Four-rotor unmanned aerial vehicle accurate landing method and system based on improved ADRC control

• Main Authors: GUO ZIRAN, CHE LU, LYU TIANZE, CAI CHENXIAO, YAN BING
• Format: Patent
• Language: Chinese; English
• Published: 05.04.2024
• Subjects: CONTROLLING; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

The invention discloses a four-rotor unmanned aerial vehicle accurate landing method and system based on improved ADRC control. The system comprises a four-rotor aircraft, a flight controller, an ultrasonic ranging sensor, a visual sensor, a GPS module, a landing landmark and an improved ADRC controller. The four-rotor aircraft carries a flight controller, an ultrasonic distance measuring instrument, a visual sensor and a GPS module, ardupilot firmware is arranged in the flight controller, the ultrasonic distance measuring instrument is used for providing landing height information for the flight controller, the visual sensor uses Openmv4, the Openmv4 obtains relative coordinates of a landing center by recognizing landing landmarks, and the relative coordinates of the landing center are located in the GPS module. The flight controller receives the relative coordinates of the landing center, and uses the improved ADRC controller to control the position and attitude of the unmanned aerial vehicle, so as to ensu