High-altitude high-speed unmanned aerial vehicle landing and grounding state control method

Abstract

The invention discloses a high-altitude high-speed unmanned aerial vehicle landing and grounding state control method. The invention aims to provide a safer and more reliable control method. The control method of the invention is realized by following technical schemes: a high-altitude high-speed autonomous take-off and landing type unmanned aerial vehicle landing control system acquires the information of a differential GPS, and the altitude values and validity signals of an inertial navigation GPS, an atmospheric engine A, an atmospheric engine B, a radio altimeter A and a radio altimeter through a flight control computer, judges whether a certain device malfunctions, sets altitude information and valid bit information if the device malfunctions; whether one altitude source is valid is judged according to the altitude values and validity signals of the difference GPS and the inertial GPS, and if the altitude source is valid, whether the altitude source is within an altitude thresholdis judged, if the altitude source is within the altitude threshold, left main landing wheel load sensor and right main landing wheel load sensor signals are collected for 5 consecutive beats; and whether wheel load is real for 5 consecutive beats is judged, and if the wheel load is real for 5 consecutive beats, a landing and grounding state flag is set, and ground measurement and control system station commands are collected, and landing and grounding state operation is performed.

Description

technical field [0001] The technology relates to a method for comprehensive determination of the grounding status of high-altitude and high-speed autonomous take-off and landing unmanned aerial vehicles (UAVs) such as geodesy, meteorological observation, urban environment detection, earth resource exploration, and forest fire prevention. Background technique [0002] In the aviation industry, drones mainly include aircraft body, flight control system, data link system, launch recovery system, power supply system, etc. Statistics show that a large number of manned aircraft accidents occur during takeoff and landing. For autonomous take-off and landing UAVs, because the flight control computer and ground telemetry and remote control personnel have replaced the role of the pilot, the pilot lacks the ability to judge the landing and grounding status, and will automatically perform follow-up operations according to the status of the landing and grounding signs (such as releasing ...

AI Technical Summary

Problems solved by technology

Only the wheel-loaded signal is used to judge. If the vertical speed of the aircraft is well controlled when it lands, the vertical speed changes slowly (the vertical acceleration is small), and the pressure sensed by the wheel-loaded signal changes slowly. The status of landing and grounding has not yet been determined, resulting in various landing actions lagging behind; if the two wheel-mounted sensors (generally, the two main aircraft grounding first) all fail, the drone will not judge the landing and grounding, which may rush out of the runway, resulting in failed landing

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