CN CN122086043A
The invention belongs to the technical field of unmanned aerial vehicle control, and discloses an unmanned aerial vehicle delivery control system based on dynamic trajectory planning and gravity center self-adaption, and the system comprises the steps: calculating a current comprehensive gravity center position and a three-axis rotational inertia estimation value; sliding window filtering is carried out, an instantaneous pneumatic reference system is established according to the current flight speed and the wind speed estimated value, and the center-of-gravity offset is obtained; a deceleration hovering track before delivery and an instantaneous lifting track after delivery are generated in a preset multi-section parabola splicing mode, and tangent speed continuous constraint is carried out to form a complete dynamic delivery track envelope; establishing an attitude prediction window with a symmetrical time sequence, and generating an expected attitude disturbance curve at the delivery moment according to the current comprehensive gravity center position and the three-axis rotational inertia estimated value; coupling and matching the expected attitude disturbance curve and the dynamic delivery trajectory envelope to obtain a final delivery execution trajectory and a corresponding attitude feedforward instruction sequence; and the delivery precision of the unmanned aerial vehicle is greatly improved.
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