US 11,733,717 B2
Unmanned aerial vehicle control method and system based on moving base
Canwen Mei, Zhuhai (CN); Jiangping Wang, Zhuhai (CN); Lipeng Tan, Zhuhai (CN); Yuliang Chen, Zhuhai (CN); Shuai Hu, Zhuhai (CN); and Lifang Liu, Zhuhai (CN)
Assigned to ZHUHAI ZIYAN UAV CO., LTD.
Filed by ZHUHAI ZIYAN UAV CO., LTD., Zhuhai (CN)
Filed on Oct. 1, 2020, as Appl. No. 17/61,398.
Claims priority of application No. 202010660428.4 (CN), filed on Jul. 10, 2020.
Prior Publication US 2022/0011785 A1, Jan. 13, 2022
Int. Cl. B64C 39/02 (2023.01); G05D 1/00 (2006.01); B64D 47/08 (2006.01); G08G 5/00 (2006.01); G08G 5/02 (2006.01); G05D 1/10 (2006.01); B64C 25/24 (2006.01)
CPC G05D 1/106 (2019.05) [B64C 25/24 (2013.01); B64C 39/024 (2013.01); B64D 47/08 (2013.01); G08G 5/0065 (2013.01); G08G 5/0069 (2013.01); G08G 5/02 (2013.01); B64U 2201/104 (2023.01)] 20 Claims
OG exemplary drawing
 
1. An unmanned aerial vehicle (UAV) control method based on a moving base, from a takeoff process to a landing process, wherein:
the takeoff process comprises the following steps:
unlocking the UAV, and detecting the current horizontal position of the UAV in the horizontal direction and the current altitude of the UAV in the vertical direction;
determining whether the current horizontal position and the current altitude meet takeoff criteria, and controlling the UAV to bounce off and enter into a takeoff state if the determination result is positive;
in a following process, a movement state of the moving base is collected by a moving base station, data is transmitted transparently with the UAV, and the UAV performs coordinated flight control of position and velocity loops after receiving the movement state of the moving base platform;
in the landing process, the UAV carries out positioning and detection of the moving base platform, a return route is planned according to the real-time position of the moving base platform, the UAV is guided to return to a position above the moving base platform and fly synchronously, and the relative position of the UAV is controlled in the descending stage so that the UAV accurately lands on the moving base platform.