为了提高野外复杂环境下无人机回收的回收精度及回收成功率, 采用了基于激光末端引导体制的无人机精确回收方法, 对激光末端引导精确回收无人机系统的工作原理及流程进行了理论分析和验证, 取得了无人机引导距离段与激光引导光场辐射场以及无人机偏航角度信息与系统精确回收之间的数据关系。结果表明, 在距离着落点1km～2km的粗引导距离段, 保持恒定40m的激光引导光场辐射场, 可以使无人机快速进入激光辐射场调整偏航角度信息, 提高回收的可靠性; 在中间距离段, 激光辐射场与着落距离按线性关系变化, 有利于粗引导转入精确引导阶段; 在距离着落点500m以内的精确引导距离段, 保持20m的激光引导光场辐射场, 可以提高无人机系统的回收精度。将该方案应用到无人机的回收系统中, 可以显著提高无人机在复杂环境下的回收精度。

In order to improve the recycling precision and recycling rate of unmanned aerial vehicles (UAV) in complex environment, a precise recycling method of UAV based on laser terminal guidance was adopted. The principle and process of precise UAV recycling by means of laser terminal guidance were analyzed and verified. The relationship between the guide distance of UAV and laser guidance light radiation field and the relationship between yaw angle information of UAV departure and system precise recycling were discussed. The results show that in the range of rough guide distance of 1km to 2km from the landing point, keeping a constant laser guided field of 40m, the UAV can quickly enter the laser radiation field, adjust yaw angle information and improve the reliability of recycling. In the range of middle distance, the relationship between laser radiation field and landing distance changes linearly, which is beneficial for transferring from the rough guidance to the precise guidance. In the range of precise guide distance within 500m and constant laser guided field of 20m, the system can improve the precision of recycling. The scheme is applied to UAV recycling system, which can significantly improve the recycling precision of UAV in complex environment.