CN111736487B - Semi-physical simulation system and method for rotor unmanned aerial vehicle cooperative control system - Google Patents
Semi-physical simulation system and method for rotor unmanned aerial vehicle cooperative control system Download PDFInfo
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- CN111736487B CN111736487B CN202010574340.0A CN202010574340A CN111736487B CN 111736487 B CN111736487 B CN 111736487B CN 202010574340 A CN202010574340 A CN 202010574340A CN 111736487 B CN111736487 B CN 111736487B
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Abstract
The invention discloses a semi-physical simulation system and a semi-physical simulation method for a rotor unmanned aerial vehicle cooperative control system, wherein the system comprises a control system installation platform, a rotor unmanned aerial vehicle simulation platform and a visual display screen; the control system mounting platform is used for mounting a rotor unmanned aerial vehicle cooperative control system, and the rotor unmanned aerial vehicle simulation platform is used for simulating a task execution process; the visual display screen is used for displaying the motion trail of the rotor unmanned aerial vehicle in real time, so that the quality of the rotor unmanned aerial vehicle cooperative control system is judged by observing the motion trail in the visual display screen.
Description
Technical Field
The invention relates to the field of detection of advantages and disadvantages of a rotor unmanned aerial vehicle coordinated control system, in particular to a semi-physical simulation system and method for a rotor unmanned aerial vehicle coordinated control system.
Background
Rotor unmanned aerial vehicle all receives extensive use in military affairs, civilian and commercial field in recent years, compares with stationary vane or helicopter etc. rotor unmanned aerial vehicle simple structure, small, with low costs, the security is good, and the function of taking off and landing perpendicularly makes rotor unmanned aerial vehicle take off and descend not to receive the scene constraint moreover. However, when a single unmanned aerial vehicle performs a mission, the cruising time, the load capacity and the flight range of the unmanned aerial vehicle are greatly restricted. Therefore, through rational distribution load equipment, many times rotor unmanned aerial vehicle system executive task can cover bigger region, accomplishes tasks such as system reconnaissance, detection and transportation more efficiently. In order to ensure that the rotor unmanned aerial vehicle completes tasks cooperatively, the cooperative control system plays a great role; the cooperative control system can ensure that a single rotor unmanned aerial vehicle flies safely and stably, and can keep a proper distance among multiple frames to avoid collision or separation from a machine group.
At present, most of rotor unmanned aerial vehicle cooperative control system designs are completed based on simulation software, the running state of the rotor unmanned aerial vehicle cooperative control system is simulated by the simulation software, and then the superiority and inferiority of the cooperative control system are evaluated according to parameters obtained by simulation. A few cooperative control system verification platforms adopt real unmanned aerial vehicles, positioning systems, ground stations and communication modules, and controllers are integrated on all the unmanned aerial vehicles, so that the advantages and the disadvantages of a cooperative control algorithm can be verified in a physical form. However, compared with the operation state simulated by the simulation software, the actual working state often has larger deviation, and the simulation software cannot completely restore the working state of the cooperative control system in the flight process, so that various data required by the simulation software for evaluating the cooperative control algorithm are not accurate enough. If real equipment is adopted for unmanned aerial vehicle, positioning system, communication module, etc., the structure is complex, the construction process can consume a great deal of cost, the size of the unmanned aerial vehicle or the model of the sensor is changed, the whole system is affected, the change is inflexible, and the universality is poor.
Due to the reasons, the inventor conducts deep research on the simulation verification system of the existing rotor unmanned aerial vehicle cooperative control system, designs a semi-physical simulation system and a method capable of solving the problems, and can quickly and conveniently verify the advantages and the disadvantages of the rotor unmanned aerial vehicle cooperative control system.
Disclosure of Invention
In order to overcome the problems, the inventor of the invention carries out intensive research and designs a semi-physical simulation system and a semi-physical simulation method for a rotor unmanned aerial vehicle cooperative control system, wherein the system comprises a control system mounting platform, a rotor unmanned aerial vehicle simulation platform and a visual display screen; the control system mounting platform is used for mounting a rotor unmanned aerial vehicle cooperative control system, and the rotor unmanned aerial vehicle simulation platform is used for simulating a task execution process; the visual display screen is used for displaying the motion trail of the rotor wing unmanned aerial vehicle in real time, so that the quality of the rotor wing unmanned aerial vehicle cooperative control system is judged by observing the motion trail in the visual display screen, and the method is completed.
Specifically, the invention aims to provide a semi-physical simulation system for a rotor unmanned aerial vehicle cooperative control system, which is characterized by comprising a control system installation platform 1, a rotor unmanned aerial vehicle simulation platform 2 and a visual display screen 3;
the control system mounting platform 1 is used for mounting a rotor unmanned aerial vehicle cooperative control system,
the rotor unmanned aerial vehicle simulation platform 2 is used for simulating a task execution process;
and the visual display screen 3 is used for displaying the motion trail of the rotor wing unmanned aerial vehicle in real time.
The rotor unmanned aerial vehicle cooperative control system calculates a guidance instruction of each rotor unmanned aerial vehicle according to the received task instruction, the current state information of each rotor unmanned aerial vehicle and the information detected by the unmanned aerial vehicle, and transmits the guidance instruction to each rotor unmanned aerial vehicle respectively so as to control the rotor unmanned aerial vehicle to work respectively.
Wherein, including communication simulation module 21 and a plurality of rotor unmanned aerial vehicle model 22 in rotor unmanned aerial vehicle simulation platform 2.
Wherein, the unmanned gyroplane's that unmanned gyroplane coordinated control system given guidance instruction passes through control system mounting platform 1 and communication simulation module 21 and transmits for unmanned gyroplane model 22.
The communication simulation module 21 is further configured to simulate communication interference.
Wherein the rotary wing drone model 22 includes a sensor module 221, a flight control module 222, a fuselage module 223, and a rotor module 224,
sensor module 221 is used for simulating and outputting rotor unmanned aerial vehicle's status information in real time, rotor unmanned aerial vehicle's status information includes rotor unmanned aerial vehicle's speed information and positional information.
Wherein, the sensor module 221 is further configured to simulate and output target information detected by the unmanned gyroplane;
preferably, the sensor module 221 is further configured to simulate outputting obstacle position information detected by the rotorcraft.
The flight control module 222 is configured to receive a guidance instruction of the unmanned rotorcraft, and solve a corresponding control command according to the guidance instruction and current state information of the unmanned rotorcraft;
the rotor module 224 simulates the motion of the unmanned rotorcraft according to the control commands transmitted by the flight control module 222, so that the sensor module 221 detects and learns the state information of the unmanned rotorcraft in real time.
The visual display screen 3 displays the motion tracks of a plurality of rotor unmanned aerial vehicles in real time;
preferably, the view display 3 is also capable of displaying position information of the target and position information of the obstacle in real time.
The invention also provides a semi-physical simulation method of the rotor unmanned aerial vehicle cooperative control system, which comprises the following steps:
step 1, inputting a task instruction into a rotor unmanned aerial vehicle cooperative control system to be measured through a ground station, and installing the rotor unmanned aerial vehicle cooperative control system to be measured on a control system installation platform 1;
step 2, outputting the detected state information, target information and obstacle position information of the rotor unmanned aerial vehicle through a sensor module 221 on the rotor unmanned aerial vehicle model 22;
step 3, solving a specific guidance instruction of each rotor unmanned aerial vehicle through a rotor unmanned aerial vehicle cooperative control system, and respectively transmitting the guidance instruction to each rotor unmanned aerial vehicle model;
step 4, resolving a control command through the flight control module 222, simulating the motion state of the rotor unmanned aerial vehicle through the rotor module 224 according to the control command, and acquiring the motion state of the rotor unmanned aerial vehicle through the sensor module 221 and transmitting the motion state to the wing unmanned aerial vehicle cooperative control system;
step 5, repeating the step 2, the step 3 and the step 4, and displaying the guidance instruction and the motion state of each rotor wing unmanned aerial vehicle model in real time by the vision display screen 3;
and 6, observing the motion trail displayed by the visual display screen 3 in real time, and accordingly judging the quality of the rotor unmanned aerial vehicle cooperative control system to be measured.
The invention has the advantages that:
(1) according to the semi-physical simulation system and the semi-physical simulation method for the rotor unmanned aerial vehicle cooperative control system, the working state of the rotor unmanned aerial vehicle cooperatively completing tasks can be restored to a great extent through the semi-physical simulation system built by the real cooperative control computer, and the accuracy of a cooperative control algorithm is ensured;
(2) according to the semi-physical simulation system and the semi-physical simulation method for the rotor unmanned aerial vehicle cooperative control system, when the size, the sensor model or the actuating mechanism of the rotor unmanned aerial vehicle needs to be changed, the rotor unmanned aerial vehicle can be directly modified in a configuration document, and the system and the method are simple to operate and high in flexibility;
(3) according to the semi-physical simulation system and the semi-physical simulation method for the cooperative control system of the unmanned gyroplane, the required data, the running state of each unmanned gyroplane and the execution condition of the cooperative task can be clearly and clearly displayed through the visual display module, and the result is visualized.
(4) According to the semi-physical simulation system and method for the rotor unmanned aerial vehicle cooperative control system, a control algorithm operated by a real cooperative control computer can be directly used for physical experiments in subsequent verification, and the portability is good.
Drawings
Fig. 1 shows an overall logic diagram of a semi-physical simulation system for a cooperative control system of a rotary-wing drone according to a preferred embodiment of the invention;
FIG. 2 is a schematic view of a visual display screen in an initial state at the start of a task according to an example of the present invention;
FIG. 3 is a schematic view of a visual display screen interface during a task mid-capture of a target in an example of the present invention;
fig. 4 shows a view display screen interface schematic diagram of the unmanned gyroplane tracking target at the later stage of the mission in the experimental example of the present invention.
The reference numbers illustrate:
1-control System mounting platform
2-rotor unmanned aerial vehicle simulation platform
21-communication simulation module
22-rotor unmanned aerial vehicle model
221 sensor module
222-flight control Module
223 fuselage module
224-rotor module
23-target virtual Module
24-obstacle virtual module
3-view display screen
4-input device
Detailed Description
The invention is explained in more detail below with reference to the figures and examples. The features and advantages of the present invention will become more apparent from the description.
The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
The rotor unmanned aerial vehicle cooperative control system is a control system which is set for a plurality of rotor unmanned aerial vehicles to coordinate with each other and jointly execute tasks, and comprises a control program and one or more chips filled with the control program, wherein the chips are arranged on each rotor unmanned aerial vehicle and/or a ground station, and are in signal connection with the rotor unmanned aerial vehicles, so that the state information of each rotor unmanned aerial vehicle and the information detected by the unmanned aerial vehicles can be obtained; inputting a task instruction to the chip and a control program therein through a ground station; this rotor unmanned aerial vehicle cooperative control system is according to the information that received task instruction, every rotor unmanned aerial vehicle current state information and unmanned aerial vehicle detected calculate concrete each rotor unmanned aerial vehicle's guidance instruction to transmit respectively for every rotor unmanned aerial vehicle, thereby control each rotor unmanned aerial vehicle work respectively.
According to the semi-physical simulation system for the cooperative control system of the unmanned gyroplane, as shown in fig. 1, the system comprises a control system installation platform 1, a unmanned gyroplane simulation platform 2 and a visual display screen 3.
Control system mounting platform 1 is used for installing rotor unmanned aerial vehicle cooperative control system, and control system mounting platform 1 can fix rotor unmanned aerial vehicle cooperative control system promptly, can also link to each other with rotor unmanned aerial vehicle cooperative control system signal to transmit the simulation information of production in rotor unmanned aerial vehicle simulation platform 2 for rotor unmanned aerial vehicle cooperative control system, transmit the rotor unmanned aerial vehicle guidance instruction that generates on the rotor unmanned aerial vehicle cooperative control system to rotor unmanned aerial vehicle simulation platform 2 simultaneously. Specifically, the simulation information includes information such as state information, target information, and obstacle position information of the unmanned gyroplane.
Preferably, control system mounting platform 1 and rotor unmanned aerial vehicle cooperative control system are connected through serial port communication.
Preferably, control system mounting platform 1 can be connected with the quick plug of the rotor unmanned aerial vehicle cooperative control system of multiple model to improve semi-physical simulation system's adaptability and convenience, can carry out the quality to the dress rotor unmanned aerial vehicle cooperative control system of different models fast and detect.
In a preferred embodiment, the rotorcraft simulation platform 2 is used to simulate a mission execution process. Specifically, the unmanned rotorcraft simulation platform 2 includes a communication simulation module 21 and a plurality of unmanned rotorcraft models 22; the unmanned gyroplane's that unmanned gyroplane coordinated control system given guidance instruction passes through control system mounting platform 1 and communication simulation module 21 and transmits for unmanned gyroplane model 22, and correspondingly, the analog information of unmanned gyroplane model 22 output transmits for unmanned gyroplane coordinated control system via communication simulation module 21 and control system mounting platform 1.
Preferably, the amount of shielding/deleting information on the communication simulation module 21 is adjustable. More preferably, the communication simulation module 21 may mask/delete the information transmitted therethrough according to the time period, for example, after the information is normally transmitted for 1 second, the information in the subsequent 0.1 second is masked/deleted, the information is normally transmitted for 1 second again, and the information in the subsequent 0.1 second is masked/deleted again, and so on. The communication simulation module 21 may also shield/delete the information transmitted by the module according to the number of the information, for example, after 3 groups of information are transmitted in one direction, shield/delete the 4 th group of information, and after 3 groups of information are transmitted, shield/delete the 8 th group of information, and the above steps are repeated. The manner and amount of information masking/deletion can be set according to the desired simulated operating environment.
In a preferred embodiment, the rotary-wing drone model 22 includes a sensor module 221, a flight control module 222, a fuselage module 223, and a rotor module 224,
wherein, sensor module 221 is used for real-time detection and outputs rotor unmanned aerial vehicle's status information, rotor unmanned aerial vehicle's status information includes rotor unmanned aerial vehicle's speed information and positional information. Preferably, the sensor module 221 is further configured to simulate outputting target information detected by the rotorcraft, including target position information and target speed information. More preferably, the sensor module 221 is further configured to simulate outputting obstacle position information detected by the rotorcraft. Specifically, for the state information of the unmanned rotorcraft, calculation transmission is performed when the sensor module 221 is started to work, and the transmission precision and frequency are determined according to the input model of the sensor to be simulated; in the simulation process, the information such as the detection accuracy, the transmission frequency, the detection distance and the like of the sensor module 221 can be set according to the model of the sensor installed on the unmanned aerial vehicle to be simulated, so that the simulation result is more fit with the actual working condition. The detection distance determines the field of view of the unmanned rotorcraft, and the area within the detection distance of the sensor module 221 is the field of view of the unmanned rotorcraft.
And determining whether the target and the obstacle are found according to the type of the used sensor, when the camera is used as the sensor, the cameras of different types have different specifications such as maximum measuring distance, angle of view and the like, when the target and the obstacle fall within the maximum measuring distance and the angle of view, the target/the obstacle is found, and the target information/the obstacle information is transmitted to the outside according to the transmitting frequency of the used sensor after the target/the obstacle is found.
The information output by the sensor module 221 is transmitted to the cooperative control system of the unmanned rotorcraft through the communication simulation module 21.
Preferably, the unmanned gyroplane cooperative control system can generate a plurality of guidance instructions at the same time, and correspondingly, the unmanned gyroplane simulation platform 2 comprises a plurality of unmanned gyroplane models 22, each unmanned gyroplane model 22 receives corresponding guidance instructions, and each unmanned gyroplane model 22 performs simulation according to the received guidance instructions.
The flight control module 222 is configured to receive a guidance instruction for the rotary-wing drone, and control the state tracking guidance instruction for the drone, i.e., solve a corresponding control command according to the guidance instruction and the current state information of the rotary-wing drone.
Fuselage module 223 is used for saving rotor unmanned aerial vehicle's three-dimensional organism model to in order to transfer according to rotor unmanned aerial vehicle cooperative control system's instruction demand and take out corresponding rotor unmanned aerial vehicle appearance structure and transmit for visual display screen 3.
The rotor module 224 is configured to simulate the motion of the unmanned rotorcraft according to the control command transmitted by the flight control module 222, and detect the motion state through the sensor module 221, so that the sensor module 221 can detect and acquire the state information of the unmanned rotorcraft in real time, where the control command includes the rotation time and the rotation speed of the motor.
Preferably, the fuselage modules 223 and rotor modules 224 are in one-to-one correspondence, with different models of drone models, different ways of distributing control commands to each motor, different motors having different operating characteristics, and different forces generated by the corresponding rotors. Fuselage module 223 and rotor module 224 in the storage have corresponding control command distribution mode, the rotor model and the power that can produce can be selected according to the rotor unmanned aerial vehicle model of waiting to simulate and set up. The semi-physical simulation system can generate different control models according to the designed models, and is more flexible and in line with the reality.
The sensor module 221 detects the position information of the unmanned aerial vehicle in real time, and transmits the detected position information to the rotor unmanned aerial vehicle cooperative control system as feedback information. Because the control command passes through the transmission of communication simulation module in proper order, through the command conversion of flight control module, and then specifically carries out through the rotor module again, detect by the sensor module finally and obtain unmanned aerial vehicle's movement track, this movement track is compared with initial guidance command and must be come in and go out to some extent, can judge whether unmanned aerial vehicle carries out the instruction through comparing the flight command (guidance command) that expects with actual flight state here. Rotor unmanned aerial vehicle cooperative control system can adjust control command in real time after receiving the unmanned aerial vehicle's that sensor module 221 transmitted back position information to control rotor unmanned aerial vehicle and advance towards the position of expectation.
The frequency of the rotor unmanned aerial vehicle cooperative control system for sending the rotor unmanned aerial vehicle guidance instruction is determined by the transmission frequency of the communication simulation module 21, the self frequency is adjusted according to the frequency of the set communication simulation module 21, the self state and the guidance instruction can be displayed through a visual scene, but the calculation and the visual scene have no relation
In a preferred embodiment, the view display screen 3 is used to display the motion trajectory of the rotorcraft in real time. Specifically, the view display screen 3 is connected to the sensor module 221, and is configured to display, in real time, status information, target information, and obstacle position information of the drone detected by the sensor module 221. Displaying the target information and the obstacle position information, wherein the outlines of the target and the obstacle need to be displayed according to the detection result;
when the state information of the unmanned aerial vehicle is displayed, the three-dimensional body model stored in the body module 223 of each rotor unmanned aerial vehicle simulation platform 2 is called by the visual display screen 3, and the three-dimensional matrix model is combined with the position information, so that the position and the change trend of the three-dimensional body model are displayed in real time. Preferably, guidance instructions received in each of the simulation platforms 2 of the rotorcraft may be converted into specific coordinate positions in the view display screen 3 and displayed in real time. More preferably, a plurality of positions corresponding to each fuselage module 223 are connected in series to form an actual motion trajectory, coordinate positions converted by each guidance instruction are connected in series to form an expected motion trajectory, and the actual motion trajectory and the expected motion trajectory corresponding to one unmanned aerial vehicle are displayed simultaneously in different colors or line types, so that the effect of executing the control instruction by each specific unmanned aerial vehicle can be conveniently analyzed.
Rotor unmanned aerial vehicle cooperative control system simultaneously controls a plurality of rotor unmanned aerial vehicles respectively through a plurality of rotor unmanned aerial vehicle guidance instructions, so show the movement track that has a plurality of rotor unmanned aerial vehicles on the view display screen 3 in real time. Thereby show the executive process of cooperative task in real time on the vision display screen 3 to the user judges rotor unmanned aerial vehicle cooperative control system's good and bad through observing the executive process of cooperative task.
In a preferred embodiment, the data information is transmitted between the simulation platform 2 of the unmanned rotorcraft and the view display screen 3 through UPD communication, so that large-scale data can be received in real time, and the current state of the unmanned rotorcraft can be displayed.
In a preferred embodiment, the visual display screen 3 stores ground and terrain information, and the ground and terrain information can be displayed while the movement track of the unmanned gyroplane is displayed.
In a preferred embodiment, the visual display screen 3 stores the overall dimension information of each unmanned rotorcraft, and can also automatically monitor the distance between each unmanned rotorcraft during the flight, and can send an error reporting instruction when the distance is smaller than the overall dimension of the unmanned rotorcraft.
In a preferred embodiment, the simulation platform 2 further comprises a target virtual module 23, which is configured to simulate a motion state of a target according to a simulation instruction and transmit the motion state of the target to the sensor module 221 of the model 22 of the unmanned rotorcraft and the view display screen 3, so that the sensor module 221 can capture target information and the view display screen 3 can also display the motion state information of the target, especially the position information of the target in real time.
In a preferred embodiment, the simulation platform 2 of the unmanned rotorcraft further comprises an obstacle virtual module 24, wherein the obstacle virtual module 24 is configured to simulate position information of an obstacle according to the simulation instruction and transmit the position information of the obstacle to the sensor module 221 of the unmanned rotorcraft model 22 and the view display screen 3, so that the sensor module 221 can capture the obstacle, and the view display screen 3 can also display the position information of the obstacle in real time.
Preferably, the semi-physical simulation system for the cooperative control system of the unmanned aerial vehicle further includes an input device 4, which is used for inputting the simulation instruction into the simulation platform 2 of the unmanned aerial vehicle, and is further used for inputting simulated environmental information into the communication simulation module 21, so as to determine the manner and amount of information masking or/and deleting.
Preferably, the input device is further configured to input model parameters of the simulated rotorcraft, including the model of the sensor module, the number of the rotorcraft, and the model of each rotorcraft; sensor module's model can correspond to the detection distance of sensor and information such as transmission frequency, rotor unmanned aerial vehicle's quantity is corresponding the quantity that sets up rotor unmanned aerial vehicle simulation platform, each rotor unmanned aerial vehicle's model is corresponding rotor unmanned aerial vehicle's three-dimensional organism model, rotor unmanned aerial vehicle go up the working property of motor.
A semi-physical simulation method of a rotor unmanned aerial vehicle cooperative control system is realized through the semi-physical simulation system for the rotor unmanned aerial vehicle cooperative control system. Specifically, the method comprises the following steps:
step 1, inputting a task instruction into a rotor unmanned aerial vehicle cooperative control system to be measured through a ground station, and installing the rotor unmanned aerial vehicle cooperative control system to be measured on a control system installation platform 1;
step 2, outputting the detected state information, target information and obstacle position information of the rotor unmanned aerial vehicle through a sensor module 221 on the rotor unmanned aerial vehicle model 22;
step 3, solving a specific guidance instruction of each rotor unmanned aerial vehicle through a rotor unmanned aerial vehicle cooperative control system, and respectively transmitting the guidance instruction to each rotor unmanned aerial vehicle model 22;
step 4, resolving a control command through the flight control module 222, simulating the motion state of the rotor unmanned aerial vehicle through the rotor module 224 according to the control command, and acquiring the motion state of the rotor unmanned aerial vehicle through the sensor module 221 and transmitting the motion state to the wing unmanned aerial vehicle cooperative control system;
step 5, repeating the step 2, the step 3 and the step 4, and displaying the guidance instruction and the motion state of each rotor wing unmanned aerial vehicle model in real time by the vision display screen 3;
and 6, observing the motion trail displayed by the visual display screen 3 in real time, and accordingly judging the quality of the rotor unmanned aerial vehicle cooperative control system to be measured.
Preferably, step 1' is also performed between step 1 and step 2,
step 1': simulation instructions, environmental information and model parameters of the rotor unmanned aerial vehicle are input through the input device 4.
Experimental example:
install rotor unmanned aerial vehicle cooperative control system on control system mounting platform to ensure signal intercommunication between rotor unmanned aerial vehicle cooperative control system and the control system mounting platform, the task instruction on this rotor unmanned aerial vehicle cooperative control system is: utilize 3 rotor unmanned aerial vehicle to search for in coordination and trail aerial target, particularly, control 3 rotor unmanned aerial vehicle and search for the target simultaneously, 3 rotor unmanned aerial vehicle need avoid the barrier that exists in the air in the search process, after searching for the target, 1 among 3 unmanned aerial vehicle trails it, maintain less distance between this rotor unmanned aerial vehicle and the target promptly, two other rotor unmanned aerial vehicles hover and aim at the target direction, and maintain great distance between the target.
A semi-physical simulation system for a rotor unmanned aerial vehicle cooperative control system is utilized to carry out simulation experiments, the rotor unmanned aerial vehicle cooperative control system controls the working process of the rotor unmanned aerial vehicle to be displayed in real time through a visual display screen 3, and images of three stages in the visual display screen 3 are captured as shown in figures 2, 3 and 4, wherein a target is represented by a five-pointed star in the visual display screen 3, the target flies around a 8-shaped line in the air, and the track of the target is shown by a thin solid line in the figure; the flight path of the 3-frame rotor unmanned aerial vehicle is shown by a thick solid line in the figure; the obstacles are balloons, represented by circles in the figure, and the field of view of each rotorcraft is represented by a grayscale region.
In fig. 2, three unmanned rotorcraft are shown searching for targets from the starting point, and none of the targets have been captured, and in fig. 2, it can be seen that none of the targets are found in the field of view of the three unmanned rotorcraft;
FIG. 3 illustrates one of the rotorcraft capturing a target, the target being visible in FIG. 3 as coming within the field of view of one of the rotorcraft;
in fig. 4, the rotorcraft that captured the target is tracking the target closely, and the other two rotorcraft are hovering remotely and aimed at the target direction.
In the flight process of the unmanned gyroplane, the unmanned gyroplane does not collide with each other or with obstacles, and finally, the scheduled task is completed, so that the cooperative control system of the unmanned gyroplane is considered to have excellent performance.
The present invention has been described above in connection with preferred embodiments, but these embodiments are merely exemplary and merely illustrative. On the basis of the above, the invention can be subjected to various substitutions and modifications, and the substitutions and the modifications are all within the protection scope of the invention.
Claims (8)
1. A semi-physical simulation system for a rotor unmanned aerial vehicle cooperative control system is characterized by comprising a control system mounting platform (1), a rotor unmanned aerial vehicle simulation platform (2) and a visual display screen (3);
the control system mounting platform (1) is used for mounting a rotor unmanned aerial vehicle cooperative control system,
the cooperative control system of the rotor unmanned aerial vehicles calculates a guidance instruction of each rotor unmanned aerial vehicle according to the received task instruction, the current state information of each rotor unmanned aerial vehicle and the information detected by the rotor unmanned aerial vehicles, and transmits the guidance instruction to each rotor unmanned aerial vehicle respectively so as to control each rotor unmanned aerial vehicle to work respectively;
the rotor unmanned aerial vehicle simulation platform (2) is used for simulating a task execution process;
the rotor unmanned aerial vehicle simulation platform (2) comprises a communication simulation module (21) and a plurality of rotor unmanned aerial vehicle models (22),
the communication simulation module (21) is also used for simulating communication interference, shielding or deleting partial information according to a set rule,
the rotor drone model (22) includes a sensor module (221), a flight control module (222), a fuselage module (223), and a rotor module (224);
the visual display screen (3) is used for displaying the motion tracks of the rotor unmanned aerial vehicles in real time,
the vision display screen (3) connects a plurality of positions corresponding to each fuselage module (223) in series to form an actual motion track, connects coordinate positions converted by each guidance instruction in series to form an expected motion track, and simultaneously displays the actual motion track and the expected motion track corresponding to one rotor unmanned aerial vehicle by using different colors or linear types,
the storage has each rotor unmanned aerial vehicle's overall dimension information in vision display screen (3), can also each rotor unmanned aerial vehicle of automatic monitoring at the distance each other of flight in-process, can send and report the error instruction when this distance is less than rotor unmanned aerial vehicle's overall dimension.
2. Semi-physical simulation system for a cooperative control system for rotary-wing drones according to claim 1,
and a guidance instruction of the unmanned gyroplane given by the unmanned gyroplane cooperative control system is transmitted to the unmanned gyroplane model (22) through the control system mounting platform (1) and the communication simulation module (21).
3. Semi-physical simulation system for a cooperative control system for rotary-wing drones according to claim 1,
sensor module (221) are used for real-time detection and output rotor unmanned aerial vehicle's status information, rotor unmanned aerial vehicle's status information includes rotor unmanned aerial vehicle's speed information and positional information.
4. Semi-physical simulation system for a cooperative control system for rotary-wing drones according to claim 3,
the sensor module (221) is also configured to simulate outputting target information detected by the rotorcraft.
5. Semi-physical simulation system for a cooperative control system for rotary-wing drones according to claim 3,
the sensor module (221) is also configured to simulate outputting obstacle position information detected by the rotorcraft.
6. Semi-physical simulation system for a cooperative control system for rotary-wing drones according to claim 1,
the flight control module (222) is used for receiving a guidance instruction of the rotor unmanned aerial vehicle and calculating a corresponding control command according to the guidance instruction and the current state information of the rotor unmanned aerial vehicle;
rotor module (224) simulate rotor unmanned aerial vehicle motion according to the control command that flight control module (222) transmitted for sensor module (221) surveys in real time and learns this rotor unmanned aerial vehicle's status information.
7. Semi-physical simulation system for a cooperative control system for rotary-wing drones according to claim 1,
the visual display screen (3) can also display the position information of the target and the position information of the obstacle in real time.
8. A semi-physical simulation method using a semi-physical simulation system for a cooperative control system of a rotary-wing drone according to any one of claims 1 to 7, characterized in that it comprises the steps of:
step 1, inputting a task instruction into a rotor unmanned aerial vehicle cooperative control system to be measured through a ground station, and installing the rotor unmanned aerial vehicle cooperative control system to be measured on a control system installation platform (1);
step 2, outputting the detected state information, target information and obstacle position information of the unmanned gyroplane through a sensor module 221 on the unmanned gyroplane model (22);
step 3, a specific guidance instruction of each rotor unmanned aerial vehicle is calculated through a rotor unmanned aerial vehicle cooperative control system and is respectively transmitted to each rotor unmanned aerial vehicle model (22);
step 4, resolving a control command through a flight control module (222), simulating the motion state of the rotor unmanned aerial vehicle through a rotor module (224) according to the control command, and acquiring the motion state of the rotor unmanned aerial vehicle through a sensor module (221) and transmitting the motion state to a wing unmanned aerial vehicle cooperative control system;
step 5, repeating the step 2, the step 3 and the step 4, and displaying the guidance instruction and the motion state of each rotor wing unmanned aerial vehicle model in real time through the visual display screen (3);
and 6, observing the visual display screen (3) in real time to display the motion trail, and accordingly judging the quality of the rotor unmanned aerial vehicle cooperative control system to be measured.
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| CN202010574340.0A CN111736487B (en) | 2020-06-22 | 2020-06-22 | Semi-physical simulation system and method for rotor unmanned aerial vehicle cooperative control system |
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