CN109358645B - A kind of small shipborne unmanned aerial vehicle adaptive rope hook recovery control navigation path and guidance method - Google Patents

Abstract

The invention discloses a small carrier-based unmanned aerial vehicle self-adaptive rope hook recovery system navigation route, which includes a recovery route and an adjustment route when the drone completes the mission route flight or receives a "return home"command; the recovery route is: A linear route connected by waypoint 4 and waypoint 3, the waypoint 4 is the point where the ship rope hook recovery rack is located, and the waypoint 3 is a position point 800-1000m in the reverse direction along the ship's course; the adjustment The route is a non-linear route connected by waypoint 3, waypoint 2, waypoint 1, and waypoint 0 in sequence, and the waypoint 2 is the reverse plus 90° or minus 90° along the ship's course and the distance from waypoint 3 is 100‑ The position point is 300m, and a semi-circular route is formed between waypoint 3 and waypoint 2; the waypoint 1 is a position that is 500-700m away from the waypoint 2 along the ship's course; the waypoint 1 is completed by the drone The point at which the mission route was flown or a "return home" command was received. The invention is suitable for the guidance of the recovery section of the rope hook of the shipborne unmanned aerial vehicle, and meets the requirements of high precision and specific directional recovery of the rope hook recovery of the unmanned aerial vehicle.

Description

A kind of small shipborne unmanned aerial vehicle adaptive rope hook recovery control navigation path and guidance method

technical field

The invention relates to the technical field of self-adaptive and precise rope hook recovery and guidance of small ship-borne unmanned aerial vehicles, in particular to a small ship-borne unmanned aerial vehicle self-adaptive rope-hook recovery, navigation path and guidance method.

Background technique

UAV rope hook recovery is an ideal new precise point recovery method, especially suitable for small fixed-wing UAVs to be used in narrow recovery sites or ships. It can be considered as a zero-distance recovery method: that is, in the guidance Under the guidance of the device, the UAV is controlled to recover the track, so that the small hook on the wing tip captures the arresting rope suspended on the boom of the recovery system, so that the UAV can smoothly and accurately complete the vertical rope arresting and recovery.

At present, the guidance and control related literature focuses on crash net recovery. Compared with collision net recovery, rope hook recovery requires higher control accuracy.

In the prior art, the "Adaptive Guidance Technology for Shipborne UAV Collision and Net Recovery" draws on the missile proportional guidance method to form a longitudinal adaptive guidance scheme for UAV collision and net recovery. Proportional guidance is versatile in moving target tracking, but the rope hook for rope hook recovery is set on the side of the ship, and the drone can only track and approach the recovery net from a specific direction. Unsure of the direction, the drone is prone to hitting tall buildings on the ship such as bridges.

For the problem that the UAV is easy to hit the tall buildings on the ship such as the bridge due to the uncertainty of the flight direction when the UAV is approached by the proportional guidance, the document "UAV Vertical Collision Based on Relative Track Prediction" In the Design of Guidance Law for Net Recovery", the method of track prediction is used to solve the problem that the drone needs a specific direction to hit the net. However, this paper only describes the lateral guidance and control of the UAV relative to the ship's straight-line tail pursuit section, and does not further propose how to guide the UAV into the straight-line tail recovery section when the UAV returns away from the ship's initial speed for recovery. . In addition, the roll angle command is generated based on the sideslip distance and the track error angle. This method is a conventional linear PID method, and the track tracking accuracy is low. Therefore, in order to improve the tracking accuracy of the track, an improved non-line-of-sight guidance method is used to complete the accurate tracking of the desired track.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a small shipborne unmanned aerial vehicle self-adaptive rope hook recovery navigation path and guidance method. Guidance method, the UAV can return to home at any position according to the navigation route and guidance method of this system.

In order to achieve the above purpose, the present invention provides the following technical solutions: a small carrier-based unmanned aerial vehicle self-adaptive rope hook recovery system navigation route, including the recovery route and the recovery route when the unmanned aerial vehicle completes the mission route flight or receives the "return home" command. adjust the route;

The recovery route is a linear route connected by waypoint 4 and waypoint 3, the waypoint 4 is the position where the ship rope hook recovery rack is located, and the waypoint 3 is a position 800-1000m reversed along the ship's course point;

The adjustment route is a non-linear route connected by waypoint 3, waypoint 2, waypoint 1 and waypoint 0 in sequence, and the waypoint 2 is the reverse plus 90° or minus 90° away from the waypoint along the ship's course. 3. The position point is 100-300m away, and a semi-circular route is formed between waypoint 3 and waypoint 2;

The waypoint 1 is a point at a distance of 500-700m from waypoint 2 along the ship's course;

The waypoint 1 is the position when the UAV completes the mission flight route or receives the "return home" command.

Further, in the earth plane rectangular coordinate system, the position coordinates of the UAV return time t ₀ are (x _m , y _m ), the ship heading angle is ψ _ship , the distance between waypoint 4 and waypoint 3 is L ₂ , The diameter of the semicircular route between waypoint 3 and waypoint 2 is D, and the distance between waypoint 2 and waypoint 1 is L ₀ ;

The position coordinates (x ₃ , y ₃ ) of waypoint 3 can be expressed as follows:

The position coordinates (x ₂ , y ₂ ) of waypoint 2 can be expressed as follows:

The position coordinates (x ₁ , y ₁ ) of waypoint 1 can be expressed as follows:

Further, the waypoint 4 is the position where the ship rope hook recovery rack is located, and the height is the ideal height of the rope collision point;

The waypoint 3 is the point of the waypoint 4 that is 900m reversed along the ship's course, and the height is 25m relative to the deck;

The waypoint 2 is a point along the ship's course plus 90° or minus 90° and a distance of 200m from waypoint 3, and the height is 25m relative to the deck;

The waypoint 1 is a point 600m away from the waypoint 2 along the ship's course, and the height is 50m relative to the deck;

The waypoint 0 is the position when the UAV completes the mission flight route or receives the "return home" command, and the altitude is the current altitude of the UAV.

Further, the ideal height of the rope hitting point of the waypoint 4 is 10m away from the deck.

Another technical solution of the present invention is a small ship-borne unmanned aerial vehicle adaptive rope hook recovery and guidance method, including the above-mentioned small ship-borne unmanned aerial vehicle adaptive rope hook recovery and navigation path.

Further, it also includes a control law for adjusting the actual flight trajectory of the UAV to the desired trajectory;

The control laws include lateral track tracking control and longitudinal altitude tracking control.

Further, the lateral and lateral track tracking control method includes the following steps:

(1) According to the desired trajectory, the current ground speed vector V _g of the UAV, the forward line of sight L ₁ of the UAV, and the line of sight angle η between the current ground speed vector V _g of the UAV and the forward line of sight L ₁ , where no The starting point of the forward line of sight L ₁ of the man-machine coincides with the starting point of the current ground speed vector V _g , and the end point of the forward line of sight L ₁ of the drone intersects the desired trajectory; an arc C is calculated, and the two ends of the arc C are respectively It coincides with the start and end points of the line of sight L ₁ ahead, and one end of the arc C is tangent to the current ground speed vector V _g

(2) Calculate the desired lateral acceleration as:

(3) According to the lateral acceleration and the roll angle of the target drone, the roll angle command is calculated as:

γ _g = tan ^-1 (a _cmd /g)

Further calculated:

(4) Calculated according to the roll angle:

Aileron Rudder:

为滚转角控制增益，γ为滚转角，γ_g为滚转角指令，

为滚转角速率控制增益，ω_x为无人机滚转角速率；in:

is the roll angle control gain, γ is the roll angle, γ _g is the roll angle command,

is the roll angular rate control gain, ω _x is the roll angular rate of the UAV;

其中：

Rudder:

in:

为偏航角速率控制增益，ω_y为无人机偏航角速率，g为重力加速度，V为当前无人机速度。in,

is the yaw rate control gain, ω _y is the yaw rate of the UAV, g is the gravitational acceleration, and V is the current UAV speed.

Further, the longitudinal altitude tracking control method includes adjusting the route control law and the recovery route control law;

(1) Adjust the control law of the route as follows: the control law from waypoint 0 → waypoint 1 → waypoint 2 → waypoint 3:

为俯仰角控制增益，

为俯仰阻尼控制增益，

为高度控制增益，

为高度变化率控制增益，

为纵向通道滚转补偿增益，

为俯仰角，

为俯仰角给定指令，ω_z俯仰角速率，H为无人机高度，H_g为高度给定指令，

为高度变化率，γ为滚转角；in,

is the pitch control gain,

is the pitch damping control gain,

For height control gain,

is the height change rate control gain,

compensation gain for longitudinal channel roll,

is the pitch angle,

is the pitch angle given command, ω _z is the pitch angle rate, H is the height of the drone, H _g is the height given command,

is the height change rate, γ is the roll angle;

(2) The control law of the recovery route is: from waypoint 3 to waypoint 4 control law:

Elevator:

为俯仰角控制增益，θ为俯仰角，θ_g为俯仰角给定指令，

为指数曲线高度控制增益，H为无人机高度，H_e为指数曲线装订高度，

为指数曲线高度变化率控制增益，

为高度变化率，

为指数曲线高度变化率装订值，

为俯仰阻尼控制增益，ω_z为俯仰角速率，

为纵向通道滚转补偿增益，γ为滚转角。in,

is the pitch angle control gain, θ is the pitch angle, θ _g is the pitch angle given command,

is the height control gain of the exponential curve, H is the height of the _drone , He is the binding height of the exponential curve,

is the control gain for the rate of change of the height of the exponential curve,

is the height change rate,

Staple value for the rate of change of the height of the exponential curve,

is the pitch damping control gain, ω _z is the pitch angle rate,

is the roll compensation gain for the longitudinal channel, and γ is the roll angle.

Further, the calculation method of He is _: He =H ₂ +(H ₁ -H ₂ )· _e ^-t/τ ;

的计算方法为：

The calculation method is:

H ₁ =H ₂ +15;

where H ₁ is the intercept height, H ₂ is the flattening height, and τ is the time constant.

Compared with the prior art, the beneficial effects of the present invention are:

(1) The present invention is suitable for the guidance of the recovery section of the rope hook of the shipboard UAV, and meets the requirements of high precision and specific directional recovery of the rope hook recovery of the UAV, that is, the UAV needs to have the adaptive route adjustment ability in the recovery and capture section , so that it can be successfully docked with the ship guidance system and smoothly enter the predetermined recovery area; the invention has universality for the recovery guidance and control of the rope hook recovery drone;

(2) The present invention is an adaptive rope hook recovery and guidance method based on the combination of dynamic route generation and line of sight guidance; in the lateral plane of the UAV, the rope in a specific direction (trailing direction) is designed based on the dynamic route generation method. Hook recovery guidance strategy; when the UAV enters the tail pursuit recovery section, a nonlinear line of sight guidance law is designed to complete the high-precision tracking and control of the dynamic real-time route; the invention is applied through multiple carrier-based UAV water mobile base station rope hook recovery and flight applications Experiments have verified the effectiveness of the method of the present invention;

Description of drawings

Figure 1 is a schematic diagram of the recovery of the UAV rope hook;

Figure 2 is the real-time dynamic recovery route map of the UAV;

Figure 3 is a schematic diagram of the height of the relative deck when the drone is recovered;

Figure 4 is a schematic diagram of sight guidance;

Figure 5 is the telemetry data diagram of the UAV rope hook recovery stage;

Figure 6 shows the telemetry data of the side offset during the recovery stage of the UAV rope hook.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, but not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

Embodiment 1: Please refer to Figures 1-3, the present invention provides a technical solution: a small carrier-based unmanned aerial vehicle adaptive rope hook recovery control navigation route, including flying when the drone completes the mission route or receives a "return home" ” an adaptive dynamic recovery navigation route generated according to the ship’s current position and heading angle when commanded, the adaptive dynamic recovery navigation route includes a recovery route and an adjustment route;

The recovery route is a linear route connected by waypoint 4 and waypoint 3; the adjustment route is a nonlinear route connected by waypoint 3, waypoint 2, waypoint 1 and waypoint 0 in turn;

Wherein, the waypoint 4 is the point where the ship rope hook recovery rack is located, and the height is 10m above the deck, and the waypoint 4 can also be called the rope collision point;

The waypoint 3 is generated according to the waypoint 4, which is a point where the waypoint 4 is reversed 900m along the ship's course, and the height is 25m above the relative deck, and the waypoint 3 can also be called a capture point;

The waypoint 2 is generated according to the waypoint 3, and is a point that is 200m away from the waypoint 3 along the ship's course plus 90° (left turn recovery) or minus 90° (right turn recovery), and the waypoint 3 and the waypoint The 2 is a semi-circular route with a height of 25m above the relative deck; the waypoint 2 can also be called a turning point; thus forming a turning diameter D=200m from waypoint 2 to waypoint 3:

The waypoint 1 is generated according to the waypoint 2, which is a point along the ship's course with a distance of 600m from the waypoint 2, and the height is 50m above the relative deck;

The waypoint 0 is the position when the drone completes the mission route flight or receives the "return home" command, the altitude is the current altitude of the drone, and the data of waypoint 0 is only collected once at the initial moment of the return flight;

After the drone enters the recovery mode, the drone flies according to waypoint 0, waypoint 1, waypoint 2, and waypoint 3; adjust the route 0→1→2→3 for the drone to align the ship recovery direction Adjustment;

When the drone has not passed waypoint 3, considering that the speed of the ship is smaller than that of the drone, the adjustment route 0→1→2→3 can be designed according to the requirements of low real-time performance, and this route is refreshed every 1 minute;

When the UAV passes waypoint 3, waypoint 3 and avionics 4 form a recovery route 3→4. This route has high real-time requirements, so the route is based on the real-time position of waypoint 4 and the ship heading according to the measurement and control uplink. 80ms refresh generated once;

The UAV generates the above-mentioned dynamic route, completes the outer loop trajectory guidance, and realizes accurate rope hook recovery.

In a certain earth plane rectangular coordinate system set, the longitude, latitude, altitude and heading of the ship are routed according to the UAV recovery system, that is, the position coordinates of the UAV return time t ₀ are (x _m , y _m ) , the ship heading angle is ψ _ship , the distance between waypoint 4 and waypoint 3 is L ₂ , the diameter of the semicircular route between waypoint 3 and waypoint 2 is D, and the distance between waypoint 2 and waypoint 1 is L ₀ ;

The position coordinates (x ₃ , y ₃ ) of waypoint 3 can be expressed as follows:

The position coordinates (x ₂ , y ₂ ) of waypoint 2 can be expressed as follows:

The position coordinates (x ₁ , y ₁ ) of waypoint 1 can be expressed as follows:

The self-adaptive rope hook recovery and guidance method for a small carrier-based unmanned aerial vehicle according to the present invention includes the above-mentioned small ship-borne unmanned aerial vehicle adaptive rope hook recovery and guidance path;

Also includes a control law for adjusting the actual flight trajectory of the UAV to a desired trajectory; the control law includes lateral and lateral track tracking control and longitudinal altitude tracking control;

1) The lateral and lateral track tracking control method comprises the following steps:

(1) The track tracking control method based on line of sight guidance is to introduce the forward line of sight L ₁ of the UAV and the current ground speed vector of the UAV and the line of sight angle η of the forward line of sight L ₁ , through the spatial geometric relationship and the body kinematics Equation, a trajectory algorithm for nonlinear continuous arc tracking control is derived. The basic principle is shown in Figure 3, where V _g is the ground speed vector of the UAV on the horizontal plane, C is the tangent to the UAV with a radius of R, and L ₁ is the line of sight vector in front of the UAV and is connected to the arc. C and the desired track intersect, according to the geometric relationship and kinematics mechanism, the desired lateral acceleration can be obtained as

(2) In order to realize the track tracking control, by selecting the line of sight length |L ₁ | and calculating the line of sight angle η in real time, on the basis of satisfying the coordinated turn, the given value can be obtained according to the relationship between the lateral acceleration and the roll angle of the target drone The roll angle command is:

γ _g = tan ^-1 (a _cmd /g)

Further calculated:

(3) The lateral control law is as follows:

Aileron Rudder:

为滚转角控制增益，γ为滚转角，γ_g为滚转角指令，

为滚转角速率控制增益，ω_x为无人机滚转角速率；in:

is the roll angle control gain, γ is the roll angle, γ _g is the roll angle command,

is the roll angular rate control gain, ω _x is the roll angular rate of the UAV;

其中：

Rudder:

in:

为偏航角速率控制增益，ω_y为无人机偏航角速率，g为重力加速度，V为当前无人机速度。in,

is the yaw rate control gain, ω _y is the yaw rate of the UAV, g is the gravitational acceleration, and V is the current UAV speed.

2) The longitudinal altitude tracking control method includes adjusting the route control law and the recovery route control law;

Among them, the adjustment route control law is: the control law from waypoint 0 → waypoint 1 → waypoint 2 → waypoint 3:

为俯仰角控制增益，

为俯仰阻尼控制增益，

为高度控制增益，

为高度变化率控制增益，

为纵向通道滚转补偿增益，

为俯仰角，

为俯仰角给定指令，ω_z俯仰角速率，H为无人机高度，H_g为高度给定指令，

为高度变化率，γ为滚转角；in,

is the pitch control gain,

is the pitch damping control gain,

For height control gain,

is the height change rate control gain,

compensation gain for longitudinal channel roll,

is the pitch angle,

is the pitch angle given command, ω _z is the pitch angle rate, H is the height of the drone, H _g is the height given command,

is the height change rate, γ is the roll angle;

(2) The control law of the recovery route is: from waypoint 3 to waypoint 4 control law:

In order to achieve fast descending and accurate altitude tracking on the fast-tracking recovery route 3→4, the height of waypoint 3 to waypoint 4 is descended using an exponential curve descent method.

Elevator:

为俯仰角控制增益，θ为俯仰角，θ_g为俯仰角给定指令，

为指数曲线高度控制增益，H为无人机高度，H_e为指数曲线装订高度，

为指数曲线高度变化率控制增益，

为高度变化率，

为指数曲线高度变化率装订值，

为俯仰阻尼控制增益，ω_z为俯仰角速率，

为纵向通道滚转补偿增益，γ为滚转角；in,

is the pitch angle control gain, θ is the pitch angle, θ _g is the pitch angle given command,

is the height control gain of the exponential curve, H is the height of the _drone , He is the binding height of the exponential curve,

is the control gain for the rate of change of the height of the exponential curve,

is the height change rate,

Staple value for the rate of change of the height of the exponential curve,

is the pitch damping control gain, ω _z is the pitch angle rate,

is the longitudinal channel roll compensation gain, γ is the roll angle;

The calculation method of He is _: He =H ₂ +(H ₁ -H ₂ )· _e ^-t/τ ;

的计算方法为：

The calculation method is:

H ₁ =H ₂ +15;

where H ₁ is the intercept height, H ₂ is the flattening height, and τ is the time constant.

Wherein, θ _g is 8°, H ₁ =H ₂ +15, H ₂ =10 (determined by the actual recovery height), τ=5s,

时，

when

hour,

时，

when

hour,

The above method is used on a rope hook recovery drone, and the telemetry data of height and side offset distance are shown in Figure 5 and Figure 6 during the scientific research test flight. It can be seen from Figure 5 and Figure 6 that the guidance method can adaptively adjust the recovery direction, quickly correct the track and altitude, and meet the requirements of rope collision accuracy.

Due to the movement of the ship and the requirements of the ship's deck space, the approach orientation of the UAV recovery process needs to be controlled to prevent the UAV from threatening the ship. Therefore, the UAV needs to have the ability to adjust the route in the recovery and capture section, so that it can successfully dock with the ship's guidance system and smoothly enter the predetermined recovery area. When the UAV completes the mission flight route or receives the "return" command, the UAV enters the recovery mode. The invention is suitable for the guidance of the recovery section of the rope hook of the ship-borne unmanned aerial vehicle, and meets the requirements of high precision and specific directional recovery of the rope hook recovery of the unmanned aerial vehicle. It can successfully dock with the ship guidance system and smoothly enter the predetermined recovery area. The method is universal to the rope hook recovery UAV recovery guidance and control.

Although embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, Alternatives and modifications, the scope of the invention is defined by the appended claims and their equivalents.

Claims (6)

1. A small shipborne unmanned aerial vehicle adaptive rope hook recovery guidance method is characterized in that: comprising a small shipborne unmanned aerial vehicle adaptive rope hook recovery and navigation path, the small shipborne unmanned aerial vehicle adaptive rope hook The recovery-based navigation route includes the recovery route and the adjustment route when the UAV completes the mission route flight or receives the "return home" command; The recovery route is a linear route connected by waypoint 4 and waypoint 3, the waypoint 4 is the position where the ship rope hook recovery rack is located, and the waypoint 3 is a position 800-1000m reversed along the ship's course point; The adjustment route is a non-linear route connected by waypoint 3, waypoint 2, waypoint 1 and waypoint 0 in sequence, and the waypoint 2 is the reverse plus 90° or minus 90° away from the waypoint along the ship's course. 3. The position point is 100-300m away, and a semi-circular route is formed between waypoint 3 and waypoint 2; The waypoint 1 is a point at a distance of 500-700m from waypoint 2 along the ship's course; The waypoint 0 is the position when the UAV completes the mission route flight or receives the "return home" command; Also includes a control law for adjusting the actual flight trajectory of the UAV to a desired trajectory; the control law includes lateral and lateral track tracking control and longitudinal altitude tracking control; The lateral and lateral track tracking control method includes the following steps: (1) According to the desired trajectory, the current ground speed vector V _g of the UAV, the forward line of sight L ₁ of the UAV, and the line of sight angle η between the current ground speed vector V _g of the UAV and the forward line of sight L ₁ , where no The starting point of the forward line of sight L ₁ of the man-machine coincides with the starting point of the current ground speed vector V _g , and the end point of the forward line of sight L ₁ of the drone intersects the desired trajectory; an arc C is calculated, and the two ends of the arc C are respectively It coincides with the start and end points of the line of sight L ₁ ahead, and one end of the arc C is tangent to the current ground speed vector V _g (2) Calculate the desired lateral acceleration as:

(3) According to the lateral acceleration and the roll angle of the target drone, the roll angle command is calculated as: γ _g = tan ^-1 (a _cmd /g) Further calculated:

(4) Calculated according to the roll angle: Aileron Rudder:

in:

is the roll angle control gain, γ is the roll angle, γ _g is the roll angle command,

is the roll angular rate control gain, ω _x is the roll angular rate of the UAV; Rudder:

in:

in,

is the yaw rate control gain, ω _y is the yaw rate of the UAV, g is the gravitational acceleration, and V is the current UAV speed. 2. The self-adaptive rope hook recovery and guidance method for small ship-borne unmanned aerial vehicles according to claim 1, is characterized in that: in the earth plane Cartesian coordinate system, the positional coordinates of the unmanned aerial vehicle return time t ₀ are (x _m , y _m ), the ship heading angle is ψ _ship , the distance between waypoint 4 and waypoint 3 is L ₂ , the diameter of the semicircular route between waypoint 3 and waypoint 2 is D, and the distance between waypoint 2 and waypoint 1 is L ₀ ; The position coordinates (x ₃ , y ₃ ) of waypoint 3 can be expressed as follows:

The position coordinates (x ₂ , y ₂ ) of waypoint 2 can be expressed as follows:

The position coordinates (x ₁ , y ₁ ) of waypoint 1 can be expressed as follows:

3. The self-adaptive rope hook recovery and guidance method for small ship-borne unmanned aerial vehicles according to claim 2, wherein the waypoint 4 is the point where the ship rope hook recovery rack is located, and the height is the ideal height of the rope collision point; The waypoint 3 is the point of the waypoint 4 that is 900m reversed along the ship's course, and the height is 25m relative to the deck; The waypoint 2 is a point along the ship's course plus 90° or minus 90° and a distance of 200m from waypoint 3, and the height is 25m relative to the deck; The waypoint 1 is a point 600m away from the waypoint 2 along the ship's course, and the height is 50m relative to the deck; The waypoint 0 is the position when the UAV completes the mission flight route or receives the "return home" command, and the altitude is the current altitude of the UAV. 4 . The method for self-adapting rope hook recovery and guidance for small carrier-based unmanned aerial vehicles according to claim 3 , wherein the ideal height of the rope collision point of the waypoint 4 is 10m from the deck. 5 . 5. The method for self-adapting rope hook recovery and guidance for small carrier-based unmanned aerial vehicles according to claim 1, wherein the longitudinal altitude tracking control method comprises adjusting the control law of the route and the control law of the recovery route; (1) Adjust the control law of the route as follows: the control law from waypoint 0 → waypoint 1 → waypoint 2 → waypoint 3:

in,

is the pitch control gain,

is the pitch damping control gain,

For height control gain,

is the height change rate control gain,

compensation gain for longitudinal channel roll,

is the pitch angle,

is the pitch angle given command, ω _z is the pitch angle rate, H is the height of the drone, H _g is the height given command,

is the height change rate, γ is the roll angle; (2) The control law of the recovery route is: from waypoint 3 to waypoint 4 control law: Elevator:

in,

is the pitch angle control gain, θ is the pitch angle, θ _g is the pitch angle given command,

is the height control gain of the exponential curve, H is the height of the _drone , He is the binding height of the exponential curve,

is the control gain for the rate of change of the height of the exponential curve,

is the height change rate,

Staple value for the rate of change of the height of the exponential curve,

is the pitch damping control gain, ω _z is the pitch angle rate,

is the roll compensation gain for the longitudinal channel, and γ is the roll angle. 6. The self-adaptive rope hook recovery and guidance method for small ship-borne unmanned aerial vehicles according to claim 5, characterized in that: The calculation method of He is _: He =H ₂ +(H ₁ -H ₂ )· _e ^-t/τ ;

The calculation method is:

H ₁ =H ₂ +15; where H ₁ is the intercept height, H ₂ is the flattening height, and τ is the time constant.

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