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CN109358645B - Self-adaptive rope hook recovery guidance route and guidance method for small carrier-borne unmanned aerial vehicle - Google Patents

Self-adaptive rope hook recovery guidance route and guidance method for small carrier-borne unmanned aerial vehicle Download PDF

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CN109358645B
CN109358645B CN201811375455.6A CN201811375455A CN109358645B CN 109358645 B CN109358645 B CN 109358645B CN 201811375455 A CN201811375455 A CN 201811375455A CN 109358645 B CN109358645 B CN 109358645B
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unmanned aerial
aerial vehicle
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waypoint
height
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CN109358645A (en
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张勇
杨柳庆
马培圣
仲筱艳
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Nanjing Changkong Technology Co ltd
Nanjing Pukou High-Tech Industrial Development Zone Management Committee
Nanjing University of Aeronautics and Astronautics
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Nanjing Changkong Technology Co ltd
Nanjing Pukou High-Tech Industrial Development Zone Management Committee
Nanjing University of Aeronautics and Astronautics
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Abstract

The invention discloses a self-adaptive rope hook recovery guidance route for a small carrier-borne unmanned aerial vehicle, which comprises a recovery route and an adjustment route when the unmanned aerial vehicle finishes mission route flight or receives a 'return' instruction; the recovery airway is a linear airway formed by connecting an airway point 4 and an airway point 3, the airway point 4 is a point position where the ship rope hook recovery frame is located, and the airway point 3 is a position point which is 800 plus 1000m along the ship course direction; the adjusting navigation path is a nonlinear navigation path formed by connecting navigation points 3, 2, 1 and 0 in sequence, the navigation points 2 are position points which are 90 degrees or minus 90 degrees and are at a distance of 100 plus and minus 300m from the navigation points 3 along the direction of the ship course, and a semicircular navigation path is formed between the navigation points 3 and 2; the navigation point 1 is a position point which is 500-700m away from the navigation point 2 along the course of the naval vessel; the waypoint 1 is a position point when the unmanned aerial vehicle finishes mission route flight or receives a return flight instruction. The invention is suitable for guidance of the rope hook recovery section of the carrier-borne unmanned aerial vehicle, and meets the requirements of high-precision and specific-directivity recovery of the rope hook of the unmanned aerial vehicle.

Description

Self-adaptive rope hook recovery guidance route and guidance method for small carrier-borne unmanned aerial vehicle
Technical Field
The invention relates to the technical field of self-adaptive accurate rope hook recovery guidance of small-sized carrier-based unmanned aerial vehicles, in particular to a self-adaptive rope hook recovery guidance channel and a self-adaptive accurate rope hook recovery guidance method for small-sized carrier-based unmanned aerial vehicles.
Background
The recovery of unmanned aerial vehicle rope hook is an ideal novel accurate fixed point recovery mode, is particularly suitable for small-size fixed wing unmanned aerial vehicle to use on narrow recovery place or naval vessel, can regard it as a zero distance recovery mode: under the guidance of the guiding device, the unmanned aerial vehicle is controlled to recover the flight path, so that the small hook at the wing tip of the wing catches the arresting rope hung on the suspender of the recovery system, and the unmanned aerial vehicle stably and accurately finishes arresting recovery of the rope.
Currently, guidance and control related documents focus on web hit recovery. Compared with the recovery by hitting a net, the recovery of the rope hook has higher requirement on control precision.
In the prior art, a ship-based unmanned aerial vehicle network collision recovery self-adaptive guidance technology references a missile proportion guidance method to form a network collision recovery longitudinal self-adaptive guidance scheme for the unmanned aerial vehicle. Proportional guidance has commonality in moving target tracking, but the rope hook is retrieved its rope hook and is set up in naval vessel one side to the rope hook, and unmanned aerial vehicle can only follow specific direction tracking and be close to and retrieve the net, and has uncertain direction when adopting proportional guidance unmanned aerial vehicle to be close the target, therefore unmanned aerial vehicle hits high-rise building such as bridge easily.
When the proportion guidance unmanned aerial vehicle approaches a target, the unmanned aerial vehicle easily hits high-rise buildings such as bridges due to uncertainty of flight direction, and a track prediction mode is adopted in a document 'unmanned aerial vehicle vertical net hitting recovery guidance law design based on relative track prediction' to solve the problem that the unmanned aerial vehicle needs a specific direction when hitting the net. However, the transverse lateral guidance and control of the unmanned aerial vehicle relative to the linear stern-chasing section of the naval vessel are only described in the text, and a method how to guide the unmanned aerial vehicle to enter the linear stern-chasing recovery section when the unmanned aerial vehicle is returned and recovered in a direction far away from the initial speed direction of the naval vessel is not further provided. In addition, the rolling angle instruction is generated based on the lateral offset and the track error angle, the method is a conventional linear PID method, and the track tracking precision is low. Therefore, the precise following of the expected track is completed by adopting an improved non-line-of-sight guiding method to improve the track tracking precision.
Disclosure of Invention
The invention aims to provide a self-adaptive rope hook recovery guidance route and a guidance method for a small carrier-borne unmanned aerial vehicle.
In order to achieve the purpose, the invention provides the following technical scheme: a self-adaptive rope hook recovery guidance route for a small carrier-borne unmanned aerial vehicle comprises a recovery route and an adjustment route when the unmanned aerial vehicle finishes task route flight or receives a 'return flight' instruction;
the recovery airway is a linear airway formed by connecting an airway point 4 and an airway point 3, the airway point 4 is a point position where the ship rope hook recovery frame is located, and the airway point 3 is a position point which is 800 plus 1000m along the ship course direction;
the adjusting navigation path is a nonlinear navigation path formed by connecting a navigation point 3, a navigation point 2, a navigation point 1 and a navigation point 0 in sequence, the navigation point 2 is a position point which is 90 degrees or 300m away from the navigation point 3 by subtracting 90 degrees in the reverse direction of the course of the naval vessel, and a semicircular navigation path is formed between the navigation point 3 and the navigation point 2;
the navigation point 1 is a position point which is 500-700m away from the navigation point 2 along the course of the naval vessel;
the waypoint 1 is a position point when the unmanned aerial vehicle finishes mission route flight or receives a return flight instruction.
Further, in a rectangular coordinate system of the earth plane, the return time t of the unmanned aerial vehicle0Has a position coordinate of (x)m,ym) The course angle of the naval vessel is psishipDistance between waypoint 4 and waypoint 3 is L2The diameter of the semicircular route between the waypoint 3 and the waypoint 2 is D, and the distance between the waypoint 2 and the waypoint 1 is L0；
Position coordinates (x) of waypoint 33,y3) Can be expressed as follows:
Figure GDA0002995129090000031
position coordinates (x) of waypoint 22,y2) Can be expressed as follows:
Figure GDA0002995129090000032
position coordinates (x) of waypoint 11,y1) Can be expressed as follows:
Figure GDA0002995129090000033
further, the navigation point 4 is the point position where the ship rope hook recovery frame is located, and the height is the ideal rope collision point height;
the navigation point 3 is a point of 900m of the navigation point 4 along the ship course in the reverse direction, and the height of the navigation point is 25m relative to the deck;
the navigation point 2 is a point which is at a distance of 200m from the navigation point 3 by adding 90 degrees or subtracting 90 degrees along the reverse direction of the ship course, and the height is 25m relative to the deck;
the navigation point 1 is a point which is 600m away from the navigation point 2 along the course of the naval vessel, and the height of the navigation point is 50m relative to the deck;
the waypoint 0 is the position of the unmanned aerial vehicle when the unmanned aerial vehicle finishes the mission route flight or receives the return flight instruction, and the height is the current height of the unmanned aerial vehicle.
Further, the ideal bump point height of the waypoint 4 is 10m from the deck.
According to another technical scheme, the self-adaptive rope hook recovery guidance method for the small-sized carrier-based unmanned aerial vehicle comprises the self-adaptive rope hook recovery guidance route for the small-sized carrier-based unmanned aerial vehicle.
Further, the control law is used for adjusting the actual flight track of the unmanned aerial vehicle to the expected track;
the control law comprises transverse and lateral track tracking control and longitudinal height tracking control.
Further, the transverse and lateral track tracking control method comprises the following steps:
(1) according to the expected track and the current ground speed vector V of the unmanned aerial vehiclegUnmanned aerial vehicle's place ahead sight L1And the current ground speed vector V of the unmanned aerial vehiclegAnd the front sight line L1Angle of sight η, wherein the front line of sight L of the drone1Starting point of (2) and current ground speed vector VgThe starting point of the unmanned aerial vehicle coincides with the front sight line L of the unmanned aerial vehicle1Intersects the desired trajectory; calculating an arc C, wherein two ends of the arc C are respectively in contact with the front sight line L1Coincides with the starting point and the end point of (C), and one end of the arc C is aligned with the current ground speed vector VgTangent
(2) The desired lateral acceleration is calculated as:
Figure GDA0002995129090000041
(3) the roll angle command is calculated according to the lateral acceleration and the roll angle of the target drone and is as follows:
γg＝tan-1(acmd/g)
further calculated is:
Figure GDA0002995129090000042
(4) calculating according to the roll angle:
auxiliary wing rudder:
Figure GDA0002995129090000043
wherein:
Figure GDA0002995129090000044
controlling the gain for the roll angle, gamma being the roll angle, gammagIn order to provide the roll angle command,
Figure GDA0002995129090000045
controlling gain, omega, for roll angular ratexThe roll rate of the unmanned aerial vehicle;
a rudder:
Figure GDA0002995129090000046
wherein:
Figure GDA0002995129090000047
wherein,
Figure GDA0002995129090000048
controlling gain, omega, for yaw rateyThe yaw rate of the unmanned aerial vehicle is g, the gravity acceleration is g, and the current speed of the unmanned aerial vehicle is V.
Further, the longitudinal height tracking control method comprises the steps of adjusting a route control law and a recovery route control law;
(1) adjusting the air route control law as follows: control law from waypoint 0 → waypoint 1 → waypoint 2 → waypoint 3:
Figure GDA0002995129090000049
wherein,
Figure GDA00029951290900000410
in order to control the gain for the pitch angle,
Figure GDA00029951290900000411
in order to control the gain for the pitch damping,
Figure GDA00029951290900000412
in order to control the gain in a high degree,
Figure GDA0002995129090000051
the gain is controlled for a high degree of change rate,
Figure GDA0002995129090000052
for the longitudinal channel roll compensation gain,
Figure GDA0002995129090000053
in order to be the pitch angle,
Figure GDA0002995129090000054
for given command of pitch angle, ωzPitch rate, H being the unmanned aerial vehicle height, HgFor a given instruction of a height the instructions are,
Figure GDA0002995129090000055
the height change rate, γ is the roll angle;
(2) the recovery route control law is as follows: from waypoint 3 → waypoint 4 control law:
an elevator:
Figure GDA0002995129090000056
wherein,
Figure GDA0002995129090000057
controlling gain for pitch angle, theta being pitch angle, thetagFor the given command of the pitch angle,
Figure GDA0002995129090000058
gain control for exponential curve height, H is unmanned aerial vehicle height, HeThe binding height is an exponential curve,
Figure GDA0002995129090000059
the gain is controlled for the exponential curve height rate of change,
Figure GDA00029951290900000510
in order to achieve a high degree of change,
Figure GDA00029951290900000511
is the binding value of the height change rate of the exponential curve,
Figure GDA00029951290900000512
for pitch damping control gain, omegazFor the pitch angle rate to be,
Figure GDA00029951290900000513
the roll compensation gain for the longitudinal channel is given by gamma, the roll angle.
Further, HeThe calculation method comprises the following steps: he＝H2+(H1-H2)·e-t/τ；
Figure GDA00029951290900000514
The calculation method comprises the following steps:
Figure GDA00029951290900000515
H1＝H2+15；
wherein H1To intercept altitude, H2To flatten the height, τ is the time constant.
Compared with the prior art, the invention has the beneficial effects that:
(1) the method is suitable for guidance of a rope hook recovery section of a carrier-borne unmanned aerial vehicle, and meets the requirements of high-precision recovery and specific-directivity recovery of the rope hook of the unmanned aerial vehicle, namely the unmanned aerial vehicle needs to have self-adaptive navigation path adjustment capability in a recovery and capture section, so that the unmanned aerial vehicle can be successfully butted with a ship guidance system and smoothly enter a preset recovery area; the invention has universality for recovery guidance and control of the rope hook recovery unmanned aerial vehicle;
(2) the invention relates to a self-adaptive rope hook recovery guidance method based on the combination of dynamic route generation and sight guidance; designing a rope hook recovery guidance strategy in a specific direction (tail-tracking direction) in a transverse plane of the unmanned aerial vehicle based on a dynamic route generation method; designing a nonlinear sight guiding law when the unmanned aerial vehicle enters a tail-pursuit recovery section, and completing high-precision tracking and control of a dynamic instant route; the effectiveness of the method is verified through multiple ship-borne unmanned aerial vehicle water floating base station rope hook recovery flight application tests;
drawings
Fig. 1 is a schematic diagram of recovery of a rope hook of an unmanned aerial vehicle;
FIG. 2 is a diagram of a real-time dynamic recovery route for an unmanned aerial vehicle;
FIG. 3 is a schematic elevation view of the opposing decks during unmanned aerial vehicle recovery;
FIG. 4 is a schematic view of the gaze guidance;
FIG. 5 is a diagram of telemetry data during a recovery phase of a rope hook of an unmanned aerial vehicle;
fig. 6 is a diagram of telemetering data of lateral offset distance in the recovery stage of the unmanned aerial vehicle rope hook.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1: referring to fig. 1-3, the present invention provides a technical solution: a self-adaptive rope hook recovery guidance channel for a small carrier-borne unmanned aerial vehicle comprises a self-adaptive dynamic recovery guidance channel which is generated according to the current position and course angle of a naval vessel when the unmanned aerial vehicle finishes task channel flight or receives a 'return flight' command, wherein the self-adaptive dynamic recovery guidance channel comprises a recovery channel and an adjustment channel;
the recovery route is a linear route formed by connecting waypoints 4 and waypoints 3; the adjusting route is a nonlinear route formed by connecting a waypoint 3, a waypoint 2, a waypoint 1 and a waypoint 0 in sequence;
the navigation point 4 is the point position where the ship rope hook recovery frame is located, the height is 10m above the deck, and the navigation point 4 can also be called a rope collision point;
the navigation point 3 is generated according to the navigation point 4, is a point of the navigation point 4 along the ship course reverse direction 900m, has the height of 25m above a relative deck, and can also be called as a capture point;
the navigation point 2 is generated according to the navigation point 3 and is a point which is at a distance of 200m from the navigation point 3 by adding 90 degrees (left turn recovery) or subtracting 90 degrees (right turn recovery) along the ship course reverse direction, and a semicircular navigation path is formed between the navigation point 3 and the navigation point 2, and the height is 25m above a relative deck; the waypoint 2 may also be referred to as a turning point; thereby forming a turn diameter D of waypoint 2 to waypoint 3 of 200 m:
the navigation point 1 is generated according to the navigation point 2, is a point which is 600m away from the navigation point 2 along the course of the naval vessel, and has the height of 50m above the relative deck;
the flight point 0 is the position of the unmanned aerial vehicle when the unmanned aerial vehicle finishes mission route flight or receives a return flight command, the height is the current height of the unmanned aerial vehicle, and the data of the flight point 0 is acquired only once at the initial moment of return flight;
after the unmanned aerial vehicle enters the recovery mode, the unmanned aerial vehicle flies according to the waypoint 0, the waypoint 1, the waypoint 2 and the waypoint 3; adjusting an air route 0 → 1 → 2 → 3 for adjusting the recovery direction of the unmanned aerial vehicle aiming at the naval vessel;
when the unmanned aerial vehicle does not pass through the navigation point 3, considering that the advancing speed of a naval vessel is smaller than that of the unmanned aerial vehicle, the adjustment navigation path 0 → 1 → 2 → 3 can be designed according to the requirement of low real-time performance, and the navigation path is refreshed once every 1 minute;
after the unmanned aerial vehicle passes through the waypoint 3, the waypoint 3 and the avionic 4 form a recovered airway 3 → 4, and the airway has high real-time requirement, so the airway is refreshed and generated once according to the instant position of the waypoint 4 and the heading of a naval vessel and according to a measurement and control uplink for 80 ms;
the unmanned aerial vehicle generates by giving the dynamic air route, completes track guidance of an outer loop, and realizes accurate rope hook recovery.
In a set rectangular coordinate system of a certain earth plane, the longitude, the latitude, the height and the course of the navigation routing naval vessel are recovered and controlled according to the unmanned aerial vehicle, namely: unmanned aerial vehicle returns a journey moment t0Has a position coordinate of (x)m,ym) The course angle of the naval vessel is psishipDistance between waypoint 4 and waypoint 3 is L2The diameter of the semicircular route between the waypoint 3 and the waypoint 2 is D, and the waypoint 2 and the waypoint1 is a distance L0；
Position coordinates (x) of waypoint 33,y3) Can be expressed as follows:
Figure GDA0002995129090000081
position coordinates (x) of waypoint 22,y2) Can be expressed as follows:
Figure GDA0002995129090000082
position coordinates (x) of waypoint 11,y1) Can be expressed as follows:
Figure GDA0002995129090000083
the self-adaptive rope hook recovery guidance method for the small-sized carrier-based unmanned aerial vehicle comprises the steps of obtaining a self-adaptive rope hook recovery guidance route for the small-sized carrier-based unmanned aerial vehicle;
the control law is used for adjusting the actual flight track of the unmanned aerial vehicle to the expected track; the control law comprises transverse and lateral track tracking control and longitudinal height tracking control;
1) the transverse and lateral track tracking control method comprises the following steps:
(1) a track tracking control method based on sight guidance introduces a front sight L of an unmanned aerial vehicle1And the current ground speed vector and the front sight line L of the unmanned aerial vehicle1And deducing a nonlinear continuous circular arc tracking control track algorithm through a space geometric relation and a body kinematic equation. The basic principle is shown in FIG. 3, where VgIs the ground speed vector of the unmanned plane on the horizontal plane, C is the tangent of the arc with the radius of R and the unmanned plane, L1The unmanned aerial vehicle front sight line vector is intersected with the arc C and the expected track, and the expected lateral acceleration can be obtained according to the geometrical relationship and the kinematics mechanism
Figure GDA0002995129090000084
(2) For track following control, the length of sight line | L is selected1And | calculating a sight angle eta in real time, and obtaining a given roll angle instruction according to the relation between the lateral acceleration and the roll angle of the target drone on the basis of satisfying the coordinated turning:
γg＝tan-1(acmd/g)
further calculated is:
Figure GDA0002995129090000091
(3) the lateral control law is as follows:
auxiliary wing rudder:
Figure GDA0002995129090000092
wherein:
Figure GDA0002995129090000093
controlling the gain for the roll angle, gamma being the roll angle, gammagIn order to provide the roll angle command,
Figure GDA0002995129090000094
controlling gain, omega, for roll angular ratexThe roll rate of the unmanned aerial vehicle;
a rudder:
Figure GDA0002995129090000095
wherein:
Figure GDA0002995129090000096
wherein,
Figure GDA0002995129090000097
controlling gain, omega, for yaw rateyThe yaw rate of the unmanned aerial vehicle is g, the gravity acceleration is g, and the current speed of the unmanned aerial vehicle is V.
2) The longitudinal height tracking control method comprises the steps of adjusting a route control law and a recovery route control law;
wherein, the adjustment route control law is as follows: control law from waypoint 0 → waypoint 1 → waypoint 2 → waypoint 3:
Figure GDA0002995129090000098
wherein,
Figure GDA0002995129090000099
in order to control the gain for the pitch angle,
Figure GDA00029951290900000910
in order to control the gain for the pitch damping,
Figure GDA00029951290900000911
in order to control the gain in a high degree,
Figure GDA00029951290900000912
the gain is controlled for a high degree of change rate,
Figure GDA00029951290900000913
for the longitudinal channel roll compensation gain,
Figure GDA00029951290900000914
in order to be the pitch angle,
Figure GDA00029951290900000915
for given command of pitch angle, ωzPitch rate, H being the unmanned aerial vehicle height, HgFor a given instruction of a height the instructions are,
Figure GDA00029951290900000916
the height change rate, γ is the roll angle;
(2) the recovery route control law is as follows: from waypoint 3 → waypoint 4 control law:
in order to realize the fast tracking and recovery airway 3 → 4 fast descending and accurate altitude tracking, the altitude descending from the airway point 3 to the airway point 4 adopts an exponential curve gliding mode, and the fast tracking and recovery airway 3 → 4 altitude tracking control law is as follows:
an elevator:
Figure GDA0002995129090000101
wherein,
Figure GDA0002995129090000102
controlling gain for pitch angle, theta being pitch angle, thetagFor the given command of the pitch angle,
Figure GDA0002995129090000103
gain control for exponential curve height, H is unmanned aerial vehicle height, HeThe binding height is an exponential curve,
Figure GDA0002995129090000104
the gain is controlled for the exponential curve height rate of change,
Figure GDA0002995129090000105
in order to achieve a high degree of change,
Figure GDA0002995129090000106
is the binding value of the height change rate of the exponential curve,
Figure GDA0002995129090000107
for pitch damping control gain, omegazFor the pitch angle rate to be,
Figure GDA0002995129090000108
rolling compensation gain is taken as a longitudinal channel, and gamma is a rolling angle;
Hethe calculation method comprises the following steps: he＝H2+(H1-H2)·e-t/τ；
Figure GDA0002995129090000109
The calculation method comprises the following steps:
Figure GDA00029951290900001010
H1＝H2+15；
wherein H1To intercept altitude, H2To flatten the height, τ is the time constant.
Wherein, thetagIs 8 DEG, H1＝H2+15，H210 (determined by the actual recovery height), 5s,
when in use
Figure GDA00029951290900001011
When the temperature of the water is higher than the set temperature,
Figure GDA00029951290900001012
when in use
Figure GDA00029951290900001013
When the temperature of the water is higher than the set temperature,
Figure GDA00029951290900001014
when a rope hook is recovered on an unmanned aerial vehicle and a scientific research test flight is carried out by adopting the method, the height and lateral offset telemetering data are shown in fig. 5 and 6. As can be seen from the images in FIGS. 5 and 6, the guidance method can adaptively adjust the recovery direction, quickly correct the track and the height, and meet the requirement on the accuracy of rope collision.
Due to the motion of ships and the requirement of deck space of the ships, the approach direction of the unmanned aerial vehicle recovery process needs to be controlled to prevent the unmanned aerial vehicle from threatening the ships. Therefore, the unmanned aerial vehicle needs to have the navigation path adjusting capability at the recovery and capture section, so that the unmanned aerial vehicle can be successfully butted with a ship guide system and smoothly enter a preset recovery area. And after the unmanned aerial vehicle finishes the mission route flight or receives a return command, the unmanned aerial vehicle enters a recovery mode. The invention is suitable for guidance of a rope hook recovery section of a carrier-borne unmanned aerial vehicle, meets the requirements of high-precision recovery and specific-directivity recovery of the rope hook of the unmanned aerial vehicle, namely the unmanned aerial vehicle needs to have self-adaptive navigation path adjustment capability in a recovery and capture section, and can be successfully butted with a ship guidance system and smoothly enter a preset recovery area. The method has universality for recovery guidance and control of the rope hook recovery unmanned aerial vehicle.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (6)

1. A self-adaptive rope hook recovery guidance method for a small carrier-borne unmanned aerial vehicle is characterized by comprising the following steps: the self-adaptive rope hook recovery guidance channel of the small-sized carrier-based unmanned aerial vehicle comprises a recovery channel and an adjustment channel when the unmanned aerial vehicle completes task channel flight or receives a 'return' command;
the recovery airway is a linear airway formed by connecting an airway point 4 and an airway point 3, the airway point 4 is a point position where the ship rope hook recovery frame is located, and the airway point 3 is a position point which is 800 plus 1000m along the ship course direction;
the adjusting navigation path is a nonlinear navigation path formed by connecting a navigation point 3, a navigation point 2, a navigation point 1 and a navigation point 0 in sequence, the navigation point 2 is a position point which is 90 degrees or 300m away from the navigation point 3 by subtracting 90 degrees in the reverse direction of the course of the naval vessel, and a semicircular navigation path is formed between the navigation point 3 and the navigation point 2;
the navigation point 1 is a position point which is 500-700m away from the navigation point 2 along the course of the naval vessel;
the waypoint 0 is a position point when the unmanned aerial vehicle finishes mission route flight or receives a return flight instruction;
the control law is used for adjusting the actual flight track of the unmanned aerial vehicle to the expected track; the control law comprises transverse and lateral track tracking control and longitudinal height tracking control;
the transverse and lateral track tracking control method comprises the following steps:
(1) current ground speed vector of unmanned aerial vehicle according to expected trackVgUnmanned aerial vehicle's place ahead sight L1And the current ground speed vector V of the unmanned aerial vehiclegAnd the front sight line L1Angle of sight η, wherein the front line of sight L of the drone1Starting point of (2) and current ground speed vector VgThe starting point of the unmanned aerial vehicle coincides with the front sight line L of the unmanned aerial vehicle1Intersects the desired trajectory; calculating an arc C, wherein two ends of the arc C are respectively in contact with the front sight line L1Coincides with the starting point and the end point of (C), and one end of the arc C is aligned with the current ground speed vector VgTangent
(2) The desired lateral acceleration is calculated as:
Figure FDA0002995129080000011
(3) the roll angle command is calculated according to the lateral acceleration and the roll angle of the target drone and is as follows:
γg＝tan-1(acmd/g)
further calculated is:
Figure FDA0002995129080000021
(4) calculating according to the roll angle:
auxiliary wing rudder:
Figure FDA0002995129080000022
wherein:
Figure FDA0002995129080000023
controlling the gain for the roll angle, gamma being the roll angle, gammagIn order to provide the roll angle command,
Figure FDA0002995129080000024
controlling gain, omega, for roll angular ratexThe roll rate of the unmanned aerial vehicle;
a rudder:
Figure FDA0002995129080000025
wherein:
Figure FDA0002995129080000026
wherein,
Figure FDA0002995129080000027
controlling gain, omega, for yaw rateyThe yaw rate of the unmanned aerial vehicle is g, the gravity acceleration is g, and the current speed of the unmanned aerial vehicle is V.
2. The self-adaptive rope hook recovery guidance method for the small-sized carrier-based unmanned aerial vehicle according to claim 1, characterized in that: in the earth plane rectangular coordinate system, the return time t of the unmanned aerial vehicle0Has a position coordinate of (x)m,ym) The course angle of the naval vessel is psishipDistance between waypoint 4 and waypoint 3 is L2The diameter of the semicircular route between the waypoint 3 and the waypoint 2 is D, and the distance between the waypoint 2 and the waypoint 1 is L0；
Position coordinates (x) of waypoint 33,y3) Can be expressed as follows:
Figure FDA0002995129080000028
position coordinates (x) of waypoint 22,y2) Can be expressed as follows:
Figure FDA0002995129080000029
position coordinates (x) of waypoint 11,y1) Can be expressed as follows:
Figure FDA00029951290800000210
3. the self-adaptive rope hook recovery guidance method for the small-sized carrier-based unmanned aerial vehicle according to claim 2, characterized in that: the navigation point 4 is the point position of the ship rope hook recovery frame, and the height is the ideal rope collision point height;
the navigation point 3 is a point of 900m of the navigation point 4 along the ship course in the reverse direction, and the height of the navigation point is 25m relative to the deck;
the navigation point 2 is a point which is at a distance of 200m from the navigation point 3 by adding 90 degrees or subtracting 90 degrees along the reverse direction of the ship course, and the height is 25m relative to the deck;
the navigation point 1 is a point which is 600m away from the navigation point 2 along the course of the naval vessel, and the height of the navigation point is 50m relative to the deck;
the waypoint 0 is the position of the unmanned aerial vehicle when the unmanned aerial vehicle finishes the mission route flight or receives the return flight instruction, and the height is the current height of the unmanned aerial vehicle.
4. The self-adaptive rope hook recovery guidance method for the small-sized carrier-based unmanned aerial vehicle according to claim 3, characterized in that: the ideal rope hitting point height of the waypoint 4 is 10m from the deck.
5. The self-adaptive rope hook recovery guidance method for the small-sized carrier-based unmanned aerial vehicle according to claim 1, wherein the longitudinal height tracking control method comprises adjusting a route control law and a recovery route control law;
(1) adjusting the air route control law as follows: control law from waypoint 0 → waypoint 1 → waypoint 2 → waypoint 3:
Figure FDA0002995129080000031
wherein,
Figure FDA0002995129080000032
in order to control the gain for the pitch angle,
Figure FDA0002995129080000033
in order to control the gain for the pitch damping,
Figure FDA0002995129080000034
in order to control the gain in a high degree,
Figure FDA0002995129080000035
the gain is controlled for a high degree of change rate,
Figure FDA0002995129080000036
for the longitudinal channel roll compensation gain,
Figure FDA0002995129080000037
in order to be the pitch angle,
Figure FDA0002995129080000038
for given command of pitch angle, ωzPitch rate, H being the unmanned aerial vehicle height, HgFor a given instruction of a height the instructions are,
Figure FDA0002995129080000039
the height change rate, γ is the roll angle;
(2) the recovery route control law is as follows: from waypoint 3 → waypoint 4 control law:
an elevator:
Figure FDA00029951290800000310
wherein,
Figure FDA00029951290800000311
controlling gain for pitch angle, theta being pitch angle, thetagFor the given command of the pitch angle,
Figure FDA00029951290800000312
gain control for exponential curve height, H is unmanned aerial vehicle height, HeThe binding height is an exponential curve,
Figure FDA00029951290800000313
the gain is controlled for the exponential curve height rate of change,
Figure FDA0002995129080000041
in order to achieve a high degree of change,
Figure FDA0002995129080000042
is the binding value of the height change rate of the exponential curve,
Figure FDA0002995129080000043
for pitch damping control gain, omegazFor the pitch angle rate to be,
Figure FDA0002995129080000044
the roll compensation gain for the longitudinal channel is given by gamma, the roll angle.
6. The self-adaptive rope hook recovery guidance method for the small-sized carrier-based unmanned aerial vehicle according to claim 5, characterized in that:
Hethe calculation method comprises the following steps: he＝H2+(H1-H2)·e-t/τ；
Figure FDA0002995129080000045
The calculation method comprises the following steps:
Figure FDA0002995129080000046
H1＝H2+15；
wherein H1To intercept altitude, H2To flatten the height, τ is the time constant.
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