无人机移动自主回收着陆原理及控制方法

Aiming at the problems of relatively fixed landing point, passive recovery, poor flexibility and environmental adaptability of unmanned aerial vehicle (UAV) recovery landing, a fully autonomous ground mobile recovery principle of UAV is proposed, including UAV localization, landing point tracking, and the active flexible undertaking to realize autonomous UAV dynamic mobile recovery landing in the complex environment in the field. Firstly, in order to guarantee the accuracy of acquiring the dynamic position of UAV, a target localization method with multi-sensor information fusion localization and servo turntable tracking is proposed. Secondly, to achieve fast and high-precision tracking of UAV, a two-stage tracking control strategy based on unmanned ground vehicle (UGV) and Stewart platform is proposed. Finally, to solve the problems of large impact and center of gravity instability in the landing process of UAV, a stability control algorithm based on model prediction and a compliance control algorithm based on adaptive variable impedance are designed to achieve active compliance while adjusting the position and attitude of the receiving surface in real time. A principle prototype consisting of a localization device, UGV, and Stewart platform was built to verify the feasibility of the principle and the effectiveness of the control algorithm. The scheme and technology have been successfully applied to the autonomous recovery of a fixed wing UAV.