The invention provides an accurate flight
path tracking control method, device and equipment for an unmanned aerial vehicle, and the method comprises the steps: generating fusion state data through the fusion of GPS flight path data and flight state information, and constructing a flight path-state
phase space model through employing a
phase space reconstruction technology; phase trajectory feature parameters are extracted based on dynamic
trajectory analysis, and dynamic
attractor features are determined through
attractor recognition
processing; analyzing and identifying the center position of an
attractor and the position of a topological singular point by using
phase space topology, and constructing composite
potential field intensity distribution formed by overlapping a conventional
gravitational potential field and a repulsion-attraction bipolar
potential field; gradient calculation is carried out on the composite
potential field, and adaptive modulation is carried out based on the relative relation between the current position and the attractor center; in a local coordinate
system taking a singular point as an original point, decomposing a modulation gradient vector into radial and circumferential components, and forming a spiral potential field through selective rotation enhancement; and finally, generating a tracking control instruction and performing
signal modulation output, thereby realizing accurate tracking control of the unmanned aerial vehicle on the preset
route.