CN117369493A - Unmanned aerial vehicle autonomous emergency disposal method after airspeed information failure - Google Patents
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Abstract
The invention belongs to the technical field of airplane flight informatization, and particularly relates to an unmanned aerial vehicle autonomous emergency disposal method after airspeed information failure, which comprises the following steps: and (3) judging airspeed failure faults, judging ground speed information, controlling emergency treatment according to the ground speed information, judging the attitude of the unmanned aerial vehicle, controlling emergency treatment of rotating speed and pitch angle, judging the attitude of the unmanned aerial vehicle, manually correcting, and carrying out emergency return. Simulation calculation and semi-physical simulation experiments prove that after the airspeed information of the unmanned aerial vehicle is invalid, the unmanned aerial vehicle control method can comprehensively judge the airspeed information and the attack angle information of the unmanned aerial vehicle, and can pertinently develop autonomous treatment methods such as ground speed information control emergency treatment, rotational speed and pitch angle control emergency treatment, manual correction emergency return treatment and the like for the unmanned aerial vehicle at each stage, so that the emergency treatment success rate is improved to the greatest extent, and important military and social benefits are achieved.
Description
Technical Field
The invention belongs to the technical field of airplane flight informatization, and particularly relates to an unmanned aerial vehicle autonomous emergency disposal method after airspeed information failure.
Background
The unmanned aerial vehicle is a unmanned aerial vehicle operated by using radio remote control equipment and a self-provided program control device, can perform military combat tasks such as rapid monitoring and investigation, relay communication, target guidance, damage evaluation, bee colony investigation and the like, can also complete civil tasks such as electric power line inspection, border patrol, ocean law enforcement, disaster area search and rescue and the like, and has wide development prospect. The unmanned aerial vehicle obtains real-time state parameters by using an airborne sensor, and controls the unmanned aerial vehicle to fly by means of control instructions and control law calculation by an aircraft management computer.
Airspeed is one of the most important state parameters and control targets, representing the velocity of the aircraft relative to air, as measured by airspeed sensors. If the airspeed sensor fails, the airspeed information of the unmanned aerial vehicle fails, and the unmanned aerial vehicle performs flight control according to the incorrect airspeed information, so that serious consequences such as asset loss of equipment of the unmanned aerial vehicle are caused.
Because unmanned aerial vehicle has man-machine separation's characteristics, the operator can't synthesize the state condition of judging unmanned aerial vehicle in real time through self observation and impression, is difficult to and timely effectual adoption appropriate treatment measure after airspeed information inefficacy, and artifical emergent treatment success rate is low, therefore the unmanned aerial vehicle autonomous emergent treatment method after the airspeed inefficacy of urgent needs.
However, due to confidentiality, technical barriers and the like, related researches are not available at home and abroad. In view of the above, the invention provides an unmanned aerial vehicle autonomous emergency disposal strategy after the airspeed information with high reliability is invalid, which can furthest ensure that the unmanned aerial vehicle completes the flight task or minimize the loss.
Disclosure of Invention
In order to cope with flight risks faced by unmanned aerial vehicles after airspeed information failure, the invention provides a high-reliability unmanned aerial vehicle autonomous emergency disposal method after airspeed information failure.
In order to achieve the technical effects, the invention is realized by the following technical scheme:
an unmanned aerial vehicle autonomous emergency disposal method after airspeed information failure comprises the following steps:
step one: judging airspeed failure faults, reading airspeed data reported by an atmospheric data measuring unit through an aircraft management computer, determining that airspeed failure faults occur, and entering emergency treatment;
step two: judging the ground speed information, reading the ground speed data reported by the attitude sensor through an aircraft management computer, judging that the ground speed is within the allowable range of the unmanned aerial vehicle, and turning to the third step; the ground speed is outside the allowable range, and the step five is performed;
step three: controlling emergency treatment according to the ground speed information, and selecting ground speed data of the navigation attitude sensor by a speed signal source;
step four: judging the attitude of the unmanned aerial vehicle, namely reading the attack angle data reported by the atmospheric data measuring unit through an aircraft management computer to judge, wherein the attack angle is within the allowable range of the unmanned aerial vehicle, and turning to the step eight; the attack angle is outside the allowable range, and the step five is performed;
step five: the emergency treatment is controlled by the rotating speed and the pitch angle, the speed is opened, the speed is not controlled in a closed loop in the longitudinal direction, and the control mode is switched into fixed rotating speed and fixed pitch angle control;
step six: judging the attitude of the unmanned aerial vehicle, namely reading the attack angle data reported by the atmospheric data measuring unit through an aircraft management computer to judge, wherein the attack angle is within the allowable range of the unmanned aerial vehicle, and turning to the step eight; the attack angle is outside the allowable range, and the step seven is performed;
step seven: manually correcting, wherein if the attack angle is out of the allowable range, an unmanned plane ground operator sends a rotating speed and pitch angle correction instruction through a measurement and control link, and adjusts an unmanned plane control target;
step eight: and (3) the emergency return voyage, wherein the aircraft management computer controls the unmanned aerial vehicle to fly to the nearest waypoint of the emergency return voyage, and then the unmanned aerial vehicle returns according to the emergency return voyage to complete emergency treatment.
Further, in the first step, the airspeed failure fault occurs according to that the airspeed information failure occurs when the airspeed information is confirmed by the fact that the data bit in the air data frame is not valid data after the air data measurement unit continuously receives 5 beats of the air data measurement unit report data.
In the second step, aiming at unmanned aerial vehicles with small flight speed envelope such as solar unmanned aerial vehicles, the speed range of safe flight is only 8-12 m/s, and the unmanned aerial vehicle is easily influenced by an air wind field; if the airspeed fails, the control is performed according to the ground speed, and the risk that the airspeed exceeds the boundary to cause the unmanned aerial vehicle to stall exists, so that the ground speed needs to be analyzed to judge whether the unmanned aerial vehicle is available.
Still further, the judging method is as follows:
1) The horizontal wind speed before airspeed failure is solved, and the solving method is as follows:
simultaneous formulas (1) - (4) give:
wherein:L ab the transformation matrix is a transformation matrix of an airflow coordinate system and a machine body coordinate system; l (L) bg The transformation matrix is a ground coordinate system and a collective coordinate system; alpha, beta, V t The method comprises the steps of measuring an attack angle, a sideslip angle and a vacuum speed for an atmosphere data measuring unit; θ, φ, ψ are pitch angle, roll angle and yaw angle measured by the attitude sensor respectively; v (V) E 、V N The east speed and the north speed are respectively measured by the navigation attitude sensor;
2) Judging whether the ground speed is available at the failure moment according to the wind speed information calculated in real time before the airspeed fails, and if so:
a)V W ≤K 0 *(V max -V min ) The ground speed is available;
b)V W >K 0 *(V max -V min ) The ground speed is not available.
Wherein V is max 、V min Respectively representing the maximum flying speed and the minimum flying speed of the unmanned aerial vehicle at the current altitude; k (K) 0 Representing a safety factor.
In the third step, the speed signal source selects the ground speed data of the attitude sensor, and the speed control mode is pitch angle-speed closed-loop control.
In the fourth step, whether the flight state is safe or not is judged according to the attack angle data measured by the atmospheric data measuring unit; if alpha is E [ alpha ] min +α 0 α max -α 0 ]The flight state is safe; otherwise, the flight is in an unsafe state; wherein alpha is min 、α max And alpha 0 The minimum available attack angle, the maximum available attack angle and the attack angle safety margin in the current state are respectively adopted.
In the fifth step, the rotation speed and the pitch angle are controlled, the longitudinal control target is switched from the speed to the rotation speed and the pitch angle in the climbing and descending stage, the control mode is switched from the pitch angle-speed closed-loop control to the fixed rotation speed and the fixed pitch angle, and the speed is controlled in an open loop; in the plane flight stage, the longitudinal control target is switched from speed to rotating speed and pitch angle, the control mode is switched from rotating speed-speed closed loop to fixed rotating speed and fixed pitch angle, and the height and speed are controlled in an open loop.
Still further, the individual stage control targets are as follows:
a) Climbing stage: the rotation speed is the maximum allowable rotation speed, and the pitch angle is givenθ climb ；
b) And (3) a flat flight stage: the rotation speed is rev cruise Pitch angle given θ cruise ；
c) The descending stage: the rotating speed is the rotating speed of the slow vehicle, and the pitch angle is given by theta descent 。
Wherein θ climb 、θ descent Respectively the pitch angles when the climbing and the sliding are carried out at a favorable speed; rev cruise 、θ cruise The balance rotating speed and the pitch angle are respectively carried out when the flying is stabilized straight and flat at the long-term navigational speed.
In the sixth step, the flight state is judged according to the method provided in the fourth step, and if the attack angle is out of the allowable range, the unmanned plane ground operator sends a rotating speed and pitch angle correction instruction through the measurement and control link to adjust the unmanned plane control target.
Further, in step seven, if it is determined in step six that the flight is in an unsafe state and the attack angle is too large, then:
a) Climbing and sliding stages: an unmanned plane ground operator sends a pitch angle reducing instruction through a measurement and control link, adjusts a pitch angle control target and improves the flying speed;
b) And (3) a flat flight stage: and an unmanned plane ground operator sends a rotating speed adding instruction through a measurement and control link, adjusts a rotating speed control target and improves the flying speed.
Further, if the step six determines that the flight is in an unsafe state and the attack angle is smaller, then:
a) Climbing and sliding stages: an unmanned plane ground operator sends a pitch angle adding instruction through a measurement and control link, adjusts a pitch angle control target, and reduces the flying speed;
b) And (3) a flat flight stage: and an unmanned plane ground operator sends a rotating speed reducing instruction through a measurement and control link, adjusts a rotating speed control target and reduces the flying speed.
In the eighth step, an emergency return route is designed, and if the unmanned aerial vehicle fails in airspeed information, the unmanned aerial vehicle returns along the emergency return route. The emergency return route is a route designed in consideration of avoiding an important target inducing a secondary disaster when the unmanned aerial vehicle fails and needs to return. Binding by ground stations prior to flight.
The application has the advantages that:
according to the method, simulation calculation and semi-physical simulation tests prove that after the airspeed information of the unmanned aerial vehicle fails, ground speed information and attack angle information of the unmanned aerial vehicle are comprehensively judged, the unmanned aerial vehicle is pertinently subjected to autonomous treatment methods such as ground speed information control emergency treatment, rotational speed and pitch angle control emergency treatment, manual correction emergency return treatment and the like at each stage, the emergency treatment success rate is improved to the greatest extent, and important military and social benefits are achieved.
Drawings
FIG. 1 is a flow chart of an embodiment of the present invention.
The marks in the figures are respectively: 1. the emergency treatment strategy comprises 11, the emergency treatment is started, 12, the emergency treatment is ended, 21, the ground speed control emergency treatment, 22, the fixed rotating speed and the fixed pitch angle control emergency treatment, 23, the manual correction, 24, the emergency return navigation treatment, 31, the airspeed failure fault judgment, 32, the ground speed information judgment, 33, the attack angle information judgment, 321, the ground speed available, 322, the ground speed unavailable, 331, the attack angle overrun, 332 and the attack angle safety.
Detailed Description
In order to more clearly illustrate the technical solutions provided by the present invention, the present invention will be further described below with reference to the accompanying drawings and examples. It should be noted that the embodiments provided are only some embodiments of the present invention, but not all embodiments, and therefore should not be construed as limiting the scope of protection. All other embodiments, which are obtained by a worker of ordinary skill in the art without creative efforts, are within the protection scope of the present invention based on the embodiments of the present invention.
Example 1
An unmanned aerial vehicle autonomous emergency disposal method after airspeed information failure comprises the following steps:
step one: judging airspeed failure faults, reading airspeed data reported by an atmospheric data measuring unit through an aircraft management computer, determining that airspeed failure faults occur, and entering emergency treatment;
step two: judging the ground speed information, reading the ground speed data reported by the attitude sensor through an aircraft management computer, judging that the ground speed is within the allowable range of the unmanned aerial vehicle, and turning to the third step; the ground speed is outside the allowable range, and the step five is performed;
step three: controlling emergency treatment according to the ground speed information, and selecting ground speed data of the navigation attitude sensor by a speed signal source;
step four: judging the attitude of the unmanned aerial vehicle, namely reading the attack angle data reported by the atmospheric data measuring unit through an aircraft management computer to judge, wherein the attack angle is within the allowable range of the unmanned aerial vehicle, and turning to the step eight; the attack angle is outside the allowable range, and the step five is performed;
step five: the emergency treatment is controlled by the rotating speed and the pitch angle, the speed is opened, the speed is not controlled in a closed loop in the longitudinal direction, and the control mode is switched into fixed rotating speed and fixed pitch angle control;
step six: judging the attitude of the unmanned aerial vehicle, namely reading the attack angle data reported by the atmospheric data measuring unit through an aircraft management computer to judge, wherein the attack angle is within the allowable range of the unmanned aerial vehicle, and turning to the step eight; the attack angle is outside the allowable range, and the step seven is performed;
step seven: manually correcting, wherein if the attack angle is out of the allowable range, an unmanned plane ground operator sends a rotating speed and pitch angle correction instruction through a measurement and control link, and adjusts an unmanned plane control target;
step eight: and (3) the emergency return voyage, wherein the aircraft management computer controls the unmanned aerial vehicle to fly to the nearest waypoint of the emergency return voyage, and then the unmanned aerial vehicle returns according to the emergency return voyage to complete emergency treatment.
Further, in the first step, the airspeed failure fault occurs according to that the airspeed information failure occurs when the airspeed information is confirmed by the fact that the data bit in the air data frame is not valid data after the air data measurement unit continuously receives 5 beats of the air data measurement unit report data.
In the second step, aiming at unmanned aerial vehicles with small flight speed envelope such as solar unmanned aerial vehicles, the speed range of safe flight is only 8-12 m/s, and the unmanned aerial vehicle is easily influenced by an air wind field; if the airspeed fails, the control is performed according to the ground speed, and the risk that the airspeed exceeds the boundary to cause the unmanned aerial vehicle to stall exists, so that the ground speed needs to be analyzed to judge whether the unmanned aerial vehicle is available.
Still further, the judging method is as follows:
1) The horizontal wind speed before airspeed failure is solved, and the solving method is as follows:
simultaneous formulas (1) - (4) give:
wherein:L ab the transformation matrix is a transformation matrix of an airflow coordinate system and a machine body coordinate system; l (L) bg The transformation matrix is a ground coordinate system and a collective coordinate system; alpha, beta, V t The method comprises the steps of measuring an attack angle, a sideslip angle and a vacuum speed for an atmosphere data measuring unit; θ, φ, ψ are pitch angle, roll angle and yaw angle measured by the attitude sensor respectively; v (V) E 、V N The east speed and the north speed are respectively measured by the navigation attitude sensor;
2) Judging whether the ground speed is available at the failure moment according to the wind speed information calculated in real time before the airspeed fails, and if so:
a)V W ≤K 0 *(V max -V min ) The ground speed is available;
b)V W >K 0 *(V max -V min ) The ground speed is not available.
Wherein V is max 、V min Respectively representing the maximum flying speed and the minimum flying speed of the unmanned aerial vehicle at the current altitude; k (K) 0 Representing a safety factor.
In the third step, the speed signal source selects the ground speed data of the attitude sensor, and the speed control mode is pitch angle-speed closed-loop control.
In the fourth step, whether the flight state is safe or not is judged according to the attack angle data measured by the atmospheric data measuring unit; if alpha is E [ alpha ] min +α 0 α max -α 0 ]The flight state is safe; otherwise, the flight is in an unsafe state; wherein alpha is min 、α max And alpha 0 The minimum available attack angle, the maximum available attack angle and the attack angle safety margin in the current state are respectively adopted.
In the fifth step, the rotation speed and the pitch angle are controlled, the longitudinal control target is switched from the speed to the rotation speed and the pitch angle in the climbing and descending stage, the control mode is switched from the pitch angle-speed closed-loop control to the fixed rotation speed and the fixed pitch angle, and the speed is controlled in an open loop; in the plane flight stage, the longitudinal control target is switched from speed to rotating speed and pitch angle, the control mode is switched from rotating speed-speed closed loop to fixed rotating speed and fixed pitch angle, and the height and speed are controlled in an open loop.
Still further, the individual stage control targets are as follows:
a) Climbing stage: the rotation speed is the maximum allowable rotation speed, and the pitch angle is given by theta climb ；
b) And (3) a flat flight stage: the rotation speed is rev cruise Pitch angle given θ cruise ；
c) The descending stage: the rotating speed is the rotating speed of the slow vehicle, and the pitch angle is given by theta descent 。
Wherein θ climb 、θ descent Respectively the pitch angles when the climbing and the sliding are carried out at a favorable speed; rev cruise 、θ cruise The balance rotating speed and the pitch angle are respectively carried out when the flying is stabilized straight and flat at the long-term navigational speed.
In the sixth step, the flight state is judged according to the method provided in the fourth step, and if the attack angle is out of the allowable range, the unmanned plane ground operator sends a rotating speed and pitch angle correction instruction through the measurement and control link to adjust the unmanned plane control target.
Further, in step seven, if it is determined in step six that the flight is in an unsafe state and the attack angle is too large, then:
a) Climbing and sliding stages: an unmanned plane ground operator sends a pitch angle reducing instruction through a measurement and control link, adjusts a pitch angle control target and improves the flying speed;
b) And (3) a flat flight stage: and an unmanned plane ground operator sends a rotating speed adding instruction through a measurement and control link, adjusts a rotating speed control target and improves the flying speed.
Further, if the step six determines that the flight is in an unsafe state and the attack angle is smaller, then:
a) Climbing and sliding stages: an unmanned plane ground operator sends a pitch angle adding instruction through a measurement and control link, adjusts a pitch angle control target, and reduces the flying speed;
b) And (3) a flat flight stage: and an unmanned plane ground operator sends a rotating speed reducing instruction through a measurement and control link, adjusts a rotating speed control target and reduces the flying speed.
In the eighth step, an emergency return route is designed, and if the unmanned aerial vehicle fails in airspeed information, the unmanned aerial vehicle returns along the emergency return route. The emergency return route is a route designed in consideration of avoiding an important target inducing a secondary disaster when the unmanned aerial vehicle fails and needs to return. Binding by ground stations prior to flight.
Example 2
The method for emergency disposal after the airspeed of the unmanned aerial vehicle fails at a certain high altitude and long endurance comprises the following steps of:
1. and judging airspeed failure faults. The aircraft management computer continuously receives the air data measurement unit in 5 beats, returns that the air speed data bit in the data frame is not effective data, confirms that airspeed information failure occurs, and starts emergency treatment;
2. and judging the ground speed information. Firstly, reading the east speed and the north speed of the navigation attitude sensor and the attitude angle of the unmanned aerial vehicle, and solving the horizontal wind speed. Then judging whether the ground speed is available at the failure moment according to the wind speed information calculated in real time before the airspeed fails;
3. the ground speed is in the allowable range, emergency treatment is controlled according to the ground speed information, and the ground speed data of the attitude sensor is selected by the speed signal source.
4. Judging the flight state through the attack angle data measured by the atmospheric data measuring unit;
5. angle of attack alpha e alpha min +3 α max -3]And in the allowable range, the flying state is safe, and the aircraft returns along the emergency return route to complete emergency treatment.
Example 3
The embodiment is further defined in embodiment 2, and when the ground speed obtained by judging the ground speed information is not in the allowable range, emergency treatment is performed after the airspeed of the unmanned aerial vehicle is invalid when the object is still a certain high altitude long-endurance unmanned aerial vehicle. The emergency operation method comprises the following steps:
1. and judging airspeed failure faults. The aircraft management computer continuously receives the air data measurement unit in 5 beats, returns that the air speed data bit in the data frame is not effective data, confirms that airspeed information failure occurs, and starts emergency treatment;
2. and judging the ground speed information. Firstly, reading the east speed and the north speed of the navigation attitude sensor and the attitude angle of the unmanned aerial vehicle, and solving the horizontal wind speed. Then judging whether the ground speed is available at the failure moment according to the wind speed information calculated in real time before the airspeed fails;
3. the ground speed is not in the allowable range, and the emergency treatment is controlled according to the rotating speed and the pitch angle. In the climbing and descending stage, the longitudinal control target is switched from speed to rotating speed and pitch angle, the control mode is switched from pitch angle-speed closed-loop control to fixed rotating speed and fixed pitch angle, and the speed is controlled in an open loop mode; in the plane flight stage, the longitudinal control target is switched from speed to rotating speed and pitch angle, the control mode is switched from rotating speed-speed closed loop to fixed rotating speed and fixed pitch angle, and the height and speed are controlled in an open loop. The control targets of each stage are as follows:
a) Climbing stage: the rotation speed is the maximum allowable rotation speed, and the pitch angle is given by theta climb ；
b) And (3) a flat flight stage: the rotation speed is rev cruise Pitch angle given θ cruise ；
c) The descending stage: the rotating speed is the rotating speed of the slow vehicle, and the pitch angle is given by theta descent 。
Wherein θ climb 、θ descent Respectively the pitch angles when the climbing and the sliding are carried out at a favorable speed; rev cruise 、θ cruise The balance rotating speed and the pitch angle are respectively carried out when the flying is stabilized straight and flat at the long-term navigational speed.
4. Judging the flight state through the attack angle data measured by the atmospheric data measuring unit;
5. angle of attack alpha e alpha min +3 α max -3]And in the allowable range, the flying state is safe, and the aircraft returns along the emergency return route to complete emergency treatment.
Example 4:
this embodiment is further defined in embodiments 2 and 3, where the unmanned aerial vehicle is unsafe in controlling emergency treatment and failure of rotational and pitch control emergency treatment according to ground speed information. The implementation object is still emergency treatment after the airspeed of the unmanned aerial vehicle fails at a certain high altitude and long endurance. The emergency operation method comprises the following steps:
1. and judging airspeed failure faults. The aircraft management computer continuously receives the air data measurement unit in 5 beats, returns that the air speed data bit in the data frame is not effective data, confirms that airspeed information failure occurs, and starts emergency treatment;
2. developing ground speed information-based emergency treatment and rotational speed and pitch angle control emergency treatment;
3. judging that the unmanned aerial vehicle is in an unsafe flight state according to the attack angle data measured by the atmospheric data measuring unit;
4. the manual correction is started. If the attack angle is out of the allowable range, the unmanned plane ground operator sends a rotating speed and pitch angle correction instruction through a measurement and control link, and adjusts the unmanned plane control target;
5. and (5) emergency return. The aircraft management computer controls the unmanned aerial vehicle to fly to the nearest waypoint of the emergency return route, and then returns according to the emergency return route to complete emergency treatment
Further, the unmanned aerial vehicle is judged to be in an unsafe flight state according to the attack angle data measured by the atmospheric data measurement unit, and if the attack angle is larger, the following steps are:
a) Climbing and sliding stages: an unmanned plane ground operator sends a pitch angle reducing instruction through a measurement and control link, adjusts a pitch angle control target and improves the flying speed;
b) And (3) a flat flight stage: and an unmanned plane ground operator sends a rotating speed adding instruction through a measurement and control link, adjusts a rotating speed control target and improves the flying speed.
If the further attack angle data measured by the atmospheric data measuring unit judges that the unmanned aerial vehicle is in an unsafe flight state and the attack angle is smaller, the following steps are performed:
a) Climbing and sliding stages: an unmanned plane ground operator sends a pitch angle adding instruction through a measurement and control link, adjusts a pitch angle control target, and reduces the flying speed;
b) And (3) a flat flight stage: and an unmanned plane ground operator sends a rotating speed reducing instruction through a measurement and control link, adjusts a rotating speed control target and reduces the flying speed.
5. And (5) emergency return. The aircraft management computer controls the unmanned aerial vehicle to fly to the nearest waypoint of the emergency return route, and then returns according to the emergency return route to complete emergency treatment
The foregoing is a further detailed description of the invention in connection with specific preferred embodiments, and it is not intended that the invention be limited to these descriptions. Other embodiments of the invention, which are apparent to those skilled in the art to which the invention pertains without departing from its technical scope, shall be covered by the protection scope of the invention.
Claims (12)
1. An unmanned aerial vehicle autonomous emergency disposal method after airspeed information failure is characterized in that:
the method comprises the following steps:
step one: judging airspeed failure faults, reading airspeed data reported by an atmospheric data measuring unit through an aircraft management computer, determining that airspeed failure faults occur, and entering emergency treatment;
step two: judging the ground speed information, reading the ground speed data reported by the attitude sensor through an aircraft management computer, judging that the ground speed is within the allowable range of the unmanned aerial vehicle, and turning to the third step; the ground speed is outside the allowable range, and the step five is performed;
step three: controlling emergency treatment according to the ground speed information, and selecting ground speed data of the navigation attitude sensor by a speed signal source;
step four: judging the attitude of the unmanned aerial vehicle, namely reading the attack angle data reported by the atmospheric data measuring unit through an aircraft management computer to judge, wherein the attack angle is within the allowable range of the unmanned aerial vehicle, and turning to the step eight; the attack angle is outside the allowable range, and the step five is performed;
step five: the emergency treatment is controlled by the rotating speed and the pitch angle, the speed is opened, the speed is not controlled in a closed loop in the longitudinal direction, and the control mode is switched into fixed rotating speed and fixed pitch angle control;
step six: judging the attitude of the unmanned aerial vehicle, namely reading the attack angle data reported by the atmospheric data measuring unit through an aircraft management computer to judge, wherein the attack angle is within the allowable range of the unmanned aerial vehicle, and turning to the step eight; the attack angle is outside the allowable range, and the step seven is performed;
step seven: manually correcting, wherein if the attack angle is out of the allowable range, an unmanned plane ground operator sends a rotating speed and pitch angle correction instruction through a measurement and control link, and adjusts an unmanned plane control target;
step eight: and (3) the emergency return voyage, wherein the aircraft management computer controls the unmanned aerial vehicle to fly to the nearest waypoint of the emergency return voyage, and then the unmanned aerial vehicle returns according to the emergency return voyage to complete emergency treatment.
2. The unmanned aerial vehicle autonomous emergency disposal method after airspeed information failure according to claim 1, wherein: in the first step, airspeed failure fault occurs according to that the airspeed data bit in the data frame reported by the air data measuring unit is not valid data after the aircraft management computer continuously receives 5 beats of air data, and airspeed information failure is confirmed.
3. The unmanned aerial vehicle autonomous emergency disposal method after airspeed information failure according to claim 1, wherein: in the second step, for the unmanned aerial vehicle with small flight speed envelope, if the airspeed fails, the unmanned aerial vehicle is controlled according to the ground speed, and the risk that the airspeed exceeds the boundary to cause the stall of the unmanned aerial vehicle exists, so that the ground speed needs to be analyzed to judge whether the unmanned aerial vehicle is available.
4. A method of autonomous emergency handling of a drone after airspeed information failure according to claim 3, wherein: the judging method comprises the following steps:
1) The horizontal wind speed before airspeed failure is solved, and the solving method is as follows:
simultaneous formulas (1) - (4) give:
wherein:L ab the transformation matrix is a transformation matrix of an airflow coordinate system and a machine body coordinate system; l (L) bg The transformation matrix is a ground coordinate system and a collective coordinate system; alpha, beta, V t The method comprises the steps of measuring an attack angle, a sideslip angle and a vacuum speed for an atmosphere data measuring unit; θ, φ, ψ are pitch angle, roll angle and yaw angle measured by the attitude sensor respectively; v (V) E 、V N The east speed and the north speed are respectively measured by the navigation attitude sensor;
2) Judging whether the ground speed is available at the failure moment according to the wind speed information calculated in real time before the airspeed fails, and if so:
a)V W ≤K 0 *(V max -V min ) The ground speed is available;
b)V W >K 0 *(V max -V min ) The ground speed is not available.
Wherein V is max 、V min Respectively representing the maximum flying speed and the minimum flying speed of the unmanned aerial vehicle at the current altitude; k (K) 0 Representing a safety factor.
5. The unmanned aerial vehicle autonomous emergency disposal method after airspeed information failure according to claim 1, wherein: in the third step, the speed signal source selects the ground speed data of the attitude sensor, and the speed control mode is pitch angle-speed closed-loop control.
6. The unmanned aerial vehicle autonomous emergency disposal method after airspeed information failure according to claim 1, wherein: in the fourth step, the atmospheric data is used for measuring the sheetThe attack angle data measured by the element judges whether the flight state is safe or not; if alpha is E [ alpha ] min +α 0 α max -α 0 ]The flight state is safe; otherwise, the flight is in an unsafe state; wherein alpha is min 、α max And alpha 0 The minimum available attack angle, the maximum available attack angle and the attack angle safety margin in the current state are respectively adopted.
7. The unmanned aerial vehicle autonomous emergency disposal method after airspeed information failure according to claim 1, wherein: in the fifth step, the rotation speed and the pitch angle are controlled, the longitudinal control target is switched from the speed to the rotation speed and the pitch angle in the climbing and descending stage, the control mode is switched from the pitch angle-speed closed-loop control to the fixed rotation speed and the fixed pitch angle, and the speed is controlled in an open loop; in the plane flight stage, the longitudinal control target is switched from speed to rotating speed and pitch angle, the control mode is switched from rotating speed-speed closed loop to fixed rotating speed and fixed pitch angle, and the height and speed are controlled in an open loop.
8. The unmanned aerial vehicle autonomous emergency handling method after airspeed information failure according to claim 7, wherein: the control targets of each stage are as follows:
a) Climbing stage: the rotation speed is the maximum allowable rotation speed, and the pitch angle is given by theta climb ；
b) And (3) a flat flight stage: the rotation speed is rev cruise Pitch angle given θ cruise ；
c) The descending stage: the rotating speed is the rotating speed of the slow vehicle, and the pitch angle is given by theta descent 。
Wherein θ climb 、θ descent Respectively the pitch angles when the climbing and the sliding are carried out at a favorable speed; rev cruise 、θ cruise The balance rotating speed and the pitch angle are respectively carried out when the flying is stabilized straight and flat at the long-term navigational speed.
9. The unmanned aerial vehicle autonomous emergency disposal method after airspeed information failure according to claim 1, wherein: and step six, judging the flight state according to the method provided in the step four, and if the attack angle is out of the allowable range, sending a rotating speed and pitch angle correction instruction by an unmanned aerial vehicle ground operator through a measurement and control link, and adjusting an unmanned aerial vehicle control target.
10. The unmanned aerial vehicle autonomous emergency disposal method after airspeed information failure according to claim 1, wherein: in the seventh step, if the flight is determined to be in an unsafe state and the attack angle is larger in the sixth step, then:
a) Climbing and sliding stages: an unmanned plane ground operator sends a pitch angle reducing instruction through a measurement and control link, adjusts a pitch angle control target and improves the flying speed;
b) And (3) a flat flight stage: and an unmanned plane ground operator sends a rotating speed adding instruction through a measurement and control link, adjusts a rotating speed control target and improves the flying speed.
11. The unmanned aerial vehicle autonomous emergency disposal method after airspeed information failure according to claim 1, wherein: if the step six is that the flight is in an unsafe state and the attack angle is smaller, the following steps are:
a) Climbing and sliding stages: an unmanned plane ground operator sends a pitch angle adding instruction through a measurement and control link, adjusts a pitch angle control target, and reduces the flying speed;
b) And (3) a flat flight stage: and an unmanned plane ground operator sends a rotating speed reducing instruction through a measurement and control link, adjusts a rotating speed control target and reduces the flying speed.
12. The unmanned aerial vehicle autonomous emergency disposal method after airspeed information failure according to claim 1, wherein: in the eighth step, an emergency return route is designed, and if the unmanned aerial vehicle fails in airspeed information, the unmanned aerial vehicle returns to the emergency along the emergency return route.
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