, and extracting local pose estimation through a visual geometric calculation method; evaluating the confidence of each sensor in real time to dynamically generate an adaptive weight coefficient; and constructing a tight coupling fusion filter taking position, speed and attitude errors as core state quantities, and outputting a global optimal trajectory of the unmanned aerial vehicle. According to the invention, the weight is dynamically distributed through the real-time confidence of the sensor, the multi-source data association is fully mined, and the flight path positioning precision and environmental adaptability of the unmanned aerial vehicle are improved.

The invention relates to the technical field of unmanned aerial vehicle track control, in particular to an unmanned aerial vehicle track control method and system. The method comprises the following steps: firstly, acquiring flight braking parameters and distribution task data of an unmanned aerial vehicle, and extracting low-altitude distribution meteorological condition feature data; then, flight state simulation is carried out based on flight braking parameters and task data, simulation quantification is carried out on flight attitude instability in combination with meteorological conditions, and then trajectory avoidance behavior control learning is carried out; and finally, constructing a trajectory control model by applying a strategy gradient algorithm, and sending the trajectory control model to an unmanned aerial vehicle control center to execute trajectory control. According to the invention, the unmanned aerial vehicle trajectory control technology is optimized, so that the unmanned aerial vehicle trajectory control technology is more perfect.

The invention discloses a power construction unmanned aerial vehicle path planning method and system, and relates to the technical field of space calculation, and the method comprises the following steps: determining a target region needing power construction and a preset construction point coordinate; obtaining a topographic map of the target area based on the geographic information database, constructing a three-dimensional map model, and marking the preset construction point coordinates; generating an initial construction path of the unmanned aerial vehicle; the method comprises the following steps: acquiring meteorological data in real time through meteorological data of a meteorological station in a target area, establishing a meteorological obstacle three-dimensional model, and dividing a preset radius threshold with a meteorological obstacle as a circle center into non-flying areas according to the severity level of the meteorological obstacle; adjusting the initial construction path based on the non-flying area; the cruise height is adjusted according to the meteorological data and topographic relief, a relief tracking path is generated, and the constant relative height is kept; and combining the battery capacity, the flight speed and the task priority, dynamically distributing inspection road sections, and generating a corresponding power construction unmanned aerial vehicle flight path.

The invention discloses an autonomous obstacle avoidance and path optimization control method for an unmanned aerial vehicle in a complex environment. The method comprises the following steps: A, establishing a simulation environment containing static obstacles and dynamic obstacles; b, obtaining a group of path schemes approaching an optimal solution and a plurality of candidate paths based on a particle swarm algorithm and the initial position of the unmanned aerial vehicle; c, based on a multi-agent depth deterministic strategy gradient algorithm, constructing a state space, an action space and a reward function used for training an obstacle avoidance motion strategy of multiple unmanned aerial vehicles; d, a multi-agent depth deterministic strategy gradient algorithm is used for training, and a path planning strategy is optimized; and E, evaluating scores of all candidate paths through a reinforcement learning mechanism, and calculating to obtain an unmanned aerial vehicle flight path with the highest comprehensive score as an optimal path. According to the invention, a safe and efficient flight path can be quickly and accurately planned for the unmanned aerial vehicle in a complex dynamic scene, and efficient obstacle avoidance of the unmanned aerial vehicle in the complex dynamic scene is realized.

The invention provides an unmanned aerial vehicle collaborative wind power plant inspection route planning method and system, and relates to the technical field of wind power plant inspection, and the method comprises the steps: constructing a wind power plant three-dimensional environment model comprising a plurality of features according to the regional topographic surveying and mapping data of a wind power plant, and then building an unmanned aerial vehicle cluster collaborative architecture; determining unmanned aerial vehicle performance, task matching and communication specifications, generating an initial collaborative inspection path set based on the wind power plant three-dimensional environment model and the unmanned aerial vehicle cluster collaborative architecture, including independent inspection paths, intersection coordinates and a task allocation list, and performing collaborative optimization processing on the initial collaborative inspection path set to obtain an optimization scheme; and finally, the optimization scheme is converted into an unmanned aerial vehicle cluster control instruction set containing flight parameters, task processes and coordination rules, and efficient and safe routing inspection of the wind power plant is realized.

The invention is suitable for the technical field of unmanned aerial vehicle control, and particularly relates to an unmanned aerial vehicle hybrid control strategy method and system in a high-dynamic complex environment, and the method comprises the steps: S1, collecting real-time flight state information and environment information; s2, constructing an unmanned aerial vehicle hybrid control strategy framework; s3, calculating a control action sequence in a short-term prediction time domain of the unmanned aerial vehicle according to the flight state information and the environment information; s4, generating a long-term optimized target state track; s5, through a strategy fusion module, taking the long-term optimization target state track of the reinforcement learning module as reference or constraint information, guiding a model prediction control module to carry out short-term control action calculation, and generating an unmanned aerial vehicle hybrid control instruction; and S6, issuing a hybrid control instruction in real time to realize real-time accurate control of the unmanned aerial vehicle in a high-dynamic complex environment. According to the invention, the control stability and response speed of the unmanned aerial vehicle in a high-dynamic complex environment can be effectively improved, and safe and efficient flight of the unmanned aerial vehicle is realized.

The invention discloses an unmanned aerial vehicle flight control system and method with precise positioning and autonomous obstacle avoidance, and particularly relates to the field of control, and the system comprises a positioning module, an obstacle detection module, a data processing and analysis module, an autonomous obstacle avoidance algorithm module, and a flight control module. Static and dynamic obstacles are detected in real time by integrating the laser radar, the millimeter wave radar, the visual sensor and the ultrasonic sensor, and an obstacle information report is generated through a data fusion algorithm based on machine learning; based on the processed environment data, the system uses deep reinforcement learning and a model prediction control algorithm to generate a safe flight path in real time, and an obstacle avoidance decision is optimized; the flight control part adopts a hierarchical control framework, and precise flight of the unmanned aerial vehicle is realized through trajectory tracking, attitude control and actuator control.

The invention relates to the technical field of unmanned aerial vehicle obstacle avoidance, in particular to an AI-assisted unmanned aerial vehicle low-altitude flight obstacle avoidance method and system. The method comprises the following steps: carrying out real-time unmanned aerial vehicle low-altitude flight environment perception based on a multi-modal perception network, and carrying out static obstacle identification and obstacle radiation range analysis to obtain a plurality of static obstacle radiation paths; carrying out dangerous potential energy field modeling based on the plurality of static barrier radiation paths, carrying out dangerous environment distribution fitting, and constructing a three-dimensional dangerous potential energy map; performing multi-path flight rehearsal according to the three-dimensional danger potential energy map, performing optimal flight path evaluation, and extracting an optimal flight path; and performing unmanned aerial vehicle flight processing based on the optimal flight path, performing dynamic obstacle visual identification and operation path prediction, and constructing a plurality of obstacle movement prediction paths. According to the invention, the task execution efficiency and safety of the unmanned aerial vehicle are improved through rapid and accurate obstacle avoidance decision making of the unmanned aerial vehicle.

The invention relates to the technical field of unmanned aerial vehicle autonomous control, and discloses an unmanned aerial vehicle obstacle avoidance control method and system based on computer vision, and the method comprises the steps: collecting the multi-view image data of a flight environment in real time through a multi-view camera, and carrying out the preprocessing; using an improved YOLOv7 network to identify obstacles in the preprocessed image, and extracting position, size and motion information of the obstacles; generating a three-dimensional environment map and a plurality of candidate obstacle avoidance paths in combination with the flight parameters of the unmanned aerial vehicle and the extracted obstacle information; an optimal path is screened based on a dynamic safety evaluation model, and the attitude and power output of the unmanned aerial vehicle are adjusted in real time to complete obstacle avoidance; an obstacle avoidance effect is verified by using an optical flow method and depth information, and path planning is dynamically corrected. According to the method, the dynamic safety evaluation model is introduced, multi-dimensional factors are comprehensively considered, the safety of each path is dynamically determined, and it is ensured that the flight path of the unmanned aerial vehicle can be timely and accurately modified and optimized in a dynamic complex environment.

The invention discloses a multimodal transport cargo receiving, unloading and transferring multi-machine cooperation method and system. The multimodal transport cargo receiving, unloading and transferring multi-machine cooperation method comprises the steps of obtaining freight basic elements, constraint conditions and real-time environment information, and assigning a matched number of unmanned transfer vehicles and unmanned aerial vehicle sets; generating an initial optimal path; and the local path of the initial optimal path is adjusted in real time, the unmanned transfer vehicle and the unmanned aerial vehicle set advance to the unloading destination according to the global optimal path, and multi-vehicle cooperative cargo unloading is completed according to the conflict-free motion trail. A multi-machine cooperation technology is adopted, advanced technologies such as unmanned driving, the Internet of Things and an artificial intelligence algorithm are fused, the unmanned transfer trolley, the unmanned aerial vehicle and the intelligent gantry crane can work efficiently and cooperatively, various operation scenes such as indoor and outdoor switching, place layout difference and extreme weather can be dealt with, cargoes can be rapidly and accurately received, unloaded and transferred, and the working efficiency is improved. And the efficiency of multimodal transport is greatly improved.

The invention relates to the technical field of intelligent laser processing path planning, and discloses a laser flight processing path planning method and device for a complex curved surface, and the method comprises the steps: obtaining the geometric continuity features of the curved surface, carrying out the region division and boundary feature extraction, obtaining the geometric features of the boundary points of each region, and obtaining the geometric features of the boundary points of each region; performing track generation based on boundary geometric features to obtain an initial processing track path, then performing heat accumulation analysis and track screening, identifying a track section needing to be adjusted, executing multi-target path scheduling optimization, and obtaining adjusted track execution feature data; processing sequence optimization is carried out based on the feature data, and an optimized processing sequence is obtained; performing thermal input analysis and parameter correction according to the processing sequence to obtain an updated processing parameter set; and finally, performing global coordination based on a simulated annealing algorithm, generating a final processing track set, completing track optimization and instruction set generation, and outputting a complete processing scheme. According to the method, the problem of insufficient track fitting degree can be solved.

The invention relates to the technical field of unmanned aerial vehicle flight attitude control, in particular to an unmanned aerial vehicle flight attitude adjustment method and system based on reinforcement learning. Comprising the following steps: constructing a dynamic environment grid map based on a digital map and a real-time semantic segmentation result, and generating an initial track by introducing a space-time constraint fast search random tree algorithm; collecting flight state information, environment perception information and image definition indexes of the unmanned aerial vehicle, inputting the flight state information, the environment perception information and the image definition indexes into a space-time attention encoder, and generating a semantic-fused state tensor; performing importance distribution on the state tensor through an information entropy weighting mechanism to obtain a weighted state vector; inputting into a Meta-SAC model with meta-learning ability, and outputting a target flight reference pose and an LQR controller dynamic gain coefficient; the control module drives the LQR controller to generate a flight control instruction based on the information; and a reward function is constructed based on the image quality and the energy consumption efficiency, and a reinforcement learning strategy is fed back in real time.

The invention relates to the field of airline planning, and discloses a digital twin system for low-altitude airline planning and a construction method, and the method comprises the steps: obtaining a spatial perception data set of a preset sensor in a target airspace, carrying out the fusion of the spatial perception data set, obtaining the fusion perception data, obtaining the historical flight hidden danger data of the target airspace, and obtaining the historical flight hidden danger data of the target airspace; performing multi-layer convolution on the fusion perception data by using the historical flight hidden danger data to obtain a risk analysis result, performing fuzzy fusion on preset risk factors, generating a dynamic obstacle risk field according to the risk factors after fuzzy fusion and the risk analysis result, performing flight simulation on the dynamic obstacle risk field, and obtaining a flight simulation result; and collecting flight simulation real-time data in the flight simulation process, generating an air route space cost map according to the flight simulation real-time data, and performing optimal path search on the air route space cost map to obtain a low-altitude air route scheme. In the face of airspace actual risks, the searching efficiency of the optimal path in low-altitude route planning is improved.

The invention relates to power transmission line unmanned aerial vehicle inspection, and discloses a power transmission line unmanned aerial vehicle inspection path dynamic planning system, which comprises a quantum high-precision positioning unit, an environment perception and electromagnetic field modeling unit, a dynamic path planning unit, an unmanned aerial vehicle flight control unit and a ground station task management unit. The quantum positioning unit fuses quantum inertial navigation, GNSS and quantum magnetometer data to improve the positioning precision under strong interference; the environment sensing unit obtains a three-dimensional environment and electromagnetic field distribution of the power transmission line; the path planning unit dynamically optimizes an inspection path based on positioning and environment information; the flight control unit performs accurate execution; and ground station management tasks and data analysis. The anti-interference positioning precision of the unmanned aerial vehicle is remarkably improved, accurate path planning and electromagnetic field avoidance are realized, the inspection risk is effectively reduced, and the efficiency, the safety and the adaptability are improved.

The invention relates to a dynamic planning method, device and equipment for a low-altitude route of an unmanned aerial vehicle and a medium. The method comprises the following steps: acquiring real-time dynamic environment change data and obstacle distribution information of a low-altitude flight area, constructing a preliminary data set, and generating an initial flight path; according to the initial flight path, predicting energy consumption data, and if the energy consumption data exceeds a threshold value, performing optimization to obtain an optimized path; performing risk assessment quantification, combining a safety margin adjustment mechanism to obtain a safety index, and if the safety index is lower than a threshold value, performing safety distance adjustment to generate a safety path; monitoring flight conditions, generating a condition monitoring update report, acquiring new obstacle position information, and generating a dynamic obstacle avoidance path; and generating an execution instruction set of the unmanned aerial vehicle according to the dynamic obstacle avoidance path. By adopting the method, the dynamic environment real-time adaptability of the unmanned aerial vehicle can be improved, and the route meeting the task requirement can be planned in time when the unmanned aerial vehicle faces sudden obstacles or environment changes.

A multi-degree-of-freedom drive-by-wire unmanned vehicle obstacle avoidance path planning method mainly comprises the following steps that based on environment perception information, surrounding obstacles are analyzed and processed, and an environment safety boundary is established; on the basis of an environment safety boundary, speed sampling is carried out based on dynamic window trajectory planning of hierarchical response, and an optimal local trajectory is calculated and selected; in the driving and obstacle avoidance process, according to obstacle distribution and road condition fluctuation real-time information, the posture of a vehicle body is dynamically adjusted, speed sampling is updated, and path planning is updated. According to the method, the optimal obstacle avoidance path can be planned in real time, so that the unmanned vehicle can quickly respond in a complex scene, and potential collision risks can be avoided in time; the characteristics that the multi-degree-of-freedom drive-by-wire unmanned vehicle is suspended and the vehicle body posture is adjustable are fully utilized, vehicle posture adjustment is fused into an obstacle avoidance strategy, and the feasibility of an obstacle avoidance planning track and the stability of vehicle execution are improved.

The invention discloses a method for generating an autonomous inspection orthoimage of an unmanned aerial vehicle, and relates to the technical field of unmanned aerial vehicle surveying and mapping and autonomous navigation. Global optimization of an air route is realized through a path optimization strategy fused by a genetic algorithm in combination with grid characteristics of an inspection area and image parameter constraints, and candidate waypoints are used as nodes; redundant waypoints are screened through leg smoothness factors, route complexity is reduced, a genetic algorithm takes flight height and waypoint spacing as constraints, a fitness function containing flight distance, turning times and overlapping rate is constructed, a global optimal path is found through population iteration, multi-target requirements are optimized and balanced, and it is ensured that the route meets the image acquisition precision requirement and also meets the requirement of image acquisition. The flight distance can be shortened, the turning frequency is reduced, the cruising ability of the unmanned aerial vehicle is adapted, efficient propelling of the inspection task is guaranteed, meanwhile, waypoint coordinates output through simulation directly adapt to a flight control system, and it is guaranteed that actual flight parameters are consistent with planning parameters.

The invention discloses a goaf unmanned aerial vehicle inspection system based on monitoring and early warning, and the system comprises an observation data collection module which is used for collecting settlement and fracture main variables to form a time stamp observation set; the data fusion module is used for generating a unified monitoring data set by adopting a fractal small-world network coding consensus algorithm; the initial route planning module is used for constructing a route sequence based on a main variable evolution tensor and a risk map; the flight path execution module is used for collecting a flight path and environment data; the fault-tolerant control module triggers a fractional order sliding mode fault-tolerant and degradation mechanism based on the consistency error; and the closed-loop optimization module is used for dynamically updating the main variable tensor and the path cost function and outputting an optimized track and a structured early warning result. The system has high dynamic responsiveness and multi-source risk adaptability.

A drone system and method for deploying and autonomously refuelling. The drone system includes a base station and a drone. The base station and drone are configured for autonomous refuelling when the drone has landed in the base station. The base station also provides portability and security of the drone.

The invention relates to the field of navigation, and more particularly discloses a gradient optimization driven unmanned aerial vehicle real-time obstacle avoidance multi-stage trajectory planning method, which comprises the following steps of: in a trajectory initialization stage, firstly, searching a collision-free geometric path considering steering limitation of an unmanned aerial vehicle on an occupied grid map by utilizing an improved algorithm to generate an initial B-spline control point; then, in a trajectory optimization stage, constructing a multi-target trajectory optimization problem, introducing an obstacle avoidance constraint based on an Euclidean distance field map, and optimizing the initial control point set in combination with unmanned aerial vehicle parameters and optimization weights to obtain a trajectory meeting an obstacle avoidance requirement; and finally, for the optimized trajectory, performing dynamic feasibility evaluation based on unmanned aerial vehicle kinematics limitation in a trajectory correction stage, and if the trajectory does not meet the constraint, performing correction based on the minimum curvature constraint on the control point to ensure that the finally generated trajectory is not only obstacle-avoiding but also feasible in dynamics, and finally, determining that the trajectory does not meet the constraint. Therefore, the real-time obstacle avoidance capability of the unmanned aerial vehicle in a complex environment is effectively improved.

The invention discloses a path planning and hierarchical cooperative control method and system for an unmanned aerial vehicle cluster. The system comprises a path planning module and a formation motion control module. The method comprises the steps that firstly, an improved RRT * algorithm is adopted by a path planning module, through a multi-strategy heuristic node expansion mechanism fusing target bias and artificial potential field guidance and comprehensively considering path length, channel volume and Z-axis height change, a center path and a three-dimensional safe channel which take into account safety and smoothness are planned for an unmanned aerial vehicle cluster; and then, based on the central path, the formation motion control module adopts a distributed model prediction control framework, designs different optimization targets for a navigator and a follower, and solves an optimal control instruction on line, so that a cluster is guided to complete trajectory tracking, collision avoidance among individuals and self-adaptive formation reconstruction in a secure channel. According to the invention, the navigation problem of the unmanned aerial vehicle cluster in a complex obstacle environment is solved, and the path planning efficiency and the robustness of cooperative control are improved.

The invention relates to the field of unmanned aerial vehicle monitoring, in particular to a low-altitude unmanned aerial vehicle flight monitoring method and system. A low-altitude unmanned aerial vehicle flight monitoring system comprises an obstacle sensing module, a confidence coefficient calculation module, a risk assessment module, an obstacle avoidance distance adjustment module and a flight mode switching module. According to the invention, by quantifying the rainfall interference index, the visibility index, the illumination intensity index, the obstacle complex index and the electromagnetic interference index, the confidence coefficient weight of the millimeter wave radar, the visual sensor and other multi-element sensing equipment is calculated in real time, so that the limitation of traditional fixed priority fusion is broken through; the optimal sensor data can be automatically selected as an obstacle avoidance decision basis according to actual environmental conditions, misjudgment or delayed response caused by sensor conflicts is avoided, the obstacle avoidance decision precision is improved, and the method is particularly suitable for high-reliability flight in complex environments such as urban canyons.

The invention discloses an unmanned aerial vehicle attitude feed-forward compensation control method for building wind field disturbance, and belongs to the technical field of unmanned aerial vehicle flight control, and the method comprises the steps: building a mapping relation between a building space position and a wind field disturbance characteristic; processing the real-time wind field data in combination with the mapping relation to generate a wind field prediction result; calculating a feed-forward compensation amount, and synchronously determining a dynamic weight factor reflecting the disturbance intensity of the wind field; obtaining an attitude error between a current attitude and an expected attitude of the unmanned aerial vehicle, and calculating a feedback control quantity; and performing weighted fusion on the feedforward compensation quantity and the feedback control quantity by using the dynamic weight factor, and generating a final control instruction to control the attitude of the unmanned aerial vehicle. According to the method, the wind field mapping relation is established and the wind field is predicted to calculate the feed-forward compensation quantity, and then the dynamic weight factor is used to carry out weighted fusion on the feed-forward compensation quantity and the feedback control quantity, so that the disturbance of the wind field can be actively inhibited, and the attitude control stability and precision of the unmanned aerial vehicle in a complex environment are improved.

The invention discloses a dynamic planning method for an air route of an urban low-altitude unmanned aerial vehicle. The method comprises the following steps: firstly, constructing an urban low-altitude environment model based on an airspace rasterization technology, fusing multi-dimensional constraint factors such as geographic data, meteorological conditions and airspace control information through multi-source environment information, and accurately calibrating the position of a take-off and landing point; secondly, a dynamic grid availability evaluation model is established in combination with environmental constraints and a real-time airspace state, and the navigation feasibility of each grid unit is quantitatively analyzed; then, an improved A * algorithm is combined with a grid availability evaluation result to generate a global optimal initial route; finally, a rolling time domain optimization strategy is introduced, and uncertain factors such as sudden obstacles and airspace dynamic limitation are responded in real time through periodic non-flight route re-planning after the unmanned aerial vehicle takes off. Through collaborative fusion of static environment modeling and a dynamic optimization mechanism, the problem of real-time planning of the air route of the unmanned aerial vehicle in the urban low-altitude complex environment is effectively solved, and the environmental adaptability and task reliability of the system are remarkably improved.

Described herein are systems for automated docking of an unmanned aerial vehicle. For example, some systems include a landing surface configured to hold an unmanned aerial vehicle; a box configured to enclose the landing surface in a first arrangement of the dock and expose the landing surface in a second arrangement of the dock; and a retractable arm, wherein the landing surface is positioned at an end of the retractable arm and the retractable arm is configured to extend to move the landing surface outside of the box and contract to pull the landing surface inside of the box.