Multi-rotor unmanned aerial vehicle air docking control method and device and airborne docking system

• Main Authors: YE YONGWEI, LIAN SHIKANG, MENG WEI
• Format: Patent
• Language: Chinese; English
• Published: 12.04.2024
• Subjects: CONTROLLING; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

The invention discloses a multi-rotor unmanned aerial vehicle air docking control method and device and an airborne docking system, and relates to the technical field of unmanned aerial vehicles. According to the technical scheme provided by the invention, the master machine and the slave machine are controlled to move to the docking preparation area according to the position information of the master machine and the position information of the slave machine, and the slave machine in the docking preparation area identifies the visual reference identifier through the shot image and outputs the relative pose of the airborne docking mechanism on the slave machine and the master machine; and then optimizing the relative pose data by using a self-adaptive Kalman filter, generating a landing trajectory from the sub-aircraft to the airborne docking mechanism according to the relative pose in combination with a path planning method, and controlling the sub-aircraft to land to the airborne docking mechanism according