Research On UAV-USV Cooperative Tracking And Landing Method

The cooperative operation of sea(water)surface unmanned aerial vehicle(UAV)and unmanned surface vehicle(USV)have broad application prospects in the fields of marine monitoring,water rescue,and maritime combat.In the process of collaborative UAV-USV operations,the UAV is generally required to be able to track and accurately land the USV in real time.However,affected by the harsh marine environment such as wind and waves,the USV attitude,position and other information changes with uncertainty,making it exceptionally difficult for the UAV to track and land the USV autonomously in real time.To this end,this paper carries out the research and simulation experimental validation of advanced control strategies for cooperative tracking and autonomous landing of UAV and USV,and the main research contents are as follows:A real time tracking control strategy based on model predictive control(MPC)is proposed for the problem of cooperative real time tracking of UAV-USV.Firstly,a model prediction controller is established based on the linearized mathematical model of the UAV,and then the trajectory generated by USV heave motion is taken as the constraint condition of the model prediction controller;furthermore,the UAV-USV cooperative tracking problem is transformed into a quadratic programming problem with constraints and solved by the Hildreth algorithm,so as to realize the UAV to accurately track the USV;then,the solution process of the Hildreth algorithm is optimized to reduce the complexity of computing time,improve the solution speed,and ensure that the UAV can track the USV in real time;finally,the simulation experiments show that the designed model predictive controller can realize the UAV to accurately track the USV,and the improved Hildreth algorithm also has a higher operation speed,which effectively ensures the real time tracking of UAVUSV.A synchronous motion-based control strategy for UAV landing on USV is proposed for the difficulty of UAV landing due to the pitch or roll motion of stationary USV.Firstly,the landing marks are identified and localized based on computer vision;secondly,the USV attitude angle is predicted based on bidirectional long-short term memory(Bi-LSTM)neural network to ensure that UAV can respond to USV attitude change in real time;then,the UAV attitude controller is designed based on PID algorithm to achieve synchronized movement and accurate landing of the UAV and USV;finally,the experimental results show that the proposed UAV-USV synchronous motion landing scheme has high landing accuracy and is more suitable for UAV to achieve autonomous landing on USV in a complex marine environment.A cooperative tracking and landing control strategy based on nonlinear model predictive control(NMPC)is proposed for the real time tracking and accurate landing of UAV during the navigation of USV.Firstly,the UAV-USV heterogeneous intelligent body collaborative system is constructed based on the nonlinear mathematical model of UAV and USV;secondly,the tracking controller is designed based on NMPC algorithm to ensure that the UAV can track the USV in real time;then,a UAV-USV cooperative tracking and landing control strategy is proposed to realize the heave motion of the USV and move to the peak vertex,and the UAV completes the precise landing with the minimum impact;finally,the simulation experiment results show that the proposed scheme for the cooperative tracking and landing control of UAV-USV can effectively achieve real time tracking and accurate landing of UAV during the movement of USV.