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

Authors

Guohua Kang, School of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China;Follow
Teng Zhao, School of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China;
Yao Fu, School of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China;
Weizheng Xu, School of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China;
Jianyu Wei, School of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China;
Yuhuan Qiu, School of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China;
Junfeng Wu, School of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China;

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.

Recommended Citation

Kang, Guohua; Zhao, Teng; Fu, Yao; Xu, Weizheng; Wei, Jianyu; Qiu, Yuhuan; and Wu, Junfeng (2022) "Research on Key Technology of UAVs Autonomous Landing Based on Relative Precise Point Position," Journal of System Simulation: Vol. 34: Iss. 11, Article 5.
DOI: 10.16182/j.issn1004731x.joss.21-0473
Available at: https://dc-china-simulation.researchcommons.org/journal/vol34/iss11/5

First Page

2359

Revised Date

2021-08-21

DOI Link

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

Last Page

2367

CLC

TP391.9

Recommended Citation

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.

DOI

10.16182/j.issn1004731x.joss.21-0473