Guide and Control Method For Automatic Recovery Of UAV

摘要

According to the invention, provided with the unmanned aircraft in flight recovery area where the camera is on the ground (Recovery first image information obtaining step of obtaining an image of a target provided in the mesh in the area to the number of real-time recording the Area); The target detecting section on the basis of the first image information, and recognizes a number of points (Recovery Point) for the target to detect the target in the first image information, the position of the target by tracking the target (Target Tracking) to detect the information, and calculates the horizontal axis indicates a viewing angle, a target position information detection method comprising: generating a first longitudinal axis pitch (Pitch) command; Proportional navigation guidance system added on the basis of the calculated viewing angle of the horizontal axis, the first horizontal axis roll (Roll) proportional navigation induction generating a command; Second image information acquisition step of acquiring an image of the camera on the UAV is in the ground area by recording in real time the number of the drone; Detecting the aircraft on the basis of the second image information, and detects the drone in the second image information recognized by the unmanned aerial vehicle by a symbol (Symbol), of the UAV through a tracking target (Target Tracking) by detecting the position information, the drone area detection step of generating a second horizontal axis and second vertical axis pitch command, roll command; Horizontal axis compensating roll command and a transmission step of transmitting the first command and the second horizontal axis represents the horizontal axis rolls roll command is the combined result of the compensation value (A) with horizontal axis controller; Longitudinal axis compensation and pitch command transmission step of transmitting said first longitudinal axis and the second longitudinal axis pitch command pitch command is a result of combined compensation value (B) to the longitudinal axis controller; And to operate the drive unit under the control of the UAV controller and horizontal longitudinal axis controller, the UAV automatic recovery control method comprising the induction phase induction control group drone deriving an UAV is disclosed in the target.