Data Fusion Control of Air Pressure and Ultrasonic Sensors in Unmanned Aerial Vehicle Trajectory Tracking
In the process of UAV track tracking,the pressure and ultrasonic sensors are disturbed by factors such as the tail vortex of the tanker,and can not accurately control the UAV flight altitude,speed and heading.To solve this problem,a trajectory tracking control method for unmanned aerial vehicles is implemented under the condition of data fusion of air pressure and ultrasonic sensors.The dy-namics equation of the drone is constructed,the drone command is designed based on its dynamic characteristics,the data from the pres-sure sensor and ultrasonic sensor is fused,and the fusion results are combined to design the drone command to obtain the angular rate fast loop and attitude angle slow loop of the drone,which are input into the fuzzy neural network to achieve the tracking control of the drone trajectory.The experimental results show that the proposed method can control the flight height of the UAV near 6 km,and leave a certain distance.The speed can be controlled at 200 m/s within 50 s,which is consistent with the flight speed of the Gasoline pump,and can be adjusted to the correct heading within 100 s with high control accuracy.
万方数据
维普
