The invention discloses a small ship-borne cluster unmanned aerial vehicle sky hook recovery control method, and belongs to the field of unmanned aerial vehicle control. The method specifically comprises the following steps: for a small ship-borne cluster unmanned aerial vehicle, acquiring relative position, speed and course between the unmanned aerial vehicle and a ship and attitude information of the ship through differential satellite navigation, and guiding landing of the unmanned aerial vehicle; the route in the unmanned aerial vehicle sky hook recovery process is divided into three sections. In the approach section, a flight control module controls the unmanned aerial vehicle to descend, and the unmanned aerial vehicle is aligned with a recovery device to enter a follow-flight mode. In the recovery section, the hook point of the sky hook is continuously corrected through the real-time attitude of the ship, and the side offset distance control and the height control are continuously performed on the unmanned aerial vehicle through the L1 guidance law and the PID controller, so that the hooking accuracy is improved; in the re-flight stage, the state of the unmanned aerial vehicle is monitored and judged at the decision point and the hook point, and the unmanned aerial vehicle enters the recovery mode again through the shortest route as long as the unmanned aerial vehicle enters the re-flight stage, so that the recovery flight time is shortened, and the influence on subsequent unmanned aerial vehicle recovery in the cluster is minimized.

    本发明公开了一种小型舰载集群无人机天钩回收控制方法,属于无人机控制领域;具体为:针对小型舰载集群无人机,通过差分卫星导航获取无人机与舰船之间相对位置、速度、航向以及舰船的姿态信息,为无人机降落进行引导;将无人机天钩回收过程中的航线分为三段:进场段飞控模块控制无人机降高降速,对准回收装置进入跟飞模式;回收段通过舰船实时姿态对天钩挂钩点不断进行修正,并通过L1制导律和PID控制器对无人机不断进行侧偏距控制和高度控制,提高挂钩准确度;复飞段在决策点和挂钩点对无人机状态进行监测判断,只要进入复飞则通过最短航线重新进入回收模式,以减少回收飞行时间,最小化对集群内后续无人机回收的影响。


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    Title :

    Small ship-borne cluster unmanned aerial vehicle sky hook recovery control method


    Additional title:

    一种小型舰载集群无人机天钩回收控制方法


    Contributors:
    WANG SONG (author) / ZHAO YIHAN (author) / XIE JIAXUAN (author) / WU KEFAN (author) / TANG JIAXIN (author) / MO JUNRAN (author) / ZHANG NAN (author)

    Publication date :

    2024-02-20


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B64F GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT , Boden- oder Flugzeugträgerdeckeinrichtungen besonders ausgebildet für die Verwendung in Verbindung mit Luftfahrzeugen / B64U / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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