基于风场估测的无人机伞降定点回收研究

针对小型无人机伞降回收特点，设计了用于该系统的定点回收系统。该系统充分考虑工程约束，建立了基于风场扰动的回收模型，确定了相应的控制策略与控制结构，同时建立了相应的回收飞行段导航控制任务规划，对回收航线调整点位置选定、飞行速度控制以及控制指令发送等进行了约束。理论分析及飞行试验结果表明，该系统能够满足定点回收的精度要求。

On Navigation Control of UAV in Recovery Stage to Ensure Reliable Parachute Landing on Assigned Spot with Wind Disturbance Estimation Considered

In China, the recovery system for parachute landing of small UAV (Unmanned Aerial Vehicle) on assigned spot depends traditionally on the experience of ground station operator, making recovery reliability not ensurable. We propose a different system that does away with the dependence on operator experience and can ensure reliable landing on assigned spot even when some wind disturbance exists. In this paper, we, after much discussion, conclude that although turbulent wind occurs frequently, the main wind effect on recovery is still the low altitude steady wind. This paper establishes a recovery mission program of navigation control that particularly emphasizes the short period of powered flight just before non-powered flight begins. Both our theoretical analysis and large number of flight tests show preliminarily that the parachute landing on assigned spot can fall within a circle of 37.44m radius around a fixed point, within of course the required circle of 100m radius around a fixed point, and very much within a circle of 177.14m radius around a fixed point attainable with ground station operator experience.