Longitudinal Guidance Law of Vision-based Net-recovery for a Small Fixed-wing UAV

Substitute for lightweight and cheap, this paper designed a longitudinal guidance law based on visual guidance for small fixed-wing unmanned aerial vehicles (UAV) network recovery. On the basis of openmv4, apriltags recognition algorithm are adopted to identify the target, which can quickly calculate the pose and attitude of the target relative to the camera. Comparing the schemes of tracking guidance and proportional guidance, a longitudinal lead tracking guidance law is proposed. Considering the factors that lead angle switching time affects the control performance, a novel longitudinal pseudo tracking guidance law is proposed. The PID control is designed and the virtual recovery point is set to verify. The simulation results show that the designed guidance law is accurate and feasible.