The invention discloses a flight method for an unmanned aerial vehicle under
severe weather conditions based on multi-
modal adaptive control, and aims to solve the problem that the reliability is difficult to evaluate online and the stable control is difficult to realize when a multi-
modal sensor gradually degenerates or intermittently loses
efficacy due to
severe weather. The method comprises the following steps: obtaining and performing
time alignment on at least two kinds of sensor measurement data, performing cross-
modal consistency check based on an unmanned aerial vehicle model to obtain a residual error, and determining a meteorological
category identifier according to airborne or external meteorological data; carrying out confidence judgment by adopting quantile thresholds updated by
exponential decay according to meteorological categories, and generating health degrees and measurement error upper bounds of all modals; continuously adjusting the measurement
noise covariance based on the health degree in the mobile
horizon estimation, and introducing continuous adjustment of a
slack variable and a penalty weight of the
slack variable to obtain state
estimation and an error boundary of the state
estimation; and the error boundaries are mapped into the tubular
radius predicted and controlled by the tubular robust model, control constraints are continuously tightened after
hysteresis and filtering
smoothing, the control quantity is solved and issued and executed, and the technical effects of controllable continuous degradation and stable flight of multi-modal fusion and control parameter linkage are achieved.