Quad-rotor real-time trajectory planning and landing control method based on whole-process constraint

The invention discloses a quad-rotor real-time trajectory planning and landing control method based on whole-process constraint, and the method comprises the steps: obtaining the motion information of a landing platform through a communication system, obtaining the motion information of the landing platform through a sensor carried by the landing platform, and obtaining a group of relative distance and relative speed information, and when the distance is short, carrying out the motion of the landing platform. Relative distance and relative speed information is directly obtained through the visual sensor, and the precision is high; dividing the landing time into fixed parts based on a prediction time domain, taking a critical point between the parts as a sampling point, estimating a state vector of the aircraft at each sampling point, controlling the aircraft to fly along the estimated trajectory according to the state vector, repeating the steps after the aircraft reaches the first sampling point, and estimat