Non-linear navigation tracking control method for unmanned aerial vehicle

A control method and UAV technology, applied in three-dimensional position/channel control and other directions, can solve the problem of low accuracy of UAV route control

Inactive Publication Date: 2014-04-16
CHONGQING UNIV
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Problems solved by technology

[0005] In view of the above-mentioned deficiencies in the prior art, the object of the present invention is to provide a non-linear navigation tracking control method for unmanned aerial vehicles, in order to improve the accuracy of the navigation control of unmanned aerial vehicles, so that the unmanned aerial vehicles can better Realize the flight of the route, solve the problem of low accuracy of the route control of the UAV in the existing technology

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Embodiment Construction

[0064] The non-linear navigation tracking control method of the unmanned aerial vehicle of the present invention, by obtaining the current geographic location and flight direction of the unmanned aerial vehicle, combined with the preset route, adopts nonlinear navigation and tracking control to calculate the lateral acceleration or the lateral acceleration of the unmanned aerial vehicle in real time centripetal acceleration, and calculate the navigation angle of the UAV, so as to ensure that the UAV can better realize the flight of the flight path when performing the set flight mission. Solution When the traditional PID algorithm is used for navigation and tracking control in the prior art, the PID parameters are often a compromise between proportional, integral and differential control functions, so that the calculated navigation angle changes linearly. Therefore, in complex route flight missions, the navigation angle obtained by the traditional PID algorithm cannot be adjuste...

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Abstract

The invention relates to a non-linear navigation tracking control method for an unmanned aerial vehicle. A fixed navigation control period is adopted, and a navigation angle is obtained according to four different flying states of the unmanned aerial vehicle and deviation conditions thereof, thus the non-linear navigation tracking control is carried out on the unmanned aerial vehicle according to the navigation angle so as to ensure that the unmanned aerial vehicle can obtain appropriate navigation angles according to the characteristics of different air lines and the degree of current deviated air line when different air line flight missions are carried out, so that the unmanned aerial vehicle can realize airline operation better, the accuracy degree for the navigation control of the unmanned aerial vehicle is improved, and the flight speed v of the unmanned aerial vehicle can be dynamically adjusted by adjusting related parameters in the navigation tracking control; therefore, the problem that PID parameters cannot be adjusted dynamically in the prior art is overcome, and the flexibility for the navigation tracking control on the unmanned aerial vehicle is improved.

Description

technical field [0001] The invention relates to a nonlinear navigation tracking control method for autonomous navigation of an unmanned aircraft system (Unmanned Aerial Vehicle, referred to as UAV), belongs to the field of aircraft navigation control methods, and is suitable for research on control methods and application technologies for autonomous navigation of unmanned aircraft systems. Background technique [0002] Unmanned aircraft, referred to as "UAV", is an unmanned aircraft controlled by radio remote control telemetry equipment and its own program control device. Equipment such as navigation flight control system, program control device, power and power supply are installed on the plane. The personnel of the ground remote control telemetry station track, locate, remote control, telemeter and transmit real-time data through data link and other equipment. Compared with manned aircraft, it has the characteristics of adapting to the requirements of various flight envir...

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Application Information

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IPC IPC(8): G05D1/10
Inventor 黄鸿曲焕鹏梁爽谢吉海
Owner CHONGQING UNIV
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