APPROACH METHOD OF UNMANNED AERIAL VEHICLE IN EMERGENCY CONDITIONS Russian patent published in 2020 - IPC B64C39/02 

FIELD: aviation.

SUBSTANCE: invention relates to control systems of aircraft drone type (UAV). UAV landing approach method in emergency conditions consists in that the UAV output to the descending start point for the emergency landing on the unprepared platform in the horizontal plane is made along the trajectory. At that, the trajectory of the controlled UAV is corrected as it approaches the landing site, for which calculation of the required increment Δφ of the heading angle (mismatch parameter) of the controlled UAV is carried out according to the rule:

$$\Delta \phi ={\phi }_{Т}-\phi =\text{arctg}\left(\frac{{\upsilon }_2}{{\upsilon }_1}\right)-\phi ,$$ (1)

where $$\{\begin{array}{l}{\upsilon }_1=\frac{h}{\pi }\cdot \left(1+e^u\cos {\nu }_0\right)\\ {\upsilon }_2=\frac{h}{\pi }\cdot e^u\sin {\nu }_0\end{array}$$ (2),

here φ is the current heading angle of the UAV; ν₁ and ν₂ are required elements of the UAV speed vector ; ν₀ is a constant which determines the required flight trajectory of the UAV, which is found from solving the system of equations

$$\begin{array}{cc}\{\begin{array}{l}x=\frac{h}{\pi }\cdot \left(u+e^u\cos {\nu }_0\right),\\ y=\frac{h}{\pi }\cdot \left({\nu }_0+e^u\sin {\nu }_0\right),\end{array}& -\infty <u<\infty \end{array}$$ (3)

where (x, y) are coordinates of the controlled UAV in the fixed OXY coordinate system associated with the emergency landing site, which is described by a rectangle of width h, at that, the UAV course angle correction begins at the moment of the emergency landing command reception, and stops at the beginning of the drop point.

EFFECT: invention can be used in solving problem of UAV saving in emergency (emergency) situations, when flight is impossible to continue and emergency landing is required.

1 cl