Research on Key Technology of UAVs Autonomous Landing Based on Relative Precise Point Position

doi:10.16182/j.issn1004731x.joss.21-0473

Abstract

Abstract:

In complex sea conditions with wind and waves, the relative motion between unmanned aerial vehicles (UAVs) requiring autonomous landing and ships is highly uncertain. In order to improve the accuracy of relative positioning and control during autonomous landing, and to ensure the safety and reliability of autonomous landing, a relative precise point positioning (RPPP) technique based on differential tropospheric error is proposed. The technology only relies on data link and carrier satellite positioning receiver to eliminate the same error of satellite positioning in the same environment and obtain accurate relative positioning. The combination of proportional navigation and linear quadratic regulator (LQR) controller solves the problem of large deviation of incident angle of UAV landing, and improves the control accuracy of elevation direction and incident angle at the end of UAV landing. The trajectory of UAV landing is planned, the motion model of UAV landing is established, the horizontal and vertical control laws of UAV landing are designed, and the simulation platform of UAV autonomous landing is built. The simulation results show that the landing error of the above algorithm is controlled below 0.2 m, and the incident angle deviation is in the order of 10^?3, which can meet the requirements of UAV landed on the ship.

Key words: relative precise point position (RPPP), relatively position, unmanned aerial vehicles (UAV), aircraft carrier, proportional guidance, linear quadratic regulator (LQR) controller

CLC Number:

TP391.9

Guohua Kang, Teng Zhao, Yao Fu, Weizheng Xu, Jianyu Wei, Yuhuan Qiu, Junfeng Wu. Research on Key Technology of UAVs Autonomous Landing Based on Relative Precise Point Position[J]. Journal of System Simulation, 2022, 34(11): 2359-2367.

Figures/Tables 14

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导引律	着舰偏差/m	与预期入射角偏差/(°)
偏置比例导引	0.018	0.129 0
最优控制	0.011	0.005 3