CN108227746A - A kind of unmanned plane cluster control system and method - Google Patents
A kind of unmanned plane cluster control system and method Download PDFInfo
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- CN108227746A CN108227746A CN201810062953.9A CN201810062953A CN108227746A CN 108227746 A CN108227746 A CN 108227746A CN 201810062953 A CN201810062953 A CN 201810062953A CN 108227746 A CN108227746 A CN 108227746A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
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Abstract
The present invention provides a kind of unmanned plane cluster control systems and method, this method to include：By carrying out mission planning to all unmanned planes, and mission planning content is sent to host and slave, and performed in host and the position of itself and velocity information are sent to other all slaves when task carries out flight, accordingly, slave follows host to fly according to mission planning.Compared with prior art, the present invention can realize control of one operator of synchronization to multiple UAVs, can complete the tasks such as formation performance, extensive search or mapping that single unmanned plane can not be realized.
Description
Technical field
The invention belongs to UAV Flight Control technical fields, and in particular to be a kind of collection of more rotor unmanned aircrafts
Group's flight control system and method.
Background technology
Current more rotor unmanned aircrafts such as are widely used in taking photo by plane, survey and draw and rescue at the fields.Usual more rotors without
People's aircraft be all it is one-to-one control flight is carried out by earth station, and as more rotor unmanned aircrafts are performed forming into columns, greatly
The extensive reference of Area Survey and cluster combinatorial search etc., the practical need for being difficult to meet user using single control mode
It asks, it is not only irregular to say, the purpose of performance, mapping and search is unable to reach, and due to different unmanned aerial vehicle (UAV) control sections
It plays inconsistent with mode, easily collides, unmanned plane is caused to damage.
Invention content
For this purpose, cluster flight control system and side the purpose of the present invention is to provide a kind of more rotor unmanned aircrafts
Method.
The purpose of the present invention is what is be achieved through the following technical solutions.
A kind of unmanned plane cluster control system, including：
Several unmanned planes are both provided with one including a host and several slaves, and on the host and several slaves and fly control
Module；
One ground control station, for carrying out mission planning, and it is logical to being established with ground control station to feed back the mission planning
Interrogate the host of connection and all slaves；
Wherein, the host flies according to the mission planning of acquisition, and simultaneously by the position of itself in flight course
All slaves for being connected to ground control station are sent to velocity information, the slave is believed according to the position from host and speed
Breath, with reference to the mission planning from ground control station, follows host to fly.
Further, one first wireless data transfer module is both provided on each unmanned plane；The ground control station is set
One second wireless data transfer module is equipped with, the ground control station passes through the second wireless data transfer module and each unmanned plane
On the first wireless data transfer module establish wireless telecommunications connection.
Further, the mission planning includes line of flight planning, flying speed planning, flying height planning, flight
Formation is planned and mutual spacing planning.
Further, in the ground control station it is corresponding be equipped with one be used to implement the software control procedure of mission planning with
And one by the software control procedure correspond to driving for planning that unmanned plane formation and the lineament of unmanned plane spacing are shown
Show operation interface and one by the software control procedure correspond to driving for plan unmanned plane during flying course line and flight speed
The operation display interface of degree, flying height.
Further, the ground control station is additionally operable to the software control procedure according to realization mission planning to all connections
Unmanned plane to ground control station is numbered, and number it is minimum be set as host, other are then set as slave.
In addition, the present invention also provides a kind of unmanned plane cluster control method, including：
Establish the communication connection between ground control station and all unmanned planes；
Host and several slave of the setting with ground control station communication connection；
Mission planning carries out all unmanned planes by ground control station, and the mission planning content is sent to described
Host and slave；
The host flies according to mission planning, and the position of itself and velocity information are sent to all slaves；
The slave is according to the position from host and velocity information, with reference to the mission planning from ground control station, with
It flies with host.
Further, host and several slave of the setting with ground control station communication connection, including：
All unmanned planes for being connected to ground control station are numbered, and number it is minimum be set as host, other are then
It is set as slave.
Further, mission planning is carried out, and by the mission planning content to all unmanned planes by ground control station
The host and slave are sent to, including：
Line of flight planning is carried out to all unmanned planes by ground control station, flying speed is planned, flying height is planned,
Flight formation is planned and mutual spacing planning, and the mission planning content is sent to the host and slave.
Further, the host flies according to mission planning, and the position of itself and velocity information are sent to
All slaves, including：
All unmanned planes is controlled to take off by ground control station, while sends mission planning to host, control host according to
Open space planning flies, and sends self-position, speed and height to other slaves in-flight simultaneously in host flight course and believe
Breath.
Further, the slave is according to the position from host and velocity information, with reference to appointing from ground control station
Business planning, follows host to fly, including：
Slave is numbered by mission planning and according to itself, the location information being obtained from planning formation, and according to
The position of host and velocity information keep following host motion, and after mission planning is completed, pass through in the case of relative position
Ground control station controls landing of making a return voyage.
Unmanned plane cluster control method provided by the invention, by carrying out mission planning, and by task to all unmanned planes
Open space planning is sent to host and slave, and performs in host and send the position of itself and velocity information when task carries out flight
Other all slaves are given, accordingly, slave follows host to fly according to mission planning.Compared with prior art, the present invention can
It realizes control of one operator of synchronization to multiple UAVs, the formation that single unmanned plane can not be realized can be completed
The tasks such as performance, extensive search or mapping.
Description of the drawings
Fig. 1 is unmanned plane cluster control system functional block diagram of the present invention；
Fig. 2 is the lineament operation display interface schematic diagram of present invention planning unmanned plane formation and unmanned plane spacing；
Fig. 3 is present invention planning unmanned plane during flying course line and flying speed, the operation display interface schematic diagram of flying height；
Fig. 4 is unmanned plane cluster control method flow chart of the present invention.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, it is right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Refering to Figure 1, Fig. 1 is unmanned plane cluster control system functional block diagram of the present invention.The present invention provides one kind
Unmanned plane cluster control system includes ground control station and multiple unmanned planes.
One is both provided on wherein each unmanned plane and flies control module and first wireless data transfer module, the first nothing
Line data transmission module includes antenna, aerial radio-frequency module, bus interface, and antenna is set above radio-frequency module in the air, bus
Interface is connected with aerial radio-frequency module, and unmanned plane flies control module and is connected with the first wireless data transfer module by bus interface
It connects.
Control circuit board and display screen are provided in ground control station, control core is correspondingly arranged in the control circuit board
Piece, for storing the storage chip of software control procedure and the second wireless data transfer module, the second wireless data transmission mould
Block is connect with control chip, and control chip is connect with storage chip.Ground control station using the second wireless data transfer module with
The communication connection that first wireless data transfer module of unmanned plane is established, realizes the control to unmanned plane.
In addition, ground control station is mainly used for carrying out mission planning to the unmanned plane cluster, and by mission planning data
First wireless data transfer module is sent to by the second wireless data transfer module, and the first wireless data transfer module then will
The mission planning data are sent to unmanned plane and fly to control module, are controlled so as to fulfill to the flight of unmanned plane, and keep cluster simultaneously
In being in communication with each other between each unmanned plane.Unmanned plane is used to perform the task rule that earth station is sent by wireless data transfer module
Data, the number for being different from other aircrafts in cluster that every frame unmanned plane has its proprietary are drawn, which can be obtained by earth station,
In, the minimum unmanned plane of the number that may be connected in cluster is set as host, other unmanned planes are set as slave.
It should be noted that mission planning includes line of flight planning, flying speed planning, flying height rule in the present invention
It draws, flight formation planning and mutual spacing are planned.
Being in communication with each other by the way of broadcast between unmanned plane, i.e. any one wireless data transfer module in this system
The data of transmission can be obtained by all wireless data transfer modules of other in cluster.
Due to being provided with storage chip in the control circuit board of ground control station, corresponding be stored with is used in the storage chip
It realizes the software control procedure of mission planning, driving can be corresponded to by the software control procedure for planning unmanned plane formation and nothing
Between humans and machines away from lineament operation display interface (see Fig. 2).
In addition, the software control procedure of corresponding storage can also correspond to driving for planning that unmanned plane during flying navigates in storage chip
Line and flying speed, the operation display interface of flying height (see Fig. 3).
It is the explanation to unmanned plane cluster control system of the present invention above, below in conjunction with attached drawing 4 to unmanned plane of the present invention
Cluster control method is further described.
As shown in figure 4, Fig. 4 is unmanned plane cluster control method flow chart of the present invention.The present invention also provides it is a kind of nobody
Machine cluster control method, it is as follows to specifically include step：
S1, the communication established between ground control station and unmanned plane connect；
It is built by the second wireless data transfer module of ground control station and the first wireless data transfer module of unmanned plane
Vertical wireless telecommunications connection, after successful connection, the quantity and number of the unmanned plane in ground control station acquisition current cluster, and
It is shown in ground control station.
Wherein, after unmanned plane and ground control station are powered, unmanned plane can send the information of itself to ground and control automatically
It stands, the information of transmission includes number, posture, electricity, position, height and the speed of itself.
S2, ground control station planning tasks；
Mission planning is carried out to cluster unmanned plane using ground control station.The open space planning includes the line of flight, flight
Speed, height, unmanned plane formation and unmanned plane spacing.
The number for being different from other aircrafts in cluster that wherein every frame unmanned plane has its proprietary, the number can be controlled by ground
System station obtains, and the minimum unmanned plane of ground control station number can will be may be connected in cluster and is set as host, and other nobody
Machine is set as slave.
The planning of the line of flight in mission planning is the airplane chosen in cluster, and flight course planning is carried out to it, but
Each frame in the planning content uploading to cluster such as the line of flight, flying speed, height, unmanned plane formation and unmanned plane spacing
Aircraft.
The line of flight is the target longitude and latitude of given unmanned plane during flying, and the planning of unmanned plane formation is dragged in earth station
The icon of corresponding unmanned plane realizes that earth station shows gridiron pattern, and unmanned plane icon is in gridiron pattern, by setting gridiron pattern
Unit distance the spacing of unmanned plane is set.
The task definition that second wireless data transfer module plans ground control station, including the line of flight, flying speed,
Highly, unmanned plane formation and unmanned plane spacing are sent to the unmanned plane in cluster.
Accordingly, mission planning correspondence can show the unmanned plane in cluster on gridiron pattern, by corresponding behaviour
Make to operate on display interface, the unmanned plane accordingly numbered can be dragged, change position of the unmanned plane in gridiron pattern so as to change
The formation of unmanned plane cluster or by tessellated width is set set the spacing of unmanned plane and choose a frame nobody
Machine planned in display interface is operated course line, flying speed and height come realize the flying speed to different unmanned planes, highly with
And course line is planned.
S3, control unmanned plane take off；
Control of taking off to a key of unmanned plane is realized by clicking ground control station, can also pass through the mating remote control of unmanned plane
Device controls it to take off.
S4, simultaneously Execution plan task is sent；
After unmanned plane takes off, planning tasks are sent by ground control station, after task is sent, host receives planning
Task is then flown according to planning course line, speed and height, and each slave is automatic to calculate then according to the formation of planning and spacing
The relative position that itself should keep between host.
In flight course, host sends position, speed and the height of itself to other slaves, and each slave is then with planning
The relative position that should be kept with host in task is target location, using the speed of host as target velocity, keeps the phase with host
It is constant to position, host is followed.
S5：It makes a return voyage and lands.
After having performed planning tasks, it can be achieved to click by the corresponding operation of ground control station and make a return voyage, at this time unmanned plane collection
Group is then back to takeoff setting.
And if ground control station clicks landing, unmanned plane cluster drop to ground automatically.Particularly, if wishing cluster
Land in current location rather than takeoff point, then can not click and make a return voyage, directly land.
In conclusion the present invention carries out mission planning, and will be in mission planning by ground control station to all unmanned planes
Appearance is sent to host and slave, and is performed in host and the position of itself and velocity information are sent to other when task carries out flight
All slaves, and slave follows host to fly according to mission planning correspondence.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of unmanned plane cluster control system, which is characterized in that including：
Several unmanned planes are both provided with one including a host and several slaves, and on the host and several slaves and fly control module；
One ground control station for carrying out mission planning, and feeds back the mission planning and establishes communication company to ground control station
The host and all slaves connect；
Wherein, the host flies according to the mission planning of acquisition, and simultaneously by the position of itself and speed in flight course
Degree information is sent to all slaves for being connected to ground control station, the slave according to the position from host and velocity information,
With reference to the mission planning from ground control station, host is followed to fly.
2. unmanned plane cluster control system as described in claim 1, which is characterized in that one is both provided on each unmanned plane
One wireless data transfer module；The ground control station is provided with one second wireless data transfer module, the ground control station
Wireless telecommunications are established by the second wireless data transfer module with the first wireless data transfer module on each unmanned plane to connect.
3. unmanned plane cluster control system as claimed in claim 2, which is characterized in that the mission planning includes the line of flight
Planning, flying speed planning, flying height planning, flight formation planning and mutual spacing planning.
4. unmanned plane cluster control system as claimed in claim 3, which is characterized in that corresponding installation in the ground control station
Have a software control procedure for being used to implement mission planning and one by the software control procedure correspond to driving for advising
The lineament operation display interface and one for drawing unmanned plane formation and unmanned plane spacing are corresponded to by the software control procedure
Driving for planning unmanned plane during flying course line and flying speed, the operation display interface of flying height.
5. unmanned plane cluster control system as claimed in claim 4, which is characterized in that the ground control station is additionally operable to basis
It realizes that all unmanned planes for being connected to ground control station are numbered in the software control procedure of mission planning, and numbers minimum
It is set as host, other are then set as slave.
6. a kind of unmanned plane cluster control method, which is characterized in that including：
Establish the communication connection between ground control station and all unmanned planes；
Host and several slave of the setting with ground control station communication connection；
Mission planning is carried out, and the mission planning content is sent to the host to all unmanned planes by ground control station
And slave；
The host flies according to mission planning, and the position of itself and velocity information are sent to all slaves；
The slave, with reference to the mission planning from ground control station, follows master according to the position from host and velocity information
Machine flies.
7. unmanned plane cluster control method as claimed in claim 6, which is characterized in that setting is connected with ground control station communication
Host and several slaves, including：
All unmanned planes for being connected to ground control station are numbered, and number it is minimum be set as host, other then set
For slave.
8. unmanned plane cluster control method as claimed in claim 7, which is characterized in that by ground control station to it is all nobody
Machine carries out mission planning, and the mission planning content is sent to the host and slave, including：
Line of flight planning is carried out to all unmanned planes by ground control station, flying speed is planned, flying height is planned, flight
Formation is planned and mutual spacing planning, and the mission planning content is sent to the host and slave.
9. unmanned plane cluster control method as claimed in claim 8, which is characterized in that the host is carried out according to mission planning
Flight, and the position of itself and velocity information are sent to all slaves, including：
All unmanned planes is controlled to take off by ground control station, while send mission planning to host, control host is according to planning
Content is flown, and sends self-position, speed and elevation information to other slaves in-flight simultaneously in host flight course.
10. unmanned plane cluster control method as claimed in claim 9, which is characterized in that the slave is according to from host
Position and velocity information with reference to the mission planning from ground control station, follow host to fly, including：
Slave is numbered by mission planning and according to itself, the location information being obtained from planning formation, and according to host
Position and velocity information, keep relative position in the case of follow host motion, and after mission planning is completed, pass through ground
Control stand control is maked a return voyage landing.
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| CN108829136A (en) * | 2018-08-29 | 2018-11-16 | 北京航空航天大学 | The a wide range of synergic monitoring method and apparatus of unmanned aerial vehicle group |
| CN109050958A (en) * | 2018-08-29 | 2018-12-21 | 深圳市旭发智能科技有限公司 | A kind of unmanned plane continuation of the journey base station |
| CN109254595A (en) * | 2018-11-28 | 2019-01-22 | 广东海洋大学 | Man-machine flight control method and the system of dancing together of aircraft |
| CN109917767A (en) * | 2019-04-01 | 2019-06-21 | 中国电子科技集团公司信息科学研究院 | A kind of distribution unmanned plane cluster autonomous management system and control method |
| CN109936622A (en) * | 2019-01-29 | 2019-06-25 | 华南理工大学 | A kind of unmanned plane cluster control method and system based on distributed resource sharing |
| CN110134142A (en) * | 2019-05-29 | 2019-08-16 | 北京理工大学 | It is a kind of that formation control method is followed based on the rotor wing unmanned aerial vehicle navigator for rotating repulsion field |
| CN110362106A (en) * | 2019-06-17 | 2019-10-22 | 杭州电子科技大学 | A kind of unmanned aerial vehicle group control system based on optic communication |
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