Research And Design Of Autonomous Take-off And Landing Of Drone On Moving Unmanned Boat

In recent years,with the increasing of the autonomy and intelligence of drone,its application scenarios are more extensive.Nowadays,the drone has been widely used in many tasks combined with the unmanned boats.However,it is important and easy to break down when the drone taking off and landing.Therefore,it is of great significance to study the drone automatically takes off and lands on the moving unmanned boat.The paper takes a drone and a unmanned boat as the experimental platform.Besides,the study on the control strategies of autonomous take-off and landing of the drone on the moving unmanned boat and the hardware composition between them are carried out.The main research contents are as follows:First of all,the control strategies of autonomous take-off and landing of the drone on moving unmanned boat is studied,the speed control rate of the drone is put forward according to the position relationship between the drone and the unmanned boat.Based on the circular characteristics and information of the landing mark,Hough transform circular detection is used to distinguish the landing mark.The unmanned boat is followed by the drone,relying on the attitude difference based on the unified coordinate system,and the descent velocity function at the stage of the drone landing is designed based on the descent height.Secondly,the mathematical model and flight principle of drone,as well as the overall hardware structure is designed.According to the requirements of the task,the design ideas of the controller of drone and the unmanned boat are determined.At the same time,combined with the idea of modularization,select a series of sensors and the main control processing board,the communication mode and the protocol are designed.What’s more,through the simulation software,the parameter and performance of the drone are calculated,and the control simulation experiment of the drone is carried out.As a result,it shows that the parameters not only meet the requirements of tasks,but also could achieve the flight control.Integrate the software and hardware of the system to test the functions of the drone in the actual environment.The test results show that,the control strategies could reliably complete the tasks of the autonomous taking-off and autonomous landing on the stationary and moving unmanned boat.