Multi-rotor unmanned aerial vehicle autonomous air-drop method based on single-shaft holder

The invention discloses a multi-rotor unmanned aerial vehicle autonomous air-drop method based on a single-axis holder. The method comprises the steps that a coordinate system necessary for guidance law design is established; defining a conversion relation between the coordinate systems; extracting a line-of-sight angle for generating a guidance instruction; after the unmanned aerial vehicle takes off to lock the target, calculating the expected yaw angle speed of the unmanned aerial vehicle, and reducing the difference value between the course and the sight angle of the unmanned aerial vehicle to a certain preset value, namely aligning the target; according to a set resultant speed instruction, the speed is decomposed into north and east speed control instructions in combination with the sight angle, and the north and east speed control instructions are sent to a speed controller to control the unmanned aerial vehicle; after the unmanned aerial vehicle flies to a certain distance, the resultant speed instruction is gradually reduced, so that the unmanned aerial vehicle flies at uniform deceleration; the resultant speed instruction is set as a function linearly related to the horizontal distance between the unmanned aerial vehicle and the target, and the unmanned aerial vehicle is made to fly in a decelerated mode; when the horizontal distance and the flight speed are both smaller than the corresponding set values, the delivery action is executed. According to the invention, the object can be delivered to the target position only by depending on visual information, and the delivery problem that accurate coordinates of a delivery point cannot be obtained in special scenes such as earthquake relief and fire rescue can be effectively solved.