Four-rotor unmanned aerial vehicle accurate landing method and system based on improved ADRC control
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 contro...
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Format | Patent |
Language | Chinese English |
Published |
05.04.2024
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Abstract | 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 |
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AbstractList | 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 |
Author | CAI CHENXIAO CHE LU YAN BING LYU TIANZE GUO ZIRAN |
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DocumentTitleAlternate | 改进ADRC控制的四旋翼无人机精准降落方法及系统 |
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Snippet | The invention discloses a four-rotor unmanned aerial vehicle accurate landing method and system based on improved ADRC control. The system comprises a... |
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Title | Four-rotor unmanned aerial vehicle accurate landing method and system based on improved ADRC control |
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