电光与控制, 2014, 21(11): 62, 网络出版: 2014-11-01

复杂条件下无人机着陆纵向控制技术研究

On Longitudinal Control of Landing for UAVs under Complex Conditions
作者单位

南京航空航天大学自动化学院, 南京 210016

摘要
无人机自动着陆过程受环境因素影响较大,为了提高无人机在复杂条件下的着陆精度,增强无人机环境适应性,针对某无人机精确着陆要求,分析了无人机着陆误差较大的主要原因,给出了改进措施,分别验证了陡下滑段自动配平和浅下滑段动力补偿的控制效果。最后采用蒙特卡罗方法对各种不确定性下的着陆进行仿真验证,仿真结果表明,改进后的着陆方案能够有效地减小无人机着陆误差,提高无人机着陆精度。
Abstract
The landing precision of an Unmanned Aerial Vehicles (UAVs) is influenced seriously by the complexity of the environment.In this article,we focus on the accuracy landing of UAV,and analyze the main factors that bring in errors.Some methods were given for improving the performance and environmental adaptability of UAVs in landing process.Simulation was made with Monte Carlo method to examine the suitability of these control methods under different sort of uncertainties.The results show that the improved control method can reduce the deviation of landing points,and increase the landing precision.
00 11