Unmanned aerial vehicle ship autonomous landing method based on relative precision single-point positioning

Abstract

The invention discloses an unmanned aerial vehicle ship autonomous landing method based on relative precision single-point positioning, relates to the field of high-precision relative position measurement, and can realize safe autonomous landing of an unmanned aerial vehicle ship in a complex meteorological environment. The method comprises the following steps of through an RPPP algorithm, establishing an unmanned aerial vehicle kinematics model and a harmonic model during ship motion, controlling transverse and longitudinal motions of the unmanned aerial vehicle, and introducing a relative motion equation between the two; proportional guidance and a linear quadratic regulator being combined, and accurate guidance being conducted on the pulling-up section of the landing tail end of the unmanned aerial vehicle. The method can be used for accurately determining the relative positions of the deck and the unmanned aerial vehicle under the conditions of violent shaking of the deck and drifting of the landing track of the unmanned aerial vehicle in a complex sea surface environment with stormy waves, so safe and autonomous landing of the unmanned aerial vehicle is realized.

Description

technical field [0001] The invention relates to the field of high-precision relative position measurement, in particular to an autonomous landing method for unmanned aerial vehicles based on relatively precise single-point positioning. Background technique [0002] The autonomous landing of UAVs on ships, especially aircraft carriers, is a difficult problem for UAVs. The relative movement of the two in a complex sea environment with wind and waves has great uncertainty. The shaking of the deck and the drift of the drone's landing trajectory under the influence of wind and waves all affect the safety and accuracy of the drone's landing. make an impact. In the process of UAV landing, the most important thing is the relative attitude and position of the two, especially the relative position plays a major role in the process of UAV approaching for a long time. [0003] Traditionally relying on the combination of GPS / INS for the measurement of relative positions, the real-time ...

AI Technical Summary

Problems solved by technology

[0005] The invention provides an autonomous landing method for unmanned aerial vehicles and ships based on relatively precise single-point positioning, which can eliminate the same error in a unified environment, improve relative positioning accuracy, and solve the problem of unmanned aerial vehicles and ships in complex meteorological environments. The problem of low and unstable relative position measurement accuracy

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