Unmanned plane terrain following system and method based on laser radar

Abstract

The invention relates to an unmanned plane terrain following system and method based on a laser radar. The unmanned plane terrain following system comprises a relative altitude measuring module, other sensor modules, and a flight control system. The unmanned plane terrain following method comprises the following steps: 1) the laser radar acquires the relative altitude information of the flight environment and a radar acquisition processing unit performs acquisition and preprocessing calculation on the radar data and outputs the processed result to the flight control system; 2) a sensor data integration module based on an extended kalman filter receives the relative altitude information from the relative altitude measuring module and the flight state information from the other sensor modules; the relative altitude information and the flight state information are fused and processed through the sensor data integration module based on the extended kalman filter, so that a flight command is generated; and 3) the flight command is controlled through flight, and is transmitted to an unmanned plane steering engine group through a data transmission module. The unmanned plane terrain following system and method based on a laser radar solve the problem of measurement of relative altitude of an unmanned plane, height keeping flight of an unmanned plane and automatic taking off and landing of an unmanned plane.

Description

technical field [0001] The invention relates to the field of UAV control systems, in particular to a laser radar-based UAV terrain following system and method. Background technique [0002] UAV is an unmanned aerial vehicle. UAV adopts high-tech such as satellite positioning, remote sensing, geospatial space, aerospace, automatic control, computer-aided analysis, etc. It can serve many fields such as land, surveying and mapping, forestry, transportation, water conservancy and military. fields. [0003] In recent years, with the rapid development of unmanned aerial vehicle technology, man-machine technology has also been applied in various fields. Among them, it has played an important role in the field of agricultural aviation. A typical case is the unmanned aircraft (unmanned aerial vehicle for plant protection for short) used for agricultural and forestry plant protection operations. The birth of unmanned aerial vehicles for plant protection has a huge impact on agricultu...

AI Technical Summary

Problems solved by technology

The barometric altimeter has a wide measurement range, but the error is large; the radio altimeter is accurate, but it is easily interfered by radio signals; the GPS altimeter has signal instability; the ultrasonic altimeter has a small measurement range and is easily affected by ambient temperature and air flow

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