Fully autonomous anti-interference flight control of vertical takeoff and landing unmanned aerial vehicles in satellite positioning rejection environment

Abstract This paper proposes an autonomous anti-disturbance control algorithm for vertical takeoff and landing unmanned aerial vehicle (VTOL-UAV) in satellite positioning rejection environment. In this kind of environment, the external satellite information is unavailable. This paper proposes a VTOL-UAV environment perception and precise positioning algorithm based on tightly coupled LiDAR and inertial navigation, on the basis of environment perception and precise positioning, the autonomous motion planning algorithm for VTOL-UAV is proposed. Motion planning is carried out according to the environmental information and the dynamic characteristics of the UAV, and the planning results include the spatial path information, the velocity information, the acceleration information and the JERK information of the UAV. Finally, the path tracking method of the VTOL-UAV with an extended state observer is proposed. Based on accurate estimation and feed-forward suppression of the external disturbances of the complex environment, the motion planning results can be accurately tracked, so as to realize the autonomous control of VTOL-UAV in complex environment of ultra-low altitude and improve the intelligence level of UAV.