现代电子技术2024，Vol.47Issue(14)：108-114,7.DOI:10.16652/j.issn.1004-373x.2024.14.017
基于混合滤波与多环控制的无人机跟降方法
Method for unmanned aerial vehicle tracking and landing based on hybrid filtering and multi-ring control
任倩倩 1王晓松 1郑恩辉1
作者信息
- 1. 中国计量大学 机电工程学院,浙江 杭州 310018
- 折叠
摘要
Abstract
A state estimation and control algorithm based on hybrid filtering and multi loop control is proposed to address the problems of target loss and insufficient landing accuracy when unmanned aerial vehicles uses traditional single loop control and Kalman filtering for target tracking and landing tasks in complex environments.The hybrid filtering method of Kalman filter and extended Kalman filter is used to estimate the state of the mobile landing platform,and the tracking and landing tasks of the unmanned aerial vehicles are completed by means of the speed PI control loop,attitude PID control loop,position PID control loop,and acceleration PID control loop.The simulation experimental results show that when facing both simple and complex environments,this method has good tracking performance and higher landing accuracy,and can be applied to autonomous tracking and landing operations of unmanned aerial vehicles in various environments.关键词
混合滤波/多环控制/无人机/扩展卡尔曼滤波/PID控制/位姿估计/移动目标跟踪Key words
hybrid filtering/multi-loop control/unmanned aerial vehicle/extended Kalman filtering/PID control/pose estimation/moving target tracking分类
信息技术与安全科学引用本文复制引用
任倩倩,王晓松,郑恩辉..基于混合滤波与多环控制的无人机跟降方法[J].现代电子技术,2024,47(14):108-114,7.
