Autonomous flight control method for mobile platform of multi-rotor aircraft

The invention discloses a multi-rotor aircraft mobile platform autonomous flight system and a control method, the autonomous flight system comprises a mobile platform and a flight platform, and the system can be conveniently and rapidly deployed on a mobile carrier (such as a vehicle, a ship and the like). Software and hardware support is provided for multiple autonomous flight tasks such as autonomous takeoff, autonomous following and autonomous landing of the multi-rotor aircraft. According to the autonomous flight control method based on the system, a path planning algorithm is adopted in a position and speed control loop, the flight position, the flight speed and the flight acceleration of the multi-rotor aircraft are planned in advance, and then the control quantity serves as feedforward control to be added into the control loop. Therefore, it is guaranteed that the aircraft can stably and rapidly fly to a designated area, the high control precision enables the multi-rotor aircraft to stably and accurate