Unmanned aerial vehicle ship autonomous landing method based on relative precision single-point positioning
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 meteor...
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| creator | ZHAI HUAYUAN ZHANG QI XU WEIZHENG LI GENGHUAN ZHANG WENHAO WEI JIANYU QIU YUHUAN WU JIAQI TIAN SHIYING ZHAO TENG KANG GUOHUA HU YUHAN RUI YU ZHANG HAN QIN SIYI |
| description | 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 |
| format | Patent |
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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. 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| subjects | CONTROLLING PHYSICS REGULATING SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES |
| title | Unmanned aerial vehicle ship autonomous landing method based on relative precision single-point positioning |
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