1177 results about "Flight speed" patented technology

The invention discloses an unmanned aerial vehicle trajectory optimization method and device based on deep reinforcement learning and an unmanned aerial vehicle. The method comprises the steps: constructing a reinforcement learning network in advance, and generating state data and action decision data in real time in a flight process of an unmanned aerial vehicle; and taking the state data as input, the action decision data as output and the instantaneous energy efficiency as reward return, optimizing strategy parameters by utilizing a PPO algorithm, and outputting an optimal strategy. The device comprises a construction module, a training data collection module and a training module. The unmanned aerial vehicle comprises a processor, and the processor is used for executing the unmanned aerial vehicle trajectory optimization method based on deep reinforcement learning. The method has the capability of carrying out autonomous learning from accumulated flight data, can intelligently determine the optimal flight speed, acceleration, flight direction and return time in an unknown communication scene, concludes a flight strategy with the optimal energy efficiency, and is higher in environment adaptability and generalization capability.

The invention relates to an unmanned aerial vehicle which can vertically take off and land and hover in the air and has higher flight speed and larger flying range. The unmanned aerial vehicle does not need running take-off, thereby reducing the requirement on a taking off and landing field and greatly expanding the application range, and the unmanned aerial vehicle has higher speed and further flaying range than a manned helicopter. The unmanned aerial vehicle comprises a body (1), wings (8), a horizontal empennage (2), a vertical empennage (5), a nose power cabin (15) arranged on the front part of the body (1), a propeller power system (12) arranged on the front part of the nose power cabin (15) and a tilting mechanism (16) arranged on the middle upper part of the body, wherein the nosepower cabin (15) is connected with the body in a titling mode through the tilting mechanism (16) so as to ensure that the axial directions of the propellers (121) and (122) of the propeller power system (12) can be correspondingly titled.

The invention discloses an unmanned aircraft electric quantity early warning method and a device; the method comprises the following steps: using a satellite positioner to obtain inward journey drop point information of the unmanned aircraft; obtaining present position information of the unmanned aircraft, and calculating a horizontal distance and a vertical height difference between the present position of the unmanned aircraft and the inward journey drop point; obtaining battery state information of the unmanned aircraft, and calculating a maximum horizontal distance and a maximum climb or descending height of the unmanned aircraft using residual electric quantity at a preset flight speed; determining whether the electric quantity of the unmanned aircraft has reached a lowest critical point of safety inward journey or not according to the horizontal distance and the vertical height difference between the present position of the unmanned aircraft and the inward journey drop point, and the maximum horizontal distance and the maximum climb or descending height of the unmanned aircraft using residual electric quantity at the preset flight speed; if yes, controlling the unmanned aircraft to fly back. The unmanned aircraft electric quantity early warning method and the device can maximize a task flight time while ensuring the safety of the unmanned aircraft, thus maximizing the utilization efficiency of the aircraft.

The invention relates to a static path planning method of a robot. The method comprises that a target point is set, and an artificial potential field is established within the map range by taking the target point as a terminal point; particle swarm optimization is used, a start point of the robot is provided with m particle swarms, the flight speed of the ith particle in the tth step is vi(t), simulated walking along the path from the start point to the terminal point is carried out on each particle by combining the artificial potential field with the particle swarm optimization, and each particle forms self movement track in the simulated walking process; most particles are converged to one of the multiple tracks gradually, and an optical walking path from the start point to the terminal point is obtained within the map range; and the robot moves from the start point to the terminal point according to the optimal walking path. According to the invention, the potential field method, the grid method and the particle swarm optimization are combined, potential field distribution in a grid map is calculated directly, the pre-planned path is obtained from the target point of the potential field along the direction in which the potential field decreases most rapidly, the method is safe and effective, and path planning is accurate and reliable.

The invention relates to the field of unmanned aerial vehicles, and discloses a remote control method and equipment for the unmanned aerial vehicle and the unmanned aerial vehicle. According to the remote control method and equipment for the unmanned aerial vehicle and the unmanned aerial vehicle, operators just need to trigger a wireless remote control to send a first command, a second command and a third command so that the unmanned aerial vehicle can carry out point-surrounding flight monitoring around the physical coordinate of an interest point according to an adjusted flight speed and an adjusted point-surrounding flight radius, the second command is independently used for adjusting the surrounding radius, the third command is independently used for controlling the surrounding speed, and therefore the operating skill requirement for the operators is lowered, and the experience of the operators is improved.

The invention discloses a multi-dimensional fast acquisition method and system for satellite signals. The acquisition system comprises a digital intermediate frequency mixer, a local code generator, a partial matching filter (PMF), a fast Fourier transform (FFT) module, an acquisition detection module, an acquisition verification module and an acquisition judgment module; the technical problems of limited detection frequency offset range, high hardware implementation complexity, long processing delay and the like a satellite signal acquisition algorithm under a high dynamic environment can be solved via the algorithms of frequency adaptive adjustment, partial matching filter, fast Fourier transform and the like; the method and the system have the remarkable advantages of simple structure, low technical implementation complexity, short processing delay, large detection frequency offset range and the like, wherein the detectable Doppler frequency shift range is +/- 50 KHz, the Doppler frequency change rate is +/- 50 Hz, stable reception of radio communication under the extremely high dynamic environment having the flight speed of 20Ma and the acceleration of 180g can thus be realized, and the acquisition tracking time is less than 100ms.

The invention discloses a UAV (Unmanned Aerial Vehicle)-assisted WSN (Wireless Sensor Network), as well as a method for designing node scheduling, route planning and power distribution of the same, and belongs to the technical field of wireless communication and IOT (Internet Of Things). The UAV-assisted WSN consists of a UAV aerial base station and K single-antenna ground terminal nodes. The method of the invention is characterized by aiming at minimizing system power consumption, considering constraint conditions such as a data transmission rate of the terminal node, a flight speed of the UAV and a transmitting power of the UAV, building a mathematical optimization model by taking a scheduling variable of the terminal node, a flying route of the UAV and a transmitting power variable of the UAV as parameters, respectively converting two sub-problems decomposed from a non-convex optimization problem of mixed integer variables into upper bound convex problems corresponding to the two sub-problems, alternately iterating sub-optimization problems through a block coordinate descent method and an interior point method, and obtaining a suboptimal parameter solution for scheduling of theterminal node, the flying route and the power distribution of the UAV.

The invention provides an operating method of spraying a pesticide by an unmanned aerial vehicle, which comprises the following steps: calculating parameters W and K of a spraying system and a spraying dosage P in a unit area, and transmitting W, K and P to a flight control system of the unmanned aerial vehicle through a ground station; obtaining a flight speed V of the unmanned aerial vehicle by a GPS (global positioning system) module; calculating a control voltage U of a liquid pump by the flight control system according to the parameters W and K of the spraying system, the spraying dosage P in the unit area and the flight speed V; and driving the liquid pump to work by the control voltage U of the liquid pump and spraying the pesticide through a nozzle. By adoption of the operating method, the control voltage U of the liquid pump can be calculated precisely according to the characteristics of different farm crops, pesticide types, a dilution ratio of pesticide, the spraying dosage P in the unit area and the flight speed V of the unmanned aerial vehicle, accurate control on the spraying flow is implemented, thereby making the pesticide spraying dosage in the unit area be uniform, improving the adaptation of spraying pesticides by the unmanned aerial vehicle and effectively reducing the waste of pesticides and the environment pollutions.

The invention discloses a control device and method for integrated unmanned aerial vehicle (UAV) flight. The control device comprises a data link communication unit, an acquisition unit, a processing unit and a control unit, wherein the data link communication unit is used for interacting with a ground station, acquiring a flight task of a UAV and monitoring the flight state of the UAV; the acquisition unit is used for acquiring current flight acceleration and angular speed of the UAV, static air pressure on the UAV, motion speed of the UAV relative to surrounding air, magnetic field intensity of geomagnetic field on the UAV and positioning information of the UAV; the processing unit is used for processing data acquired by the acquisition unit to acquire the flight attitude of the UAV, and comparing the flight attitude with the flight task received by the data link communication unit so as to give flight height, flight speed and flight direction which need to be adjusted by the UAV; and the control unit is used for controlling a steering engine controller of the UAV to adjust according to the flight height, flight speed and flight direction which need to be adjusted by the UAV and are given by the processing unit, so that the UAV meets the requirement of the flight task. The device and the method can effectively and quickly control the flight of the UAV.

The invention discloses an unmanned aerial vehicle flight control method and an unmanned aerial vehicle control system. The method includes the following steps that: a control command is received, and the location information and flight attitude parameter of an unmanned aerial vehicle are acquired, and flight attitude information can be obtained according to the location information and the flight attitude parameter; aerial photography data are acquired, and the flight attitude information and the aerial photography data of the unmanned aerial vehicle are outputted according to the control command; a remote sensing command is sent out according to the flight attitude information and the aerial photography data of the unmanned aerial vehicle; the remote sensing command is received and analyzed; and a flight control command used for controlling the operation of the drivers of the unmanned aerial vehicle is formed according to the analyzed remote sensing command, and the flight attitude information of the unmanned aerial vehicle, so that the flight direction and flight speed of the unmanned aerial vehicle can be controlled. With the above technical schemes of the invention adopted, simplicity, security and real-time performance of data exchange can be improved.

The invention discloses a 4D track generating method. The method includes the following steps of receiving aircraft meteorological data sent by an aircraft to download AMDAR data, conducting testing and quality control on the AMDAR data, generating a flight height profile and a flight speed profile according to the track historical information in the AMDAR data and the large elliptic distance method, generating a nominal flight profile as an initial 4D track generating profile according to the flight height profile and the flight speed profile and through a dynamic time warping (DTW) algorithm and an aircraft basic performance database (BADA) model, modifying weather forecast GRIB data according to actually-measured meteorological data in the AMDAR data, and calculating aircraft airway point-to-point time and combining the aircraft airway point-to-point time with the nominal flight profile to generate a 4D track.

The invention discloses an onboard automatic speed measuring and height measuring radar system and a speed measuring and height measuring method. The system comprises an antenna, a transmitter, a superhet receiver, a broadband digital intermediate-frequency receiver, a center computer and a power module. The transmitter generates four sawtooth wave linear frequency modulation radio-frequency signals and achieves space symmetric configuration through the antenna; the superhet receiver and the broadband digital intermediate-frequency receiver complete echo signal digital demodulation together and calculate the frequency, amplitude, phase and signal-to-noise ratio information of echo signals; the center computer separates the speed information and the height information of the same echo beam by applying Doppler principle directivity based on the space symmetry and the timing sequence relevance of four beams, and the information is used for calculating the flight speed value and the flight height value of an aircraft. According to the onboard automatic speed measuring and height measuring radar system and the speed measuring and height measuring method, the same radar can be used for automatically measuring the speed and the height, the structure of an aircraft avionics system is simplified, the measuring precision is high, and the onboard automatic speed measuring and height measuring radar system and the speed measuring and height measuring method can be used for measuring carrier aircraft flight parameters.

The invention discloses a cooperative real-time path planning method for multiple unmanned aerial vehicles (UAVs) in case of communication latency. UAV data, obstacle data and target point data are firstly set to generate a digital map; then a simultaneous arrival constraint is executed, and the flight speed of each UAV is obtained; a communication latency constraint is executed, and the spacing range of the UAVs is obtained; an A-* algorithm is executed, and the next path of each UAV is obtained; and whether conditions of a collision avoidance constraint and a communication distance restriction are satisfied or not is judged, and whether the UAVs arrive a target point or not is finally judged. By adopting the cooperative real-time path planning method, the multiple UAVs can take off from different places and simultaneously arrive at the same target point under the condition of communication latency and can avoid obstacles on the way; the collision among the UAVs is avoided; and meanwhile, the communication among the UAVs can be kept.

The invention discloses a two-engine carrier-based aircraft with one engine off safety carrier landing control method, belonging to the flight control technology field. Through researching a flight characteristic of a carrier-based aircraft with asymmetric thrust force, the invention provides a flight state simulation method of the two-engine carrier-based aircraft with one engine off. Based on anormal two-engine aircraft flight state, different constant interference is added on a flight state variable of a flight speed, a pitch angle speed, a roll angle speed and a yaw angle speed respectively, thus a flight state of the two-engine carrier-based aircraft with one engine off is obtained. Based on a simulated flight state, vertical and lateral control law are subjected to reconstruction respectively, thus the two-engine carrier-based aircraft with one engine off safety carrier landing control method is obtained. Compared with the prior art, the method in the invention has the advantages of simple structure, reliable performance, high security of carrier landing and the like.

The invention discloses an unmanned aerial vehicle pesticide spray path planning system and an unmanned aerial vehicle pesticide spray path planning method. The method comprises the following steps: S1, a control side releases a spray task; S2, the control side defines a task region according to the task; S3, the control side calculates the optimal positions of edge navigation points of a path according to the included angle between the boundary line of the region and the path; S4, the control side adjusts the pesticide solution ratio and wing span width according to the actual line spacing of crops and big data analysis of current crops; S5, the control side calculates out the actual task route based on repeated spray and missing spray weights of crops according to the size of the region and the optimal line spacing; S6, the control side determines the optimal height of the flight route through big data analysis of crops; and S7, the control side performs the spray task according to the planned optimal flight path. The method makes operation uniform, avoids missing spray and repeated spray which may be caused by manual operation, and ensures that spray is performed only once in each region. In agriculture, pesticide use is efficient, and accurate flight route data like flight speed, height and pesticide quantity is obtained based on background big data and analysis of weather.

A method for controlling flying of a tilt-rotor unmanned helicopter in a transition section is characterized in that the optimal preview control is adopted, and by fusing system motion equation constraints, a preview ideal state and the optimal performance index constraint information, the flying of the tilt-rotor unmanned helicopter in the transition section is controlled; specifically, the method comprises the steps that firstly, a nonlinear model is set up for the transition section of the tilt-rotor unmanned helicopter, and then a liner equation for state space description is obtained in the mode that trimming and linearization at different nacelle dip angles are achieved; secondly, based on the linear model, the optimal preview controller is designed, and the flying speed, the flying height and the flying attitude angle in the transition process are controlled; finally, inertia delay desalted equipment is designed for achieving smooth transition of the tilt-rotor unmanned helicopter between different nacelle dip angles. According to the method for controlling flying of the tilt-rotor unmanned helicopter in the transition section, by fusing a predicable expected speed, a height, an attitude angle and other information, safe switching between modes of the tilt-rotor unmanned helicopter is achieved.

The invention discloses a control method of a hypersonic vehicle orienting the uncertainty condition. The control method comprises the following steps that step S1, full state feedback linearization processing is performed on flight speed V and flight height h according to a hypersonic vehicle longitudinal dynamic equation so as to obtain a corresponding state equation; step S2, an anti-step sliding mode controller is designed according to the state equation, and the double exponential approximation law of the selected sliding mode surface is S<.>=-k<1>|S|<eta>sgn(S)-k<2>|S|<lambda>sgn(S), wherein k<1>>0, K<2>>2, eta>1 and 1>lambda>0 are parameters in the formula; and step S3, a test platform is established based on the anti-step sliding mode controller to perform performance simulation. According to the method, the double exponential sliding mode controller based on the backstepping method is adopted, and switching gain and the problem of buffeting existing in sliding mode control can be effectively reduced by the method.