The invention discloses a mobile following landing method and system for a mooring unmanned aerial vehicle, and the method comprises the steps: obtaining the data of a vehicle-mounted Beidou positioning device, and determining the relative position of the mooring unmanned aerial vehicle and a landing platform based on the data of the vehicle-mounted Beidou positioning device and a differential positioning method; acquiring the position, speed and course angle of the landing platform determined according to the data of the inertial navigation system and the vehicle-mounted Beidou positioning equipment; and according to the position, the speed, the course angle and the relative position of the landing platform, the alignment error of vehicle-following landing of the mooring unmanned aerial vehicle is controlled in a mode of combining feedforward control and PI control. According to the scheme, existing equipment is easy to upgrade and reconstruct, cost is low, and the control process is easy to implement; high-precision tracking landing errors can be achieved, and even a large-size mooring multi-rotor unmanned aerial vehicle can follow and land on a vehicle-mounted landing platform with a small size.
本发明公开了一种系留无人机移动跟车降落方法和系统,所述方法包括:获取车载北斗定位设备的数据,并基于机载北斗定位设备的数据和差分定位方法确定系留无人机与降落平台的相对位置;获取根据惯性导航系统和车载北斗定位设备的数据确定的降落平台的位置、速度和航向角;根据降落平台的位置、速度、航向角以及相对位置,利用前馈控制和PI控制结合的方式控制所述系留无人机跟车降落的对正误差。上述方案对现有设备升级改造容易,成本低,控制过程易于实现;能够实现高精度的跟踪降落误差,即使是大尺寸系留多旋翼无人机也能够跟随并降落在尺寸较小的车载降落平台上。
Mooring unmanned aerial vehicle moving following landing method and system
系留无人机移动跟车降落方法和系统
2024-09-27
Patent
Electronic Resource
Chinese
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