[go: up one dir, main page]

WO2021244545A1 - Procédé de guidage de véhicule aérien sans pilote, véhicule aérien sans pilote et support de stockage - Google Patents

Procédé de guidage de véhicule aérien sans pilote, véhicule aérien sans pilote et support de stockage Download PDF

Info

Publication number
WO2021244545A1
WO2021244545A1 PCT/CN2021/097755 CN2021097755W WO2021244545A1 WO 2021244545 A1 WO2021244545 A1 WO 2021244545A1 CN 2021097755 W CN2021097755 W CN 2021097755W WO 2021244545 A1 WO2021244545 A1 WO 2021244545A1
Authority
WO
WIPO (PCT)
Prior art keywords
guidance
drone
distance
trajectory route
uav
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2021/097755
Other languages
English (en)
Chinese (zh)
Inventor
张添保
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Autel Robotics Co Ltd
Original Assignee
Autel Robotics Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Autel Robotics Co Ltd filed Critical Autel Robotics Co Ltd
Publication of WO2021244545A1 publication Critical patent/WO2021244545A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
    • G05D1/0825—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability using mathematical models
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft

Definitions

  • the invention relates to the field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle guidance method, an unmanned aerial vehicle and a storage medium.
  • Fixed-wing UAVs are widely used in many fields due to their long flying distance and fast flying speed. Among them, fixed-wing UAVs mainly provide lift through their biplanes when flying, and only when the UAV's speed reaches a certain level can it provide sufficient lift.
  • An objective of the embodiments of the present invention is to provide a UAV guidance method, UAV and storage medium, which can improve the accuracy of UAV trajectory tracking.
  • the present invention provides the following technical solutions:
  • an embodiment of the present invention provides a UAV guidance method, including: acquiring a target trajectory route;
  • the acquiring the flying direction of the drone according to the target trajectory route includes:
  • the flying direction of the drone according to the guidance distance, the target trajectory route, and the guidance starting point of the drone, wherein the guidance distance is the distance between the guidance starting point and the guidance end point, and the guidance The end point is located on the target trajectory route.
  • the obtaining the guidance law model of the drone according to the target trajectory route includes:
  • the guidance law model is a curvilinear guidance law model.
  • the acquiring the flying direction of the drone according to the guidance distance, the target trajectory route, and the guidance starting point of the drone includes:
  • the flying direction of the current trajectory route is the positive direction of the X axis, and establishing the coordinate system of the drone according to the right-hand rule;
  • the flying direction of the drone is determined according to the included angle ⁇ .
  • controlling the drone to fly according to the flight direction and the guidance law model includes:
  • the UAV is controlled to continuously implement guidance operations on the current trajectory route.
  • the guidance law model includes the linear guidance law model or the curvilinear guidance law model, wherein:
  • the revised linear guidance law model is:
  • the revised curve guidance law model is:
  • Guidance for the speed factor K V, K ⁇ is the roll angle guidance factor, K x and K y is the guidance error factor, the maximum velocity V cmax is set by the user, the maximum roll angle ⁇ cmax provided for the control system of the aircraft, V c is the speed of the pre-guide, ⁇ c for the front guide roll angle, ⁇ is linearly guided to the guide start point P 0 P N where the angle between the end of the X-axis positive direction.
  • the calculating the turn preparation distance of the drone includes:
  • S R is the turn preparation distance
  • ⁇ is the roll angle pilot rate
  • T is the roll attitude angle control time constant
  • V is the flight speed.
  • the guiding distance is less than 2 times the radius of curvature of the current trajectory route.
  • an embodiment of the present invention provides a non-volatile computer-readable storage medium, the non-volatile computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable The aircraft executes the UAV guidance method described in any one of the above.
  • an embodiment of the present invention provides a drone, including
  • Wings mounted on the fuselage
  • a power device installed in the fuselage and used to provide power for the drone
  • the power plant includes:
  • At least one processor and,
  • a memory communicatively connected with the at least one processor; wherein,
  • the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor, so that the at least one processor can execute the unmanned aerial vehicle as described in any one of the above. Guide method.
  • the target trajectory route is obtained; if the curvature of the target trajectory route and the current trajectory route are not equal, then according to The current trajectory route and the target trajectory route determine the turning point; obtain the turning preparation distance of the drone, and the real-time distance between the drone's guidance starting point and the turning point; when the real-time distance is less than Or when it is equal to the turn preparation distance, obtain the flight direction and guidance law model of the drone according to the target trajectory, and control the drone to fly according to the flight direction and the guidance law model.
  • FIG. 1 is a schematic structural diagram of an unmanned aerial vehicle provided by an embodiment of the present invention
  • FIG. 2 is a schematic diagram of trajectory routes with unequal curvatures provided by an embodiment of the present invention.
  • FIG. 3 is a schematic flow chart of an unmanned aerial vehicle guidance method provided by an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of a process for determining the flying direction of a drone according to an embodiment of the present invention
  • FIG. 5 is a schematic diagram of the flight angle of the UAV in different trajectory routes according to an embodiment of the present invention.
  • FIG. 6 is a schematic flowchart of a method for revising the guidance of an unmanned aerial vehicle according to an embodiment of the present invention
  • FIG. 7 is a schematic diagram of a flying turn trajectory route of a drone provided by an embodiment of the present invention.
  • FIG. 8 is a schematic diagram of a flying turn trajectory route of a drone provided by an embodiment of the present invention.
  • FIG. 9 is a schematic diagram of a flying turn trajectory route of a drone provided by an embodiment of the present invention.
  • FIG. 10 is a schematic diagram of a flying turn trajectory route of a drone provided by an embodiment of the present invention.
  • FIG. 1 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention.
  • the unmanned aerial vehicle 100 includes a fuselage 11, wings 12 and a power unit 13.
  • the wing 12 is installed on the fuselage 11 and fixedly connected to the fuselage 11, wherein the wing 12 and the fuselage 11 are integrally formed.
  • An aileron rudder surface is provided on the trailing edge of the wing 12 for controlling the rolling motion of the UAV 100.
  • FIG. 1 only exemplarily shows several rudder surfaces of the UAV 100. In other embodiments, other rudder surfaces or a larger number of rudder surfaces may also be included.
  • the power unit 13 is installed in the fuselage 11.
  • the power unit 13 includes a motor and a propeller connected to the motor shaft.
  • the motor can drive the propeller to rotate to provide power for the UAV 100 to achieve flight; the motor can also change the speed of the propeller by changing the speed of the propeller.
  • the flight speed of the man-machine 100 When the power unit 13 is in communication with the flight control system, the flight control system can control the flight of the UAV 100 by controlling the motor.
  • the power unit 13 also includes a main controller.
  • the main controller controls the aileron rudder surface to tilt to a target tilt angle, and the drone 100 rolls according to the tilt angle.
  • a roll angle is generated, and the UAV 100 realizes a turn according to the centripetal force generated by the roll angle.
  • the drone controls the drone to fly on the desired flight trajectory according to the current flight state, so that the flight trajectory of the drone can be accurately tracked.
  • the curvature of the turning trajectory is not equal, it takes a certain response time for the UAV to control the aileron rudder surface tilt to produce a roll angle, so that the UAV performs a turning flight without being fully prepared for the turn. , Which makes the actual flight trajectory of the UAV deviate from the expected flight trajectory, which makes it impossible to accurately track the target trajectory of the UAV, which reduces the accuracy of the UAV's trajectory tracking.
  • FIG. 2 only exemplarily shows the curvature changes encountered by the drone when turning. In other embodiments, curvature changes in other situations may also be included.
  • the guidance method is a method of guiding and controlling the drone to fly to the target position according to a predetermined flight trajectory. It is understandable that the main controller of the drone continuously detects the drone and the target during the guidance process of the drone. The relative position relationship of the position, and the guidance information is generated to control the flight of the UAV.
  • the embodiment of the present invention provides a UAV guidance method, which is applied to the UAV, so that when the UAV is flying on a trajectory route with unequal curvatures, a suitable guidance law model can be selected according to the trajectory route.
  • the guidance law model controls the drone to fly according to the desired trajectory, thereby improving the trajectory tracking accuracy of the drone.
  • the drone in the present invention can be any suitable type of high-altitude drone or low-altitude drone, including fixed-wing drones, rotary-wing drones, para-wing drones, or flapping-wing drones.
  • the guidance method includes:
  • Curvature is the rate of rotation of the tangent direction angle of the pointer to a point on the curve to the arc length. It is used to indicate the degree of deviation of the curve from a straight line. The greater the curvature, the greater the degree of curvature of the curve.
  • Unequal curvature means that two curves have different radii of curvature and/or different directions at the contact point. Specifically, unequal curvature means that the two curves have different radii of curvature at the contact point and have the same direction of curvature; or, two The curvature radius of the curve at the contact point is the same, but the direction of curvature is different; or, the curvature radius and direction of the two curves at the contact point are different.
  • the turning point is the contact point between the current trajectory route and the target trajectory route, and the drone can turn at the turning point to the target trajectory route along the current trajectory route.
  • the guidance method is used to control the UAV to accurately cut into the target trajectory route from the current trajectory route at the turning point.
  • the trajectory route includes a straight trajectory route and a curved trajectory route, wherein the curved trajectory route refers to a regular circular arc curve.
  • at least one of the current trajectory route and the target trajectory route is a curved trajectory route.
  • the target trajectory route is a straight trajectory route; If the route is a curved trajectory, the target trajectory is a straight trajectory or a curved trajectory.
  • the curvature of the current trajectory route and the target trajectory route are not equal, including different radii of curvature and/or different curvature directions, wherein the curvature direction includes a clockwise curvature direction or a counterclockwise curvature direction.
  • the radius of curvature of the straight trajectory route is ⁇
  • the radius of curvature of the curved trajectory route is R.
  • the curvature radius and the curvature direction of the current trajectory route and the target trajectory route are different;
  • the current trajectory route and the target trajectory route are both curved trajectory routes, then when the current trajectory route and the target trajectory route have different curvature directions and/or different curvature radii.
  • Turn preparation distance refers to the safety distance required to control the roll angle of the UAV when turning in the current flight state. Within this safe distance, control the drone to produce a roll angle so that the drone can accurately cut into the target trajectory at the turning point. It is understandable that it takes a certain amount of time for the UAV to generate the roll angle corresponding to the target trajectory. If the UAV starts to generate the roll angle when it reaches the turning point, it will cause the UAV’s flight trajectory to deviate from all directions. The target trajectory route is described and the trajectory tracking error is generated. Therefore, in the embodiment of the present invention, according to the performance characteristics of the drone itself, the turn preparation distance of the drone in the current flight state is calculated to ensure that the drone can accurately reach the turning point. Cut into the target trajectory route at the turning point. Wherein, the flight status includes the current flight speed of the drone.
  • the turning preparation distance of the drone is calculated according to the following formula:
  • S R is the turn preparation distance
  • ⁇ is the roll angle pilot rate
  • T is the roll attitude angle control time constant
  • V is the flight speed.
  • the roll angle pilot rate ⁇ and the roll attitude angle control time constant T are pre-stored in the UAV.
  • the roll attitude angle control time constant T is the UAV generating the roll
  • the value of the pre-stored roll attitude angle control time constant T is also different for each drone according to its own parameters; the roll angle pilot rate ⁇ takes a value between 0.3 and 0.5 between. It can be seen that the turn preparation distance S R is positively correlated with the current flight speed V of the drone. The faster the current flight speed V is, the greater the turn preparation distance S R of the drone is.
  • the turn preparation distance may be determined according to the comprehensive performance of the drone, and the turn preparation distance may be set to a constant value and stored in the drone.
  • the real-time distance refers to the distance between the current position of the drone and the turning point.
  • the real-time distance is the current of the drone.
  • the straight-line distance between the location point and the turning point; when the current trajectory route of the drone is a curved trajectory route, the real-time distance is the length of the curve between the current location point of the drone and the turning point .
  • the flight direction is used to indicate the deviation of the drone relative to the current flight direction
  • the deviation angle is used to identify its size and direction. If the deviation angle is greater than zero, the drone is controlled to move in a clockwise direction Flying; if the offset angle is equal to zero, the UAV is controlled to fly straight forward; if the offset angle is less than zero, the UAV is controlled to fly in a counterclockwise direction.
  • the guidance law model is used to define the law of the UAV flying according to the trajectory route and determine the trajectory route of the UAV flight.
  • the trajectory route includes a straight trajectory route or a curved trajectory route. It is understandable that each trajectory route corresponds to a guidance law model.
  • the guidance law model includes a linear guidance law model or a curvilinear guidance law model. Model. When the trajectory is a straight trajectory, the linear guidance model is selected to guide the UAV to fly; when the trajectory is a curved trajectory, the curved guidance model is selected to guide the UAV to fly.
  • the flight direction and guidance law model of the drone are determined according to the real-time distance and the turn preparation distance. First, determine whether the real-time distance is less than or equal to the turn preparation distance;
  • the UAV has not yet entered the turn preparation distance range.
  • the UAV obtains its flight direction and guidance law model according to the current trajectory, and controls it according to the flight direction and the guidance law model.
  • the drone flies. Specifically, when the current trajectory route is a straight line, it is determined that the guidance law model is a straight-line guidance law model; when the current trajectory route is a curve, it is determined that the guidance law model is a curvilinear guidance law model.
  • the UAV obtains its flight direction and guidance law model according to the target trajectory, and controls the UAV according to the flight direction and the guidance law model. Drone flying. Specifically, when the target trajectory route is a straight line, it is determined that the guidance law model is a linear guidance law model; when the target trajectory route is a curve, it is determined that the guidance law model is a curvilinear guidance law model.
  • the process of guiding the UAV to fly from the current trajectory path into the target trajectory path is called a complete guidance process. It is understandable that when the drone receives a turning flight instruction, the drone generates a current trajectory route and a target trajectory route according to the turning flight instruction, and executes the above-mentioned trajectory route on the current trajectory route and the target trajectory route. In the guidance method, after the drone cuts into the target trajectory route at the turning point, the drone will fly according to the guidance law model corresponding to the target trajectory route until the drone receives a turning flight instruction or other flight instructions.
  • the drone after the drone has flew for a long time according to the guidance law model, it returns to step S22 to follow the current situation of the drone.
  • the flight status calculates the turn preparation distance and the real-time distance, and then determines the flight direction of the drone and the guidance law model to guide the drone to fly.
  • the flight time of the aforementioned drone according to the guidance law model can be set to be longer or shorter than one step time, which is not limited here.
  • the target trajectory route is acquired; if the curvature of the target trajectory route and the current trajectory route are not equal, the turning point is determined according to the current trajectory route and the target trajectory route; and the turning point of the drone is calculated Preparation distance, and the real-time distance between the guidance starting point of the drone and the turning point; when the real-time distance is less than or equal to the turning preparation distance, the drone is acquired according to the target trajectory route Flight direction and guidance law model, and control the drone to fly according to the flight direction and the guidance law model.
  • the flight direction is used to indicate the deviation of the UAV relative to the current flight direction. It is understandable that when the UAV is flying on different trajectory routes, the flight direction of the UAV is obtained according to its flying trajectory. . Specifically, please refer to Figure 4. Obtaining the flying direction of the UAV according to the trajectory of the UAV includes:
  • the trajectory route of the drone includes a current trajectory route and/or a target trajectory route.
  • the drone follows the target trajectory route Determine the guidance distance, and obtain the flight direction of the drone according to the guidance distance, the target trajectory route and the guidance starting point of the drone; when the real-time distance is greater than the turn preparation distance, the The drone determines the guidance distance according to the current trajectory route, and obtains the flying direction of the drone according to the guidance distance, the current trajectory route, and the guidance starting point of the drone.
  • the guidance distance refers to the straight-line distance between the guidance start point and the guidance end point, where the guidance start point refers to the location point of the drone at the current time, and the guidance end point refers to the location point of the drone at the current time.
  • the guiding distance is the length, and the intersection point on the trajectory route or the trajectory route extension line.
  • the trajectory route refers to the trajectory route corresponding to the current guidance law model of the drone.
  • the UAV flies on the current trajectory route according to the guidance law model, that is, the trajectory route is the current trajectory route; when the real-time distance is less than or equal to the During the turn preparation distance, the drone flies on the target trajectory route according to the guidance law model, that is, the trajectory route is the current trajectory route.
  • the obtaining the flight direction of the drone according to the guidance distance, the target trajectory route and the guidance starting point of the drone includes:
  • the guidance distance is used to assist the drone in determining its offset direction relative to the current flight direction.
  • the guidance distance is less than twice the current trajectory route.
  • the radius of curvature, and, during the guiding process, the guiding distance is a fixed value.
  • the guidance distance is determined according to the trajectory, and the current position of the drone is taken as the origin of coordinates, and the flying direction of the drone at the current position is the positive direction of the X axis.
  • the rule establishes a coordinate system in which the flight direction of the drone is calculated, which improves the accuracy of calculating the flight direction of the drone.
  • an embodiment of the present invention provides a UAV flight control method , In order to correct the errors that occur during the flight of the UAV, the method includes:
  • the difference between the X-axis coordinate of the current desired position point in the coordinate system and the X-axis coordinate of the current position point is calculated respectively to obtain the first coordinate difference; and the current desired position is calculated separately
  • a point is a second coordinate difference between the Y-axis coordinate of the drone coordinate system and the Y-axis coordinate of the current position point to obtain the second coordinate difference.
  • the current desired position point is P 0c
  • its corresponding coordinate position in the above-mentioned coordinate system is
  • the current position point is P 0
  • its corresponding coordinate position in the above-mentioned coordinate system is Then, the coordinate difference between the current location point of the drone and the current desired location point is:
  • e x is the first coordinate difference
  • e y is the second coordinate difference
  • the guidance law model includes a linear guidance law model or a curvilinear guidance law model, and the error distance obtained by the above calculation is used to correct the linear guidance law model or the curvilinear guidance law model.
  • the linear guidance law model is:
  • the revised curve guidance law model is:
  • K V is the velocity guidance factor
  • K ⁇ is the roll angle guidance factor
  • K x and K y is the guidance error factor
  • V cmax for the user to set the maximum speed
  • V c is the speed of the front guide
  • ⁇ c for the front guide roll angle ⁇ as a guide start point P 0 and the angle between the straight guide and the end point X-axis positive direction P N is located.
  • leading guidance speed V c and the leading guidance roll angle ⁇ c are the guidance parameters generated by the drone according to the guidance law model, and the drone controls the drone according to the above guidance parameters.
  • the error distance between the current position point of the drone and the current expected position point is calculated, and the error distance is used to correct the linear guidance law model or the curvilinear guidance law model.
  • the UAV is made to fly according to the revised guidance law model, thereby reducing the flight error of the UAV and improving the tracking accuracy of the UAV on the trajectory.
  • the UAV uses the above guidance method to make it accurately cut into the target trajectory route from the current trajectory at the turning point
  • the curvature of the UAV when the above-mentioned UAV turns is not used in the following. Take an equal situation as an example, and describe in detail the guidance process of the UAV during flight:
  • Fig. 7 when the current trajectory route is a straight trajectory route and the target trajectory route is a curved trajectory route, obtain the turning preparation distance and the real-time distance of the UAV, and determine whether the real-time distance is less than the Turn preparation distance; if not, select the linear guidance law model; if yes, select the curvilinear guidance law model.
  • the current position point of the UAV at P 0 is taken as the origin of the coordinate system, and the flight direction of the current trajectory is the positive direction of the X axis, according to The right-hand rule establishes the coordinate system of the UAV;
  • PN is the intersection point of the current trajectory route with P 0 as the starting point of guidance and the length of the guidance distance L as the length of the current trajectory, which is the guidance end point;
  • P T is the turning point and ⁇ is the point flight said guide start point P 0 and the angle between the guide end point of line P N where the X-axis positive direction
  • the UAV includes the following three stages:
  • Stage I When the UAV is flying on the straight trajectory and does not enter the turn preparation distance range, that is, when the real-time distance is greater than the turn preparation distance, the guidance starting point P 0 and the guidance ending point P
  • the law model guides the UAV to fly straight forward.
  • Stage II When the UAV enters the turn preparation distance range, that is, when the real-time distance is less than or equal to the turn preparation distance, the UAV's guidance law model is switched from the linear guidance law model to curve guidance law model, wherein the end guide is located on the target track P N route guidance start point P 0 and the angle ⁇ of the straight line and the X axis guide P N where the end point of> 0, the no The man-machine guides the UAV to fly in a clockwise direction according to the curve guidance law model.
  • the flight of the UAV at this stage is a transitional stage from the current trajectory route to the target trajectory route. Therefore, the flight trajectory route at this stage is neither similar to a straight trajectory nor approximate It is a curvilinear trajectory route, but a trajectory route between a straight trajectory route and a curved trajectory route.
  • Stage III When the drone reaches or flies over the turning point P T , the drone accurately cuts into the target trajectory route from a straight trajectory route, that is, a curved trajectory route, and continues to follow the curve guidance law model and The flight direction controls the drone to fly. It should be noted that when the UAV flies over the turning point, it can be understood that the UAV has completed the flight of the UAV from the current trajectory route according to the above-mentioned guidance method of the UAV. Trajectory route tracking of the target trajectory route.
  • the current trajectory route is a curved trajectory route and the target trajectory route is a straight trajectory route
  • acquiring the turning preparation distance and the real-time distance of the drone and judging whether the real-time distance is less than the turning preparation distance; if No, select the curvilinear guidance law model; if yes, select the linear guidance law model.
  • the current position of the UAV at P 0 is the origin of the coordinate system
  • the flight direction of the current trajectory is the positive direction of the X axis, according to the right hand
  • the rule establishes the coordinate system of the UAV
  • PN is the intersection point of the current trajectory route with P 0 as the starting point of guidance and the length of the guidance distance L as the length of the current trajectory, that is, the guidance end point
  • P T is the turning point
  • ⁇ is the a guide start point P 0 and the angle between the guide end point of line P N where the X-axis positive direction
  • the UAV flight includes the following three stages:
  • Phase I When the UAV is flying on the curved trajectory and has not entered the turn preparation distance range, that is, when the real-time distance is greater than the turn preparation distance, the guidance starting point P 0 and the guidance ending point P If the angle ⁇ between the straight line where N is and the positive direction of the X axis is ⁇ 0, the UAV selects the curvilinear guidance law model according to the current curvilinear trajectory route as the guidance law model of the current flight, and according to the curvilinear guidance law The model guides the drone to fly in a counterclockwise direction.
  • Phase II When the UAV enters the turn preparation distance range, that is, when the real-time distance is less than or equal to the turn preparation distance, the UAV's guidance law model is switched from the curve guidance law model to linear guidance law model, wherein the end guide is located on the target track P N route guidance start point P 0 and the angle ⁇ of the straight line and the X axis guide P N where the end point of ⁇ 0, the no The man-machine guides the UAV to fly in a counterclockwise direction according to the curve guidance law model. It should be noted that the flight of the UAV at this stage is a transitional stage from the current trajectory route to the target trajectory route. Therefore, the flight trajectory route at this stage is neither similar to a straight trajectory nor approximate It is a curvilinear trajectory route, but a trajectory route between a straight trajectory route and a curved trajectory route.
  • Stage III When the UAV arrives at or flies over the turning point P T , the UAV accurately cuts into the target trajectory route from a curved trajectory route, that is, a straight trajectory route, and continues to follow the linear guidance law model and The flight direction controls the drone to fly. It should be noted that when the UAV flies over the turning point, it can be understood that the UAV has completed the flight of the UAV from the current trajectory route according to the above-mentioned guidance method of the UAV. Trajectory route tracking of the target trajectory route.
  • the target trajectory route is a second curved trajectory route, wherein the curvatures of the first curved trajectory route and the second curved trajectory route are not equal.
  • FIGS. 9 and 10 together.
  • the radius of curvature of the first curved trajectory route and the second curved trajectory route are the same, and the directions are different; in FIG. 10, the first curved trajectory The radius of curvature and direction of the route and the second curved track route are different.
  • the guidance law models corresponding to the above-mentioned first curved trajectory route and the second trajectory route are both curved guidance law models, and the curved guidance law model has different outputs according to the curvature radius and direction angle of different curved trajectories.
  • the guidance parameters are both curved guidance law models, and the curved guidance law model has different outputs according to the curvature radius and direction angle of different curved trajectories.
  • the flying direction of the current trajectory route is the positive direction of the X axis
  • the coordinate system of the drone is established according to the right-hand rule
  • P N is expressed as P 0 is the starting point of guidance, and the intersection of the current trajectory route or the extension of the current trajectory route with the guidance distance L as the length is the guidance end point
  • P T is the turning point
  • ⁇ is the guidance starting point P 0 and the guidance end point P
  • the angle between the line where N is and the positive direction of the X-axis, the flight of the UAV mainly includes the following three stages:
  • Stage I When the UAV is flying on the first curved trajectory and does not enter the turn preparation distance range, that is, when the real-time distance is greater than the turn preparation distance, the guidance starting point P 0 and the guidance P N where the end point of line with angle ⁇ of the X-axis positive direction is ⁇ 0, then the UAV guidance law model curve selected as the current flight guidance law model curve according to the first track path, and according to the curve The guidance law model guides the UAV to fly in a counterclockwise direction.
  • Stage II When the UAV enters the turn preparation distance range, that is, when the real-time distance is less than or equal to the turn preparation distance, the UAV's guidance law model is still a curved guidance law model, i stage is different and, at this stage, the end of the guide is located on the target track P N route, the guiding angle ⁇ of the straight line and the X axis of the guide start point P 0 where the end point P N> 0:
  • the UAV guides the UAV to fly in a clockwise direction according to the curve guidance law model. It should be noted that the flight of the UAV at this stage is a transitional stage from the first curved trajectory route to the second curved trajectory route. Therefore, the flight trajectory route at this stage is neither similar to the first curve.
  • the trajectory route is not similar to the second curved trajectory route, but a trajectory route between the first curved trajectory route and the second curved trajectory route.
  • Stage III When the UAV reaches or flies over the turning point P T , the UAV accurately cuts into the first curved trajectory route from the first curved trajectory line, and continues to follow the curved guidance law model and flight direction Control the drone to fly. It should be noted that when the UAV flies over the turning point, it can be understood that the UAV has completed the flight of the UAV from the current trajectory route according to the above-mentioned guidance method of the UAV. Trajectory route tracking of the target trajectory route.
  • the above-described device or device embodiments are merely illustrative.
  • the unit modules described as separate components may or may not be physically separated, and the components displayed as modular units may or may not be physical units. , Which can be located in one place, or can be distributed to multiple network module units. Some or all of the modules can be selected according to actual needs to achieve the objectives of the solutions of the embodiments.
  • each implementation manner can be implemented by means of software plus a general hardware platform, and of course, it can also be implemented by hardware.
  • the above technical solution essentially or the part that contributes to the related technology can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk , CD-ROM, etc., including several instructions to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute the methods described in each embodiment or some parts of the embodiment.
  • the embodiment of the present invention provides a non-volatile computer-readable storage medium, the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are executed by one or more processors, for example, execute the above Describe the method steps of Figures 3, 4, and 6.
  • the embodiment of the present invention provides a computer program product, which includes one or more processors and a memory, and the processors and the memory may be connected through a bus or in other ways.
  • the memory can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules.
  • the processor executes various functional applications and data processing of the server by running non-volatile software programs, instructions, and modules stored in the memory.
  • the memory may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage devices.
  • the memory may optionally include a memory remotely arranged with respect to the processor, and these remote memories may be connected to the processor through a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.
  • the program instructions/modules are stored in the memory, and when executed by the one or more processors, the UAV guidance method in any of the foregoing method embodiments is executed, for example, the above-described FIG. 3 and FIG. 4 and Figure 6 method steps.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Automation & Control Theory (AREA)
  • Remote Sensing (AREA)
  • Algebra (AREA)
  • Pure & Applied Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Mathematical Optimization (AREA)
  • Mathematical Analysis (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Navigation (AREA)

Abstract

L'invention concerne un procédé de guidage de véhicule aérien sans pilote (100), un véhicule aérien sans pilote (100) et un support de stockage, se rapportant au domaine des véhicules aériens sans pilote (100), le procédé consistant : à acquérir une trajectoire cible (S20) ; si la courbure de la trajectoire cible et la trajectoire en cours ne sont pas égales, à déterminer un point de rotation (PT) en fonction de la trajectoire en cours et de la trajectoire cible (S21) ; à acquérir une distance de préparation de rotation (SR) et une distance en temps réel du véhicule aérien sans pilote (100) (S22) ; et lorsque la distance en temps réel est inférieure ou égale à la distance de préparation de rotation (SR), à acquérir le modèle de direction de vol et de loi de guidage du véhicule aérien sans pilote en fonction de la trajectoire cible, et à commander le vol du véhicule aérien sans pilote (100) (S23). La distance de préparation de rotation (SR) du véhicule aérien sans pilote (100) est calculée en fonction de l'état de vol en cours de ce dernier, de telle sorte que lorsque le véhicule aérien sans pilote (100) entre dans la distance de préparation de rotation (SR), la direction de vol et le modèle de loi de guidage soient commutés à temps afin de commander le vol du véhicule aérien sans pilote (100), ce qui permet d'assurer que le véhicule aérien sans pilote (100) entre dans la trajectoire cible au niveau du point de rotation (PT), de telle sorte que le véhicule aérien sans pilote (100) vole sur la trajectoire cible, ce qui permet d'augmenter la précision de suivi du véhicule aérien sans pilote (100) vers la trajectoire cible.
PCT/CN2021/097755 2020-06-05 2021-06-01 Procédé de guidage de véhicule aérien sans pilote, véhicule aérien sans pilote et support de stockage Ceased WO2021244545A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202010507816.9A CN111522353B (zh) 2020-06-05 2020-06-05 一种无人机制导方法、无人机及存储介质
CN202010507816.9 2020-06-05

Publications (1)

Publication Number Publication Date
WO2021244545A1 true WO2021244545A1 (fr) 2021-12-09

Family

ID=71909752

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2021/097755 Ceased WO2021244545A1 (fr) 2020-06-05 2021-06-01 Procédé de guidage de véhicule aérien sans pilote, véhicule aérien sans pilote et support de stockage

Country Status (2)

Country Link
CN (1) CN111522353B (fr)
WO (1) WO2021244545A1 (fr)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114126045A (zh) * 2022-01-19 2022-03-01 深圳市华芯云创科技有限公司 一种uwb室内外一体智能导航定位方法和系统
CN115016528A (zh) * 2022-05-23 2022-09-06 贵州丰立空间科技有限公司 一种基于无人机的光伏板巡查系统
CN115343949A (zh) * 2022-07-09 2022-11-15 西北工业大学 一种固定翼无人机跟踪制导律设计方法及验证平台
CN116360405A (zh) * 2023-04-28 2023-06-30 江苏方天电力技术有限公司 一种无人机飞行可靠性验证方法、装置、电子设备及存储介质
CN116382345A (zh) * 2023-04-20 2023-07-04 北京航空航天大学 视野约束下自主穿越二维曲线管道的无人机集群控制方法
CN119958549A (zh) * 2025-04-08 2025-05-09 北京星箭长空测控技术股份有限公司 一种用于无人机的惯性导航方法及系统

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111522353B (zh) * 2020-06-05 2023-01-31 深圳市道通智能航空技术股份有限公司 一种无人机制导方法、无人机及存储介质
CN111976981A (zh) * 2020-08-14 2020-11-24 深圳市道通智能航空技术有限公司 一种无人机控制方法、装置及存储介质
CN114115316A (zh) * 2021-11-29 2022-03-01 中国南方电网有限责任公司超高压输电公司大理局 无人机稳定性控制方法、装置、无人机设备、存储介质
CN114664120B (zh) * 2022-03-15 2023-03-24 南京航空航天大学 一种基于ads-b的航空器自主间隔控制方法
CN114610068A (zh) * 2022-03-16 2022-06-10 广州极飞科技股份有限公司 无人机控制方法、装置、设备及存储介质
CN114995418B (zh) * 2022-05-31 2023-10-20 郑州北斗七星通讯科技有限公司 一种水上机器人路线规划方法
CN115079723B (zh) * 2022-07-20 2024-06-14 中国人民解放军国防科技大学 一种任意时间到达的固定翼无人机制导方法

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107515617A (zh) * 2017-08-15 2017-12-26 西安爱生技术集团公司 一种固定翼无人机航线平滑切换控制方法
CN107980108A (zh) * 2017-01-04 2018-05-01 深圳配天智能技术研究院有限公司 机器人运动轨迹规划方法及相关装置
CN108469832A (zh) * 2018-02-07 2018-08-31 北京航天时代激光导航技术有限责任公司 一种自动驾驶下的转弯控制方法和系统
CN109582035A (zh) * 2018-11-29 2019-04-05 沈阳无距科技有限公司 一种飞行器航迹导航方法、装置及电子设备
US20190354116A1 (en) * 2018-05-18 2019-11-21 Qualcomm Incorporated Trajectory determination in a drone race
CN111158392A (zh) * 2020-01-09 2020-05-15 辽宁壮龙无人机科技有限公司 无人机转弯的规划控制方法、装置、电子设备及存储介质
CN111522353A (zh) * 2020-06-05 2020-08-11 深圳市道通智能航空技术有限公司 一种无人机制导方法、无人机及存储介质

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9494941B2 (en) * 2009-06-26 2016-11-15 Luminati Aerospace Llc Method of guidance of unmanned aerial vehicles
CN101750090B (zh) * 2009-12-30 2011-08-10 东软集团股份有限公司 利用轨迹点导航的导航装置
CN105259913B (zh) * 2015-08-11 2018-12-11 中国航空工业集团公司西安飞机设计研究所 确定飞行器自动着陆引导指令的方法及装置
CN109343528A (zh) * 2018-10-30 2019-02-15 杭州电子科技大学 一种节能的无人机路径规划避障方法
CN110617818A (zh) * 2019-10-15 2019-12-27 中国人民解放军军事科学院国防科技创新研究院 一种无人机航迹生成方法

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107980108A (zh) * 2017-01-04 2018-05-01 深圳配天智能技术研究院有限公司 机器人运动轨迹规划方法及相关装置
CN107515617A (zh) * 2017-08-15 2017-12-26 西安爱生技术集团公司 一种固定翼无人机航线平滑切换控制方法
CN108469832A (zh) * 2018-02-07 2018-08-31 北京航天时代激光导航技术有限责任公司 一种自动驾驶下的转弯控制方法和系统
US20190354116A1 (en) * 2018-05-18 2019-11-21 Qualcomm Incorporated Trajectory determination in a drone race
CN109582035A (zh) * 2018-11-29 2019-04-05 沈阳无距科技有限公司 一种飞行器航迹导航方法、装置及电子设备
CN111158392A (zh) * 2020-01-09 2020-05-15 辽宁壮龙无人机科技有限公司 无人机转弯的规划控制方法、装置、电子设备及存储介质
CN111522353A (zh) * 2020-06-05 2020-08-11 深圳市道通智能航空技术有限公司 一种无人机制导方法、无人机及存储介质

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114126045A (zh) * 2022-01-19 2022-03-01 深圳市华芯云创科技有限公司 一种uwb室内外一体智能导航定位方法和系统
CN115016528A (zh) * 2022-05-23 2022-09-06 贵州丰立空间科技有限公司 一种基于无人机的光伏板巡查系统
CN115016528B (zh) * 2022-05-23 2023-03-10 贵州丰立空间科技有限公司 一种基于无人机的光伏板巡查系统
CN115343949A (zh) * 2022-07-09 2022-11-15 西北工业大学 一种固定翼无人机跟踪制导律设计方法及验证平台
CN115343949B (zh) * 2022-07-09 2024-04-26 西北工业大学 一种固定翼无人机跟踪制导律设计方法及验证平台
CN116382345A (zh) * 2023-04-20 2023-07-04 北京航空航天大学 视野约束下自主穿越二维曲线管道的无人机集群控制方法
CN116360405A (zh) * 2023-04-28 2023-06-30 江苏方天电力技术有限公司 一种无人机飞行可靠性验证方法、装置、电子设备及存储介质
CN119958549A (zh) * 2025-04-08 2025-05-09 北京星箭长空测控技术股份有限公司 一种用于无人机的惯性导航方法及系统

Also Published As

Publication number Publication date
CN111522353A (zh) 2020-08-11
CN111522353B (zh) 2023-01-31

Similar Documents

Publication Publication Date Title
WO2021244545A1 (fr) Procédé de guidage de véhicule aérien sans pilote, véhicule aérien sans pilote et support de stockage
CN109947123B (zh) 一种基于视线导引律的无人机路径跟踪与自主避障方法
CN107515617B (zh) 一种固定翼无人机航线平滑切换控制方法
US7228227B2 (en) Bezier curve flightpath guidance using moving waypoints
CN112198886B (zh) 一种跟踪机动目标的无人机控制方法
CN105549617B (zh) 一种仿鸟群行为和虚拟结构的无人机编队控制方法
CN106774400B (zh) 一种基于逆动力学的无人机三维轨迹制导方法
CN108845588B (zh) 一种基于非线性制导的四旋翼飞行器轨迹跟踪控制方法
WO2020258066A1 (fr) Procédé et dispositif de commande de véhicule aérien sans pilote, véhicule aérien sans pilote et support d'informations
CN112874760B (zh) 飞行器和飞行器的控制方法
CN113515138A (zh) 一种固定翼无人机航线重规划方法
WO2020237528A1 (fr) Procédé et dispositif de commande de vol d'un véhicule aérien sans pilote à décollage et atterrissage verticaux, et véhicule aérien sans pilote à décollage et atterrissage verticaux
CN113176788B (zh) 一种基于变前向距离los制导律的飞行器路径跟踪方法
CN106444822A (zh) 一种基于空间矢量场制导的平流层飞艇路径跟踪控制方法
CN113110588A (zh) 一种无人机编队及其飞行方法
CN111338374B (zh) 无人机集群编队控制方法
CN108205321B (zh) 滑跑纠偏控制方法及相关装置
CN106647264B (zh) 一种基于控制约束的扩展鲁棒h∞的无人机控制方法
Zhang et al. Small fixed-wing unmanned aerial vehicle path following under low altitude wind shear disturbance
CN105094144B (zh) 一种无人飞艇自适应抗风路径跟踪控制方法
Hoy et al. Collision-free navigation of an autonomous unmanned helicopter in unknown urban environments: sliding mode and MPC approaches
CN113885565A (zh) 一种多旋翼无人机圆弧转弯的控制方法
CN109460059A (zh) 一种双机协同攻击占位最优时间引导方法
CN112416017A (zh) 一种舰载无人直升机返航进场的航向引导控制方法
CN109101034B (zh) 一种垂直/短距起降飞机飞行控制方法

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21817629

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 21817629

Country of ref document: EP

Kind code of ref document: A1