CN104571131B - Unmanned plane formation distributed cooperative system and its anti-interference method - Google Patents
Unmanned plane formation distributed cooperative system and its anti-interference method Download PDFInfo
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- CN104571131B CN104571131B CN201510027459.5A CN201510027459A CN104571131B CN 104571131 B CN104571131 B CN 104571131B CN 201510027459 A CN201510027459 A CN 201510027459A CN 104571131 B CN104571131 B CN 104571131B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
The present invention relates to a kind of unmanned plane formation distributed cooperative system and its anti-interference method, and unmanned plane formation distributed cooperative system includes many unmanned planes and the base station for managing foregoing many unmanned planes, every frame unmanned plane is all equipped with identical antenna structure unit, self-checking system is provided with the base station, the self-checking system can complete the self-inspection work that base station own hardware operates in software on base station, moreover it is possible to the hardware for the unmanned plane that completion can be controlled by the base station and the self-inspection work for operating in software on foregoing unmanned plane；Foregoing many unmanned planes send instruction to perform flight and set lacing task according to base station, so that foregoing many unmanned planes collaboration completes same set objective task, the set objective task is the fusion for the set lacing task that foregoing many unmanned planes are completed, many unmanned planes of execution flight and set lacing task are during flying, be arranged in a straight line array or circular array or rectangular array of selection carries out lining up flight, and the system rejection to disturbance ability is stronger.
Description
Technical field
The invention belongs to communication technical field, be related to unmanned plane formation cooperation technology, further relate to it is a kind of nobody
Method of the machine formation distributed collaborative Combined Treatment to improve antijamming capability, available for the association of forming into columns that fought in modern military war
With anti-interference.
Background technology
Unmanned plane one of is equipped as modern high technology, its unique effect in military and civilian increasingly by
Pay attention to, and the related technology of unmanned plane experienced the development and accumulation of decades, also reach its maturity.But, monomer unmanned plane
As mini-plant due to being limited by volume, itself supply and flight environment of vehicle etc. factor, function and effectiveness are deposited all the time
In certain bottleneck, in order to meet the challenge that following complex task and adverse circumstances are brought, UAV Formation Flight is used as nobody
One important content of machine establishment of cooperatives developing direction is just by increasing research and discussion.
UAV Formation Flight, i.e. multiple UAVs divide to adapt to certain formation arrangement that mission requirements is carried out with task
The enterprise schema matched somebody with somebody.Compared to one-of-a-kind system, unmanned plane, which is formed into columns, can preferably play the advantage of multiple unmanned planes, task processing
Ability is also stronger.But whether being that unmanned plane unit is on duty or multiple aircraft formation, it is required for UAS to have some strength
Interference free performance, because assembling equipment is limited on unmanned plane, the interference free performance of unit is often difficult to meet demand, because
The system rejection to disturbance advantage how this research is played in the case of multiple aircraft formation just has great significance.
The existing anti-interference thinking of communication, it is main to include processing gain, transmission power and the antenna of enhancing communication system
These three situations of gain.Wherein the above two are anti-dry to reach with channel coding technology by realizing spread spectrum and information source respectively
The computing that the purpose disturbed, this kind of method comparative maturity, but its processing procedure materially increase communication system is strong
Degree.And UAS due to possessing miniaturization the characteristics of, the bottleneck of hardware condition makes it limited in operational capability, in a short time
It is difficult to realize these methods well, so being not the direction that should be considered emphatically at this stage.And for UAS
Antenna Design, generally using the design method of fixed antenna array, although design difficulty is not high, but antenna adaptation is not
By force, it is difficult to adjust to different communication environment.
The content of the invention
First technical problem to be solved by this invention be for above-mentioned prior art provide a kind of antijamming capability compared with
Strong unmanned plane formation distributed cooperative system.
Second technical problem to be solved by this invention is to provide a kind of unmanned plane for above-mentioned prior art and form into columns to divide
The anti-interference method of cloth cooperative system.
The present invention solve technical scheme that above-mentioned first technical problem used for：The unmanned plane formation distributed collaborative
System, it is characterised in that：Including many unmanned planes and for managing the base stations of foregoing many unmanned planes, every frame unmanned plane is all equipped with
Self-checking system is provided with identical antenna structure unit, the base station, the self-checking system can complete base station own hardware operation
The self-inspection work of software on base station, moreover it is possible to complete the hardware of unmanned plane that can be controlled by the base station and operate in foregoing unmanned plane
The self-inspection work of upper software；Foregoing many unmanned planes send instruction to perform flight and set lacing task according to base station, so that
Foregoing many unmanned planes collaboration is set to complete same set objective task, the set objective task is that foregoing many unmanned planes are completed
Set lacing task fusion, perform flight and set lacing task many unmanned planes during flying, selection is arranged in
Linear array or circular array or rectangular array carry out lining up flight.
If as an improvement, when performing the unmanned plane number of flight and set lacing task less than or equal to 3, performing and flying
The unmanned plane of capable and set lacing task be arranged in a straight line array carry out line up flight；If performing flight and set lacing task
Unmanned plane number when being more than or equal to 4, then perform flight and the unmanned plane first choice of set lacing task be arranged in circular array and entered
Ranks team flies, and is more than predetermined number if there is interference source, then performs flight and the unmanned plane of set lacing task is arranged in
Rectangular array carries out lining up flight.
The present invention solve technical scheme that above-mentioned second technical problem used for：A kind of distributed association of unmanned plane formation
Make the anti-interference method of system, it is characterised in that：A unmanned plane formation distributed cooperative system is built first, and the unmanned plane is compiled
Team's distributed cooperative system includes：Base station including multiple unmanned planes and for managing aforesaid plurality of unmanned plane, every frame unmanned plane
All it is equipped with identical antenna structure unit, the base station and is provided with self-checking system, it is hard that the self-checking system can complete base station itself
Part operates in the self-inspection work of software on base station, moreover it is possible to completes the hardware of unmanned plane that can be controlled by the base station and operates in foregoing
The self-inspection work of software on unmanned plane, foregoing unmanned plane formation distributed collaborative anti-interference method is achieved by the steps of：
Step 1: base station and unmanned plane initialization：
(1a), base station complete base station itself and unmanned plane self-inspection work, while completing unmanned plane and base by self-checking system
Communication check between standing, to ensure that the communications status between unmanned plane and base station is unimpeded；
The extraneous real time information of (1b), base station collection, the environmental information for including geographical position and spatial domain is analyzed, root
According to the supply limitation of the fuel and electric energy of every unmanned plane, the flight constraints condition of every unmanned plane is determined；
Step 2: unmanned plane formation adjustment and link establishment：
First unmanned plane is first sent in (2a), base station, and allows it as interim cluster and serve as temporary link center, Ran Houji
Stand according to the communications status between set objective task and unmanned plane and base station and to send pre- group to the remaining unmanned plane of certain amount
Send instruction；
(2b), receive communications status selection addition of the pre- unmanned plane sent according to base station and between interim cluster
Or fleet operation is recessed, then basis receives the pre- unmanned plane selection addition sent or recesses formation behaviour for base station or interim cluster
Make, and set objective task performing environment, carry out formation number adjustment；
After the adjustment of (2c), unit number is finished, selection adds the unmanned plane formed into columns then sends instruction to start according to base station
Flight and set lacing task are performed, foregoing set objective task is the set lacing of the foregoing many unmanned planes for adding and forming into columns
The fusion of task, now, interim cluster build the provisional communication chain between all unmanned planes for adding and forming into columns as core node
Road；
Step 3: the establishment and adjustment of unmanned plane formation cluster：
After (3a), temporary communication links are established, add inside all unmanned planes formed into columns and initiate cluster election, add and form into columns
All unmanned planes all as an information transfer node, the message transmitting procedure for the inside that form into columns；
All unmanned planes that (3b), addition are formed into columns are involved in after information transfer, lateral comparison are carried out, according to including information
The comparison of processing speed, Delay, selects the optimal unmanned plane of performance as cluster；
After (3c), cluster are established, cluster confirmation is sent to remaining by interim cluster by existing temporary communication links
Unmanned plane and base station, then the new communication center node built by cluster, adjust new communication link and establish all additions
Communication protocol between the unmanned plane of formation；
Communication protocol between the unmanned plane that (3d), cluster form into columns new communication link and all additions is first sent to base
Stand, instruction is then assigned in base station by being communicated with cluster, it is all to add the nothings formed into columns if there is cluster failure or performance deficiency
Man-machine inside re-elects cluster and is adjusted；
Step 4: the originally determined and conversion of unmanned plane during flying formation：
(4a), the unmanned plane formed into columns is added before information transfer is carried out, to determine formation to ensure unmanned plane antenna gain,
If adding the unmanned plane number formed into columns is less than or equal to 3, all unmanned planes arrays that are arranged in a straight line formed into columns that add are initial
Array carries out lining up flight；If adding the unmanned plane number formed into columns is more than or equal to 4, all unmanned plane arrangements for adding formation
It is that original array carries out lining up flight into circular array；
(4b) if, add form into columns unmanned plane number be less than or equal to 3, and add form into columns unmanned plane in information transfer mistake
Cheng Zhong, if there is interference source number more than predetermined number, all unmanned plane scrambling transformations formed into columns that add enter into circular array
Ranks team flies, if the direction of interference signal can accurately be estimated, all unmanned plane arrangements for adding formation are re-transformed into straight
Linear array carries out lining up flight；If adding the unmanned plane number formed into columns is more than or equal to 4, and interference source number occurs more than predetermined
Number, the then unmanned planes that all additions are formed into columns are transformed into rectangular array and carry out lining up flight.
As an improvement, adding the unmanned plane formed into columns when receiving the information that base station or other unmanned planes are sent, pass through ephemeris
Resolve or inertial navigation algorithm, obtain the source direction of information；The unmanned plane formed into columns is added when carrying out spatial processing, using linearly about
Beam minimum variance principle, cluster calculates the optimum right vector w, Ran Houqi of the information according to the source direction of the information received
The information that remaining unmanned plane receives itself optimum right vector w products corresponding with the information, complete weighting processing, so as to realize
Spatial domain is anti-interference.
Cluster measures the airspeed information that remaining adds the unmanned plane formed into columns in real time, and cluster also believes itself navigation
Breath and velocity information are sent to remaining unmanned plane for adding and forming into columns；Remaining unmanned plane of formation is added by referring to the positioning of cluster
With velocity information, the position in whole form into columns is obtained from real time.
Compared with prior art, the advantage of the invention is that：The unmanned plane formation distributed cooperative system of the present invention, nobody
Machine is in task process is performed, and flight array is Variable Array, including circular array, linear array and rectangular array.Unmanned plane
Group can change the formation of unit reception antenna by the adjustment of flight formation, so both played Liao Yuanzhen azimuths omnidirectional and covered
The characteristics of lid, the advantage of linear array and the unidirectional high-gain of face battle array is also utilized, antijamming capability is greatly improved, while largely
On reduce system because precision deficiency directly dispatches the situation of unmanned plane.
Brief description of the drawings
Fig. 1 is the system flow chart of unmanned plane formation distributed cooperative system in the embodiment of the present invention；
Fig. 2 is cathetus array arrangement schematic diagram of the embodiment of the present invention；
Fig. 3 is circular array arrangement schematic diagram in the embodiment of the present invention；
Fig. 4 is rectangular array arrangement schematic diagram in the embodiment of the present invention；
Fig. 5 is unmanned plane formation FB(flow block) in the embodiment of the present invention.
Embodiment
The present invention is described in further detail below in conjunction with accompanying drawing embodiment.
A kind of unmanned plane formation distributed cooperative system is present embodiments provided, it includes many unmanned planes and for managing
The base station of foregoing many unmanned planes, every frame unmanned plane is all equipped with identical antenna structure unit, array element 1-2, in the base station
Self-checking system is provided with, the self-checking system can complete the self-inspection work that base station own hardware operates in software on base station, moreover it is possible to complete
Into the unmanned plane that can be controlled by the base station hardware and operate in software on foregoing unmanned plane self-inspection work；Foregoing many nobody
Machine sends instruction to perform flight and set lacing task according to base station, so that the collaboration completion of foregoing many unmanned planes is same both
Set the goal task, and the set objective task is the fusion for the set lacing task that foregoing many unmanned planes are completed, and performs flight
And many unmanned planes of set lacing task are during flying, selection is arranged in a straight line array or circular array or rectangular array enters
Ranks team flies.
Unmanned plane formation distributed collaborative anti-interference method is achieved by the steps of, referring also to shown in Fig. 5：
Step 1: base station and unmanned plane initialization：
(1a), base station complete base station itself and unmanned plane self-inspection work, while completing unmanned plane and base by self-checking system
Communication check between standing, to ensure that the communications status between unmanned plane and base station is unimpeded；
The extraneous real time information of (1b), base station collection, the environmental information for including geographical position and spatial domain is analyzed, root
According to the supply limitation of the fuel and electric energy of every unmanned plane, the flight constraints condition of every unmanned plane is determined, flight here is about
Beam condition includes flight time, flight position and the flying speed of unmanned plane；
Step 2: unmanned plane formation adjustment and link establishment：
First unmanned plane is first sent in (2a), base station, and the unmanned plane should complete foregoing self-inspection work, and between base station
Communications status is unimpeded, allows it as interim cluster and serves as temporary link center, then base station according to set objective task and nobody
Communications status between machine and base station sends to the remaining unmanned plane of certain amount and pre- sends instruction；
(2b), receive communications status selection addition of the pre- unmanned plane sent according to base station and between interim cluster
Or fleet operation is recessed, then basis receives the pre- unmanned plane selection addition sent or recesses formation behaviour for base station or interim cluster
Make, and set objective task performing environment, carry out formation number adjustment；
After the adjustment of (2c), unit number is finished, selection adds the unmanned plane formed into columns then sends instruction to start according to base station
Flight and set lacing task are performed, foregoing set objective task is the set lacing of the foregoing many unmanned planes for adding and forming into columns
The fusion of task, now, interim cluster build the provisional communication chain between all unmanned planes for adding and forming into columns as core node
Road；
Step 3: the establishment and adjustment of unmanned plane formation cluster：
After (3a), temporary communication links are established, add inside all unmanned planes formed into columns and initiate cluster election, add and form into columns
All unmanned planes all as an information transfer node, the message transmitting procedure for the inside that form into columns；
All unmanned planes that (3b), addition are formed into columns are involved in after information transfer, lateral comparison are carried out, according to including information
The comparison of processing speed, Delay, selects the optimal unmanned plane of performance as cluster, based on the unmanned plane for serving as cluster
Machine, remaining adds the unmanned plane formed into columns and is used as slave；It is shown in Figure 1；
After (3c), cluster are established, cluster confirmation is sent to remaining by interim cluster by existing temporary communication links
Unmanned plane and base station, then the new communication center node built by cluster, adjust new communication link and establish all additions
Communication protocol between the unmanned plane of formation；
Communication protocol between the unmanned plane that (3d), cluster form into columns new communication link and all additions is first sent to base
Stand, instruction is then assigned in base station by being communicated with cluster, it is all to add the nothings formed into columns if there is cluster failure or performance deficiency
Man-machine inside re-elects cluster and is adjusted；
Step 4: the originally determined and conversion of unmanned plane during flying formation：
(4a), the unmanned plane formed into columns is added before information transfer is carried out, to determine formation to ensure unmanned plane antenna gain,
If adding the unmanned plane number formed into columns is less than or equal to 3, all unmanned planes arrays that are arranged in a straight line formed into columns that add are initial
Array is carried out lining up flight, shown in Figure 2, if adding the unmanned plane number formed into columns is more than or equal to 4, all add is formed into columns
Unmanned plane be arranged in circular array for original array carry out line up flight, it is shown in Figure 3；
(4b) if, add form into columns unmanned plane number be less than or equal to 3, and add form into columns unmanned plane in information transfer mistake
Cheng Zhong, if there is interference source number more than predetermined number, all unmanned plane scrambling transformations formed into columns that add enter into circular array
Ranks team flies, if the direction of interference signal can accurately be estimated, all unmanned plane arrangements for adding formation are re-transformed into straight
Linear array carries out lining up flight；If adding the unmanned plane number formed into columns is more than or equal to 4, and interference source number occurs more than predetermined
Number, the then unmanned planes that all additions are formed into columns are transformed into rectangular array and carry out lining up flight, shown in Figure 4.
The unmanned plane formed into columns, including main frame and all slaves are added, below referred to as unmanned unit, unmanned unit docking is received
Signal carry out information processing, with the interference free performance of strengthening system, it is ensured that communication quality.Because the gain of antenna is limited, institute
There must be message processing module to meet the purpose of AF panel with each unmanned plane.And space-time adaptive processing (Space-
Time Adaptive Process) anti-interference aspect application it is especially extensive, the present invention just using space-time adaptive handle as
The main thought of unmanned plane information process：First, unmanned unit is by way of common ephemeris is resolved, or by
Inertial navigation is installed on unmanned plane, the mode of data-evaluation is then carried out, obtains the arrival bearing DOA of signal；Secondly, unmanned plane
The internal wave beam forming criterion according to agreement of group, obtains optimal beam shape-endowing weight value, so that compensation space loss and multipath effect
The signal fadeout and distortion produced etc. factor.The present invention uses linearly constrained minimum variance, criterion and constraints expression
Formula is as follows：
Wherein w is the weights of spatial processing wave beam forming；F is the corresponding vector of constraint, because spatial processing is not right
Signal produces gain, so f is complete 1 vector；RxFor E { xxH, it is the autocorrelation matrix for receiving signal, it contains satellite-signal
Full detail；For signal arrival bearing's vector matrix.Cluster according to DOA information and determine wave beam forming criterion,
The optimum right vector w of a certain information is calculated, the information that then remaining unmanned plane receives itself is corresponding with the information most
Good weight vector w products, so that weighting processing is completed, so as to realize that spatial domain is anti-interference；
Again, in the Time Domain Processing stage, unmanned unit is carried out by respective algorithms (such as RLS algorithm) to filter parameter
Setting, determines cost function, then, and the unmanned plane of receive information is by making cost function minimum, and resolving obtains time domain weights l's
Iterative relation；Finally, unmanned plane with training sequence to weights by being constantly updated so that the learning curve of algorithm is continuous
Reduction, now algorithm tends to stabilization when less than some critical value, and the signal of system output is exactly the distribution that have passed through antenna
The final reception signal of formula AF panel and space time processing.
The unmanned plane of receive information is resolved to signal, the positioning that completes entirely to form into columns by the location information of cluster,
Speed, ranging information are determined；First, although the information after processing inhibits most of interference, noise, but the letter of itself are reduced
Number information have passed through modulation, base station or unmanned plane None- identified, and the now digital medium-frequency signal with wider bandwidth and portion
Point noise is together present, so the unmanned plane machine of receive information should carry out de-spreading operation to signal, that is, the signal received with
Receiver replica code is multiplied, and the recognizable primary signal of unmanned plane is then obtained after filtering；Secondly, cluster is to treated
Primary signal is resolved, and then the location information needed for being formed into columns is surveyed inside unmanned unit according to the location information of reception
Unmanned plane during flying speed is obtained away from operation, then by Doppler range rate measurement mode, cluster has been obtained certainly after above-mentioned processing procedure
The complete information of body, sends it to remaining member that forms into columns；Finally, remaining handset by referring to main frame information, with reference to itself
Situation complete itself navigation information determine, finally give complete positioning of entirely forming into columns, speed, ranging resolve information.
In addition, unmanned plane is formed into columns, inside can also carry out cycle detection, and problem machine is suitably adjusted：First, entirely
Unmanned plane formation cooperative system all should be ensured that the communication of whole system is unimpeded after interim inner link is constructed, all the time,
So system must periodically carry out intercommunication detection, the cluster machine of formation often crosses a fixed clock TS, just send one
Individual state confirmation information carries out liaison to each handset；Secondly, each formation handset is receiving the real time information of cluster transmission
After should upgrade in time and status information and reply, once there is the communication barrier, then form into columns internal shared by the communication link very first time
Failure unmanned plane situation and information, and counted；Cluster is counted also to be carried out between the handset quantity of non-feedback information, handset
Information updating, determines the handset quantity of non-Receiving Host information；Again, fleet system establishes failure decision threshold, according to not
The fault messages such as the handset quantity of detection information are received, failure problems are judged and screened, it is group to determine fault type
First machine is produced or handset is produced；If cluster failure, then the information case propagation delays formed into columns according to each handset select time delay most short
Handset be asserted cluster again, and the information is sent into base station；If during handset failure, cluster is directly sent to base station to be believed
Breath；Finally, base station is according to failure situation and environment, with reference to existing failure measure of forming into columns, and makes and reinforces decision-making and failure machine
Processing is determined.
Claims (3)
1. a kind of anti-interference method of unmanned plane formation distributed cooperative system, it is characterised in that：A unmanned plane is built first
Formation distributed cooperative system, the unmanned plane formation distributed cooperative system includes：Before including multiple unmanned planes and for management
The base station of multiple unmanned planes is stated, every frame unmanned plane is all equipped with identical antenna structure unit, the base station and is provided with self-inspection system
System, the self-checking system can complete the self-inspection work that base station own hardware operates in software on base station, moreover it is possible to which completion can be by the base station
The hardware of the unmanned plane of control and the self-inspection work for operating in software on foregoing unmanned plane, foregoing unmanned plane formation distributed collaborative
Anti-interference method is achieved by the steps of：
Step 1: base station and unmanned plane initialization：
(1a), base station complete base station itself and unmanned plane self-inspection work by self-checking system, at the same complete unmanned plane and base station it
Between communication check, to ensure that the communications status between unmanned plane and base station is unimpeded；
The extraneous real time information of (1b), base station collection, the environmental information for including geographical position and spatial domain is analyzed, according to every
The supply limitation of the fuel and electric energy of platform unmanned plane, determines the flight constraints condition of every unmanned plane；
Step 2: unmanned plane formation adjustment and link establishment：
First unmanned plane is first sent in (2a), base station, and allows it as interim cluster and serve as temporary link center, then base station root
According to the communications status between set objective task and unmanned plane and base station to remaining N platforms unmanned plane send it is pre- send instruction, N is
Natural number；
(2b), receive the pre- unmanned plane sent according to base station and between interim cluster communications status selection add or move back
From fleet operation, then basis receives the pre- unmanned plane selection addition sent or recesses fleet operation for base station or interim cluster, with
And the performing environment of set objective task, carry out formation number adjustment；
After the adjustment of (2c), unit number is finished, selection adds the unmanned plane formed into columns then sends instruction to start execution according to base station
Flight and set lacing task, foregoing set objective task are the set lacing task of the foregoing many unmanned planes for adding and forming into columns
Fusion, now, interim cluster builds the temporary communication links between all unmanned planes for adding and forming into columns as core node；
Step 3: the establishment and adjustment of unmanned plane formation cluster：
After (3a), temporary communication links are established, add inside all unmanned planes formed into columns and initiate cluster election, add the institute formed into columns
Some unmanned planes all as an information transfer node, carry out internal message transmitting procedure of forming into columns；
All unmanned planes that (3b), addition are formed into columns are involved in after information transfer, lateral comparison are carried out, according to including information processing
The comparison of speed, Delay, selects the optimal unmanned plane of performance as cluster；
After (3c), cluster are established, cluster confirmation is sent to remaining nobody by interim cluster by existing temporary communication links
Machine and base station, then the new communication center node built by cluster, adjust new communication link and establish all add and form into columns
Unmanned plane between communication protocol；
Communication protocol between the unmanned plane that (3d), cluster form into columns new communication link and all additions is first sent to base station,
Instruction is then assigned in base station by being communicated with cluster, if occurring, cluster failure or performance are not enough, all to add nobody that form into columns
Cluster is re-elected inside machine to be adjusted；
Step 4: the originally determined and conversion of unmanned plane during flying formation：
(4a), the unmanned plane formed into columns is added before information transfer is carried out, to determine formation to ensure unmanned plane antenna gain, if plus
The unmanned plane number for entering formation is less than or equal to 3, then all unmanned planes formed into columns that add are arranged in a straight line array for original array
Flight is lined up in progress；If adding the unmanned plane number formed into columns is more than or equal to 4, all unmanned planes formed into columns that add are arranged in circle
Shape array is that original array carries out lining up flight；
(4b) if, add form into columns unmanned plane number be less than or equal to 3, and add form into columns unmanned plane in message transmitting procedure
In, if there is interference source number more than predetermined number, all unmanned plane scrambling transformations formed into columns that add are carried out into circular array
Line up flight, if the direction of interference signal can accurately be estimated, all unmanned plane arrangements for adding formation are re-transformed into straight line
Array carries out lining up flight；If adding the unmanned plane number formed into columns is more than or equal to 4, and interference source number occurs more than predetermined number
Mesh, the then unmanned planes that all additions are formed into columns are transformed into rectangular array and carry out lining up flight.
2. anti-interference method according to claim 1, it is characterised in that：Add form into columns unmanned plane receive base station or its
During the information that his unmanned plane is sent, resolved by ephemeris or inertial navigation algorithm, obtain the source direction of information；Add form into columns nobody
Machine is when carrying out spatial processing, using linearly constrained minimum variance, and cluster is according to the source direction meter of the information received
The optimum right vector w of the information is calculated, the information that then remaining unmanned plane receives itself best weights corresponding with the information
Vectorial w products, complete weighting processing, so as to realize that spatial domain is anti-interference.
3. anti-interference method according to claim 2, it is characterised in that：Cluster measures nobody of remaining addition formation in real time
The airspeed information of machine, and cluster also itself navigation information and velocity information are sent to add form into columns remaining nobody
Machine；Positioning and velocity information of remaining unmanned plane formed into columns by referring to cluster are added, is obtained from real time in whole form into columns
Position.
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| JP6206736B2 (en) * | 2015-10-28 | 2017-10-04 | パナソニックＩｐマネジメント株式会社 | Observation system and method using flying object |
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