Anti-interference control method and system for fire-fighting unmanned aerial vehicle and related equipment

The invention provides an anti-interference control method and system for a fire-fighting unmanned aerial vehicle and related equipment, and the method comprises the steps: obtaining a target point transition signal, and obtaining a differential signal of the target point transition signal according to the target point transition signal; obtaining the actual state value of the fire-fighting unmanned aerial vehicle, and estimating the interference extension state quantity of the fire-fighting unmanned aerial vehicle according to the actual state value to obtain an extension state estimation value; and compensating the extended state estimation value based on the target point transition signal and the differential signal of the target point transition signal to obtain an active-disturbance-rejection control value, performing numerical conversion to obtain a first control value recognizable by the control system, and performing anti-interference control on the fire-fighting unmanned aerial vehicle according to t