Unmanned aerial vehicle control method, unmanned aerial vehicle control device, and computer readable storage medium

A control device of a UAV, comprising:

• a processor;
• and
• a memory coupled to the processor and storing instructions that when executed by the processor, cause the processor to:
• determine a deviation between a vertical mapping point on a ground and a landing point of the UAV in a horizontal axis direction of a camera coordinate system and a deviation between the vertical mapping point and the landing point in a vertical axis direction of the camera coordinate system by using a vertical height of the UAV relative to the ground, coordinates of the landing point in a pixel coordinate system, an origin of an image coordinate system in the pixel coordinate system, and normalized focal lengths of the UAV camera in the horizontal axis and the vertical axis direction of the pixel coordinate system;
• and
• generate speed control amounts of the UAV in the horizontal axis direction and the vertical axis direction of the camera coordinate system by a controller, using the deviation in the horizontal axis direction and the deviation in the vertical axis direction, comprising
• couple a first controller in the horizontal axis direction to a second controller in the vertical axis direction by setting a first coupling factor and a second coupling factor;
• generate a speed control amount of the UAV in the horizontal axis direction of the camera coordinate system by the first controller, using the first coupling factor, the deviation in the horizontal axis direction, and the deviation in the vertical axis direction;
• and
• generate a speed control amount of the UAV in the vertical axis direction of the camera coordinate system by the second controller, using the second coupling factor, the deviation in the horizontal axis direction, and the deviation in the vertical axis direction.

A non-transitory computer-readable storage medium storing computer instructions which, when executed by a processor, cause a processor to:

• determine a deviation between a vertical mapping point on a ground and a landing point of the UAV in a horizontal axis direction of a camera coordinate system and a deviation between the vertical mapping point and the landing point in a vertical axis direction of the camera coordinate system by using a vertical height of the UAV relative to the ground, coordinates of the landing point in a pixel coordinate system, an origin of an image coordinate system in the pixel coordinate system, and normalized focal lengths of the UAV camera in the horizontal axis and the vertical axis direction of the pixel coordinate system;
• and
• generate speed control amounts of the UAV in the horizontal axis direction and the vertical axis direction of the camera coordinate system by a controller, using the deviation in the horizontal axis direction and the deviation in the vertical axis direction, comprising
• couple a first controller in the horizontal axis direction to a second controller in the vertical axis direction by setting a first coupling factor and a second coupling factor;
• generate a speed control amount of the UAV in the horizontal axis direction of the camera coordinate system by the first controller, using the first coupling factor, the deviation in the horizontal axis direction, and the deviation in the vertical axis direction;
• and
• generate a speed control amount of the UAV in the vertical axis direction of the camera coordinate system by the second controller, using the second coupling factor, the deviation in the horizontal axis direction, and the deviation in the vertical axis direction.