An autonomous landing method for UAV ships based on relatively precise single-point positioning

Abstract

The invention discloses an autonomous landing method of unmanned aerial vehicle ships based on relatively precise single-point positioning, relates to the field of high-precision relative position measurement, and can realize safe and autonomous landing of unmanned aerial vehicles and ships in complex meteorological environments. The invention includes: controlling the lateral and longitudinal movements of the drone through the RPPP algorithm, building a kinematic model of the drone and a harmonic model when the ship is in motion, and introducing the relative motion equation between the two; Combined with a linear quadratic regulator, it can precisely guide the pull-up segment of the UAV landing end. The invention can be used to accurately determine the relative position between the two when the deck shakes violently and the landing trajectory of the drone drifts in the complex sea environment with wind and waves, so as to realize the safe and autonomous landing of the drone.

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 in the current autonomous landing of UAVs. The relative motion of the two in the complex sea environment with wind and waves has great uncertainty. The shaking of the deck and the drift of the landing trajectory of the drone under the influence of wind and waves are all important to the safety and accuracy of the landing of the drone. cause an impact. During the UAV landing process, the most important thing is the relative attitude and position of the two, especially the relative position plays a major role in the UAV approaching process for a long time. [0003] The traditional method of measuring relative positions ba...

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

Images