CN105353766A - Distributed fault-tolerant management method of multi-UAV formation structure - Google Patents

Abstract

The present invention discloses a distributed fault-tolerant management method of a multi-UAV formation structure. The method is characterized by comprises the following steps that: (1) a ground control center builds an initial formation structure and sends the structure to all UAVs, (2) each of the UAVs autonomously form an initial formation structure together and flies, (3) each of the UAVs judges whether other UAVs is newly damaged or not, and the method returns to the step (3) if not, (4) the remaining UAVs judge whether need to be responsible to calculate the formation structure again or not, and a step (5) is executed if so, whether a new formation structure message is received or not is judged if not, a step (6) is executed if the new formation structure message is received, otherwise the remaining UAVs continue to wait, (5) the new formation structure is reconstructed and sent to other UAVs, and (6) the remaining UAVs autonomously form a new formation structure and fly, and the method returns to the step (3). According to the distributed fault-tolerant management method, the multi-UAV formation structure with multi-level composition can be supported, and the formation structure can be rapidly and autonomously reconstructed when the UAVs are damaged, and the reliability and robustness are high.

Description

A kind of distributed fault-tolerance management method of multiple no-manned plane formation structure

Technical field

The present invention relates to the fault-tolerant management of multiple no-manned plane formation structure, belong to unmanned aerial vehicle (UAV) control and decision domain.

Background technology

The fault-tolerant management of multiple no-manned plane formation structure refers to that multiple no-manned plane is formed into columns in the process of executing the task, when there is damage in certain frame in formation or multiple UAVs, the residue unmanned plane in forming into columns is used to complete the adjustment of formation structure, to keep the stable of formation structure, thus guarantee completing smoothly of formation task.

The fault tolerance management method of traditional multiple no-manned plane formation structure is main in a centralized, need a Master Control Center (can be ground control centre, also can Shi Yijia center unmanned plane) be responsible for following the tracks of the state of forming into columns, when damage appears in certain frame in forming into columns or multiple UAVs, the residue unmanned plane that Master Control Center is responsible for controlling whole formation thus carries out the adjustment of formation structure to keep stablizing of formation structure.Centralized approach is simply easy to realize, but its shortcoming also clearly: require high to the communication capacity of Master Control Center and computing power; If Master Control Center damage or communication disruption, then whole multiple no-manned plane is formed into columns and is paralysed.In addition, the fault-tolerant management that the fault tolerance management method of traditional multiple no-manned plane formation structure is formed into columns mainly for single unmanned plane, also lacks the fault-tolerant management that the complicated unmanned plane of forming into columns composition to multiple unmanned plane is formed into columns.

Summary of the invention

The present invention is the weak point that the fault tolerance management method in order to overcome existing multiple no-manned plane formation structure exists, propose a kind of distributed fault-tolerance management method of multiple no-manned plane formation structure, during to occurring that unmanned plane is damaged in the flight course that the complicated unmanned plane that can be composited in multiple unmanned plane formation is formed into columns, remaining unmanned plane can be made decisions on one's own, uniquely to determine that wherein a frame unmanned plane is to complete the adjustment of formation structure, thus guarantee the stability of multiple no-manned plane formation structure, improve reliability and the robustness of the fault-tolerant management of multiple no-manned plane formation structure.

The present invention for the adopted technical scheme that achieves the above object is:

The distributed fault-tolerance management method of a kind of multiple no-manned plane formation of the present invention structure is applied to during the flight be made up of m frame unmanned plane and ground control centre controls environment; In described flight controls environment, there is the leading unmanned plane of a frame, lead other unmanned plane head for target to fly according to preset flight path; Described m frame unmanned plane is designated as u={u ₁, u ₂..., u _i..., u _m, 1≤i≤m; I represents the numbering that unmanned plane is unique, u _irepresent the i-th frame unmanned plane; Be characterized in carrying out as follows:

Step 1, described ground control centre build structure of initially forming into columns, and are send to described m frame unmanned plane after formation configuration messages by described initial formation cooperating measure;

Step 2, described m frame unmanned plane form initial formation structure according to described formation configuration messages and carry out autonomous flight;

According to the numbering order from small to large of other unmanned plane, step 3, every frame unmanned plane judge whether other unmanned plane occurs new damage respectively successively, if there is not new damage, then proceed autonomous flight, and return step 3 and perform; If there is new damage, then perform step 4;

Step 4, remaining unmanned plane independently judge self to recalculate formation structure the need of being responsible for respectively, if desired, then perform step 5, if do not need, then judge whether to receive new formation configuration messages; If receive, then perform step 6, otherwise, continue to wait for;

Step 5, rebuild new formation structure, and be send to other unmanned plane after new formation configuration messages by new formation cooperating measure;

Step 6, described remaining unmanned plane form new formation structure according to described formation configuration messages newly and carry out autonomous flight; And return step 3 and perform.

The feature of the distributed fault-tolerance management method of multiple no-manned plane formation structure of the present invention is also,

The initial formation structure of described step 1 builds as follows:

Step 1.1, by n the meta structure formation of described m frame unmanned plane composition; The type that described meta structure is formed into columns comprises: long official's meta structure is formed into columns, chain type meta structure is formed into columns and the meta structure that walks abreast is formed into columns;

Step 1.2, definition formation compound rank are l, and defining maximum formation compound rank is L; And initialization l=1; Then l-1 level composite structure is now formed into columns and is meta structure and forms into columns;

Step 1.3, composition l level composite structure of described l-1 level composite structure being formed into columns are formed into columns; The type that described l level composite structure is formed into columns comprises: long official l level composite structure is formed into columns, chain type l level composite structure is formed into columns and the l level composite structure that walks abreast is formed into columns;

Step 1.4, judge whether l=L sets up, if set up, then complete the structure of described initial formation structure; Otherwise, by l+1 assignment to l; And return step 1.3 and perform.

The type that meta structure in described step 1.1 is formed into columns is respectively:

Described long official's meta structure formation is made up of 1 frame lead aircraft and other wing plane, using the representative unmanned plane that described lead aircraft is formed into columns as described long official's meta structure; Described wing plane arranges by its numbering order from small to large, thus forms the sequence number of wing plane, for being expressed as which frame wing plane of described lead aircraft;

The flight pattern that described long official's meta structure is formed into columns is: described lead aircraft navigates flight in the wings, and described wing plane laterally arranges according to sequence number at front one word of affiliated lead aircraft and follows lead aircraft and flies;

With the initial point that the center of gravity of described lead aircraft is the first coordinate system, with the dead ahead of described lead aircraft, right and immediately below be respectively the x of coordinate system ₁axle, y ₁axle and z ₁axle, then arbitrary frame wing plane relative to the position coordinates of described lead aircraft is d ₀represent the distance between adjacent two wing planes; K represents the sequence number of wing plane; K>=1;

It is the chain structure formed by vertical array by S frame unmanned plane that described chain type meta structure is formed into columns, and s frame unmanned plane is the chain type forerunner unmanned plane of s+1 frame unmanned plane; S+1 frame unmanned plane is that the chain type of s frame unmanned plane is left no successor machine; 1≤s < S; Using the representative unmanned plane that the first unmanned plane of chain structure is formed into columns as described chain type meta structure;

The flight pattern that described chain type meta structure is formed into columns is: with the described unmanned plane that represents in forefront navigator's flight, all the other unmanned planes follow its chain type forerunner unmanned plane during flying in the wings;

With the initial point that the center of gravity of described s frame unmanned plane is the second coordinate system, with the dead ahead of s frame unmanned plane, right and immediately below be respectively the x of coordinate system ₂axle, y ₂axle and z ₂axle, then s+1 frame unmanned plane is (-d relative to the position coordinates of s frame unmanned plane ₀, 0,0); d ₀represent the distance between adjacent two frame unmanned planes;

It is transversely arranged by H frame unmanned plane and chain structure that is that formed that described parallel meta structure is formed into columns, and h frame unmanned plane is parallel forerunner's unmanned plane of h+1 frame unmanned plane; H+1 frame unmanned plane is the parallel machine of leaving no successor of h frame unmanned plane; 1≤h < H; Using the representative unmanned plane that the first unmanned plane of chain structure is formed into columns as described parallel meta structure;

The flight pattern that described parallel meta structure is formed into columns is: with the described unmanned plane that represents in leftmost navigator flight, all the other unmanned planes follow its parallel forerunner's unmanned plane during flying in right;

Be the initial point of three-coordinate with the center of gravity of described h frame unmanned plane, with the dead ahead of h frame unmanned plane, right and immediately below be respectively the x of coordinate system ₃axle, y ₃axle and z ₃axle, then h+1 frame unmanned plane is (0, d relative to the position coordinates of h frame unmanned plane ₀, 0); d ₀represent the distance between adjacent two frame unmanned planes;

The type that l level composite structure in described step 1.3 is formed into columns is respectively:

It is several l-1 level composite structures formation composition that described long official l level composite structure is formed into columns, and from l-1 level composite structure is formed into columns, select arbitrarily a l-1 level composite structure formation to form into columns as lead aircraft, other l-1 level composite structure is formed into columns and formed into columns as wing plane; Using the representative unmanned plane that the representative unmanned plane of lead aircraft formation is formed into columns as described long official l level composite structure; The numbering order from small to large of the representative unmanned plane that described wing plane formation is formed into columns according to each wing plane arranges, and using the sequence number that the order of arrangement is formed into columns as each wing plane;

The flight pattern that described long official l level composite structure is formed into columns is: the representative unmanned plane that described lead aircraft is formed into columns navigates flight in the wings, and the described wing plane representative unmanned plane of the forming into columns sequence number of forming into columns according to wing plane arranges and follows the representative unmanned plane during flying of lead aircraft formation front one word that affiliated lead aircraft is formed into columns is horizontal;

The center of gravity of the representative unmanned plane of forming into columns with described lead aircraft is the initial point of 4-coordinate system, the dead ahead of the representative unmanned plane of forming into columns with described lead aircraft, right and immediately below be respectively the x of coordinate system ₄axle, y ₄axle and z ₄axle, then the position coordinates of the representative unmanned plane that the representative unmanned plane that any one wing plane is formed into columns is formed into columns relative to described lead aircraft is and have d _l=(2 × l+1) × d ₀; d _ldistance between the representative unmanned plane that in the formation of expression l-1 level composite structure, adjacent two wing planes are formed into columns; The sequence number that k ' expression wing plane is formed into columns; K '>=1;

It is to be formed into columns the chain structure formed by vertical array by G l-1 level composite structure that described chain type l level composite structure is formed into columns, and g l-1 level composite structure formation is the chain type forerunner formation of g+1 l-1 level composite structure formation; It is the follow-up formation of chain type that g l-1 level composite structure is formed into columns that g+1 l-1 level composite structure is formed into columns; 1≤g < G; Using the representative unmanned plane that the representative unmanned plane of first of chain structure l-1 level composite structure formation is formed into columns as described chain type l level composite structure;

The flight pattern that described chain type l level composite structure is formed into columns is: the representative unmanned plane of forming into columns with described chain type l level composite structure navigates in forefront and flies, and the representative unmanned plane that all the other l-1 level composite structures are formed into columns follows the representative unmanned plane during flying that its chain type forerunner forms into columns in the wings;

The center of gravity of the representative unmanned plane of forming into columns with described g l-1 level composite structure is the initial point of Five Axis system, with the dead ahead of the representative unmanned plane of g l-1 level composite structure formation, right and immediately below be respectively the x of coordinate system ₅axle, y ₅axle and z ₅axle, then the position coordinates of the representative unmanned plane that the representative unmanned plane that g+1 l-1 level composite structure is formed into columns is formed into columns relative to g l-1 level composite structure is (-d _l, 0,0); d _lrepresent the distance between the representative unmanned plane that adjacent two l-1 level composite structures are formed into columns;

It is formed into columns by transversely arranged and chain structure that is that is formed by W l-1 level composite structure that described parallel l level composite structure is formed into columns, and w l-1 level composite structure formation is parallel forerunner's formation of w+1 l-1 level composite structure formation; It is the parallel follow-up formation that w l-1 level composite structure is formed into columns that w+1 l-1 level composite structure is formed into columns; 1≤w < W; Using the representative unmanned plane that the representative unmanned plane of first of chain structure l-1 level composite structure formation is formed into columns as described parallel l level composite structure;

The flight pattern that described parallel l level composite structure is formed into columns is: the representative unmanned plane of forming into columns with described parallel l level composite structure navigates in leftmost and flies, and the representative unmanned plane that all the other l-1 level composite structures are formed into columns follows the representative unmanned plane during flying that its parallel forerunner forms into columns in right;

The center of gravity of the representative unmanned plane of forming into columns with described w l-1 level composite structure is the initial point of the 6th coordinate system, with the dead ahead of the representative unmanned plane of w l-1 level composite structure formation, right and immediately below be respectively the x of coordinate system ₆axle, y ₆axle and z ₆axle, then the position coordinates of the representative unmanned plane that the representative unmanned plane that w+1 l-1 level composite structure is formed into columns is formed into columns relative to w l-1 level composite structure is (0, d _l, 0); d _lrepresent the distance between the representative unmanned plane that adjacent two l-1 level composite structures are formed into columns.

The character string of formation configuration messages corresponding to the matrix of a m × m size separated with comma of described step 1: b ₁₁, b ₁₂..., b _1m, b ₂₁, b ₂₂..., b _2m..., b _m1, b _m2..., b _mm, m represents the sum of unmanned plane; b _ijrepresent the i-th frame unmanned plane u _iwith jth frame unmanned plane u _jbetween formation structural relation or represent with the i-th frame unmanned plane u _ifor represent unmanned plane formation and with jth frame unmanned plane u _jfor represent unmanned plane formation between formation structural relation; 1≤j≤m;

Setting b _ij=0 and i ≠ j time, represent the i-th frame unmanned plane u _iwith jth frame unmanned plane u _jbetween without any formation structural relation; Or represent with the i-th frame unmanned plane u _ifor represent unmanned plane formation and with jth frame unmanned plane u _jfor represent unmanned plane formation between without any formation structural relation;

Setting b _ij=10 and i ≠ j time, represent the i-th frame unmanned plane u _ijth frame unmanned plane u _jlead aircraft;

Setting b _ij=100 × l+10 and i ≠ j time, represent with the i-th frame unmanned plane u _ifor the formation representing unmanned plane is with jth frame unmanned plane u _jfor the lead aircraft representing the formation of unmanned plane is formed into columns;

Setting b _ij=-10 and i ≠ j time, represent the i-th frame unmanned plane u _ijth frame unmanned plane u _jwing plane;

Setting b _ij=-(100 × l+10) and i ≠ j time, represent with the i-th frame unmanned plane u _ifor the formation representing unmanned plane is with jth frame unmanned plane u _jfor the wing plane representing the formation of unmanned plane is formed into columns;

Setting b _ij=20 and i ≠ j time, represent the i-th frame unmanned plane u _ijth frame unmanned plane u _jchain type to leave no successor machine;

Setting b _ij=100 × l+20 and i ≠ j time, represent with the i-th frame unmanned plane u _ifor the formation representing unmanned plane is with jth frame unmanned plane u _jthe follow-up formation of chain type for the formation representing unmanned plane;

Setting b _ij=-20 and i ≠ j time, represent the i-th frame unmanned plane u _ijth frame unmanned plane u _jchain type forerunner unmanned plane;

Setting b _ij=-(100 × l+20) and i ≠ j time, represent with the i-th frame unmanned plane u _ifor the formation representing unmanned plane is with jth frame unmanned plane u _jfor the chain type forerunner representing the formation of unmanned plane forms into columns;

Setting b _ij=30 and i ≠ j time, represent the i-th frame unmanned plane u _ijth frame unmanned plane u _jparallel machine of leaving no successor;

Setting b _ij=100 × l+30 and i ≠ j time, represent with the i-th frame unmanned plane u _ifor the formation representing unmanned plane is with jth frame unmanned plane u _jfor representing the parallel follow-up formation of the formation of unmanned plane;

Setting b _ij=-30 and i ≠ j time, represent the i-th frame unmanned plane u _ijth frame unmanned plane u _jparallel forerunner's unmanned plane;

Setting b _ij=-(100 × l+30) and i ≠ j time, represent with the i-th frame unmanned plane u _ifor the formation representing unmanned plane is with jth frame unmanned plane u _jfor the parallel forerunner representing the formation of unmanned plane forms into columns;

Setting b _ij=-2 and i=j time, represent the i-th frame unmanned plane u _idamage;

Setting b _ij=0 and i=j time, represent the i-th frame unmanned plane u _inot damage.

Unmanned plane in step 2 or step 6 is form formation structure as follows and carry out autonomous flight according to formation configuration messages:

Step 2.1, to define current unmanned plane be u _k, k represents the numbering of current unmanned plane; 1≤k≤m; Definition p represents other unmanned plane arbitrary, 1≤p≤m; K ≠ p;

Step 2.2, initialization i=1;

Step 2.3, judge whether i=k sets up, if set up, then perform step 2.13; Otherwise, utilize l _ki=| b _ki|/100 obtain corresponding formation compound rank l _ki;

Step 2.4, judge b _ki=-(100 × l _ki+ 10) whether set up, if set up, then perform step 2.5; Otherwise, perform step 2.9;

Step 2.5, defining variable c; And initialization c=0, p=1;

Step 2.6, work as b _pi=b _kiand during p≤k establishment, by c+1 assignment to c;

Step 2.7, by p+1 assignment to p, and judge whether p > k sets up, if set up, then perform step 2.8, otherwise, perform step 2.6;

Step 2.8, current unmanned plane u _kobtain self and the i-th frame unmanned plane u _irelative position be and adjust flying speed and direction to realize keeping described relative position to follow the i-th frame unmanned plane u _iflight; Perform step 2.14;

Step 2.9, judge b _ki=100 × l _kiwhether+20 set up, if set up, then performs step 2.10; Otherwise, perform step 2.11;

Step 2.10, current unmanned plane u _kobtain self and the i-th frame unmanned plane u _irelative position be and adjust flying speed and direction to realize keeping described relative position to follow the i-th frame unmanned plane u _iflight; Perform step 2.14;

Step 2.11, judge b _ki=100 × l _kiwhether+30 set up, if set up, then performs step 2.12; Otherwise, perform step 2.13;

Step 2.12, current unmanned plane u _kobtain self and the i-th frame unmanned plane u _irelative position be and adjust flying speed and direction to realize keeping described relative position to follow the i-th frame unmanned plane u _iflight; Perform step 2.14;

Step 2.13, by i+1 assignment to i, and judge whether i > m sets up, if set up, then represent current unmanned plane u _kself head for target autonomous flight is controlled for leading unmanned plane; Otherwise, return step 2.3 and perform;

Step 2.14, exit step 2.

Remaining unmanned plane in step 4 independently judges self to recalculate formation structure the need of being responsible for according to the following procedure respectively:

Step 4.1, the unmanned plane defining current new damage are u _o; Arbitrary unmanned plane of current residual is u _q; Definition identifier is flag, and initialization flag=-1;

Step 4.2, utilize l _qo=| b _qo|/100 obtain corresponding formation compound rank l _qo;

Step 4.3, judge b _qo=100 × l _qowhether+10 set up, if set up, then makes flag=1; And perform step 4.12; Otherwise, perform step 4.4;

Step 4.4, judge b _qo=-(100 × l _qo+ 10) whether set up, if set up, then perform step 4.5; Otherwise, perform step 4.8;

Step 4.5, defining variable r, and initialization r=1;

Step 4.6, judge b _ro=b _qoand whether r < q sets up; If set up, then perform step 4.8; Otherwise, perform step 4.7;

Step 4.7, by r+1 assignment to r, and judge whether r >=q sets up, if set up, then make flag=2; And perform step 4.12; Otherwise, perform step 4.6;

Step 4.8, judge b _qo=100 × l _qowhether+20 set up, if set up, then makes flag=3; And perform step 4.12; Otherwise, perform step 4.9;

Step 4.9, judge b _qo=100 × l _qowhether+30 set up, if set up, then makes flag=4; And perform step 4.12; Otherwise, perform step 4.10;

Step 4.10, judge b _qo=-(100 × l _qo+ 20) whether set up, if set up, then make flag=5; And perform step 4.12; Otherwise, perform step 4.11;

Step 4.11, work as b _qo=-(100 × l _qo+ 30), when setting up, flag=6 is made;

Step 4.12, judge whether flag ≠-1 sets up, if set up, then represent the unmanned plane u of current residual _qneed again to be responsible for recalculating formation structure; Otherwise, represent the unmanned plane u of current residual _qdo not need to be responsible for recalculating formation structure.

The new formation structure that rebuilds of described step 5 is carried out according to the following procedure:

Step 5.1, judge whether flag=2 or flag=3 or flag=4 sets up, if set up, then perform step 5.2; Otherwise, perform step 5.5;

Step 5.2, defining variable t, and initialization t=1;

Step 5.3, judge t ≠ q and whether t ≠ o sets up, if set up, then make b _qt=b _ot; Make b _tq=b _to;

Step 5.4, by t+1 assignment to t; Judge whether t > m sets up, if set up, then perform step 5.5; Otherwise, perform step 5.3;

Step 5.5, initialization t=1;

Step 5.6, make b _ot=b _to=0;

Step 5.7, by t+1 assignment to t; Judge whether t > m sets up, if set up, then perform step 5.8; Otherwise, perform step 5.6;

Step 5.8, make b _oo=-2.

Compared with prior art, beneficial effect of the present invention is embodied in:

1, the present invention can generate the initial formation structure of various complexity fast before multiple-uav formation flight by the multistage composite method that meta structure is formed into columns, and ensure that every frame unmanned plane can independently be formed and keep corresponding initial formation structure towards target flight, simultaneously when damage appears in certain frame in formation flight process or multiple UAVs, by making decisions on one's own of residue unmanned plane, ensure that residue unmanned plane is independently formed and keeps new formation structure, continue towards target flight, improve reliability and the robustness of the fault-tolerant management of multiple no-manned plane formation structure.

2, the present invention's three kinds of common meta structure formation types of supporting that long official's meta structure is formed into columns, chain type meta structure is formed into columns and the meta structure that walks abreast is formed into columns, also support that the formation of multiple meta structure forms long official, chain type or parallel l (l >=1) level composite structure by multistage composite and forms into columns simultaneously, the number that meta structure is formed into columns and compound rank l also do not limit, and flexibility ratio is high, extensibility good.

3, the present invention describes formation configuration messages corresponding to the formation structure of m frame unmanned plane composition by the character string corresponding to the matrix of a m × m size separated with comma, it is mutual that all unmanned planes only need by this formation configuration messages, the fault-tolerant management of multiple no-manned plane formation structure can be realized, convenient and simple, and the required traffic is little.

After initial formation configuration messages corresponding for structure of initially forming into columns is sent to all unmanned planes by the ground control centre 4, in the present invention, just no longer any intervention and control are carried out to unmanned plane, remaining work adopts distributed mode independently to complete by all unmanned planes, there is no center unmanned plane, thus avoid ground control centre or center unmanned plane once lose efficacy, the problem of whole paralysis of forming into columns.

5, after the every frame unmanned plane in the present invention receives the initial formation configuration messages of sending ground control centre, fly according to preset flight path as leading unmanned plane by self unmanned plane of just can making decisions on one's own after resolving formation configuration messages, or follow certain frame unmanned plane during flying as following unmanned plane and keep corresponding relative position, simple and convenient, reliability is high.

6, when in the present invention there is damage in certain frame or multiple UAVs, remaining every frame unmanned plane is not needed all to recalculate formation structure, and only need the information by analyzing current formation structure and new damage unmanned plane, just uniquely can determine that a frame residue unmanned plane is responsible for recalculating formation structure, again new formation configuration messages is sent to other unmanned plane by network, reducing calculated amount and traffic load, there is the possibility of conflict in the result of calculation that it also avoid different unmanned plane.

7, after the every frame residue unmanned plane in the present invention receives new formation configuration messages, to be flown accordingly adjustment by self unmanned plane of just can making decisions on one's own after resolving this formation configuration messages, thus formed and keep new formation structure, simple and convenient, reliability is high.

Accompanying drawing explanation

Fig. 1 is overview flow chart of the present invention.

Embodiment

In order to make technical scheme of the present invention clearly, complete, below in conjunction with accompanying drawing and the present invention is directed to m frame unmanned plane composition multiple no-manned plane form into columns distributed fault-tolerance management concrete case study on implementation be further described.

With reference to Fig. 1, in the present embodiment, a kind of distributed fault-tolerance management method of multiple no-manned plane formation structure is applied to during the flight be made up of m frame unmanned plane and ground control centre controls environment; In flight controls environment, there is the leading unmanned plane of a frame, lead other unmanned plane head for target to fly according to preset flight path; M frame unmanned plane is designated as u={u ₁, u ₂..., u _i..., u _m, 1≤i≤m; I represents the numbering that unmanned plane is unique, u _irepresent the i-th frame unmanned plane; The method is carried out as follows:

Step 1, ground control centre build structure of initially forming into columns, and are send to m frame unmanned plane after formation configuration messages by cooperating measure of initially forming into columns;

The initial formation structure of step 1 builds as follows:

Step 1.1, by the formation of m frame unmanned plane composition n meta structure; The type that meta structure is formed into columns comprises: long official's meta structure is formed into columns, chain type meta structure is formed into columns and the meta structure that walks abreast is formed into columns;

Long official's meta structure formation is made up of 1 frame lead aircraft and other wing plane, using the representative unmanned plane that lead aircraft is formed into columns as long official's meta structure; Wing plane arranges by its numbering order from small to large, thus forms the sequence number of wing plane, is expressed as which frame wing plane of lead aircraft; The flight pattern that long official's meta structure is formed into columns is: lead aircraft navigates flight in the wings, and wing plane laterally arranges according to sequence number at front one word of affiliated lead aircraft and follows lead aircraft and flies; With the initial point that the center of gravity of lead aircraft is the first coordinate system, with the dead ahead of lead aircraft, right and immediately below be respectively the x of coordinate system ₁axle, y ₁axle and z ₁axle, then arbitrary frame wing plane relative to the position coordinates of lead aircraft is d ₀be a prior given constant, represent the distance between adjacent two wing planes; K represents the sequence number of wing plane; K>=1;

It is the chain structure formed by vertical array by S frame unmanned plane that chain type meta structure is formed into columns, and s frame unmanned plane is the chain type forerunner unmanned plane of s+1 frame unmanned plane; S+1 frame unmanned plane is that the chain type of s frame unmanned plane is left no successor machine; 1≤s < S; The representative unmanned plane of forming into columns using the first unmanned plane of chain structure as chain type meta structure; The flight pattern that chain type meta structure is formed into columns is: to represent unmanned plane in forefront navigator's flight, all the other unmanned planes follow its chain type forerunner unmanned plane during flying in the wings; With the initial point that the center of gravity of s frame unmanned plane is the second coordinate system, with the dead ahead of s frame unmanned plane, right and immediately below be respectively the x of coordinate system ₂axle, y ₂axle and z ₂axle, then s+1 frame unmanned plane is (-d relative to the position coordinates of s frame unmanned plane ₀, 0,0); d ₀represent the distance between adjacent two frame unmanned planes;

It is transversely arranged by H frame unmanned plane and chain structure that is that formed that parallel meta structure is formed into columns, and h frame unmanned plane is parallel forerunner's unmanned plane of h+1 frame unmanned plane; H+1 frame unmanned plane is the parallel machine of leaving no successor of h frame unmanned plane; 1≤h < H; The representative unmanned plane of forming into columns using the first unmanned plane of chain structure as parallel meta structure; The flight pattern that parallel meta structure is formed into columns is: to represent unmanned plane in leftmost navigator flight, all the other unmanned planes follow its parallel forerunner's unmanned plane during flying in right; Be the initial point of three-coordinate with the center of gravity of h frame unmanned plane, with the dead ahead of h frame unmanned plane, right and immediately below be respectively the x of coordinate system ₃axle, y ₃axle and z ₃axle, then h+1 frame unmanned plane is (0, d relative to the position coordinates of h frame unmanned plane ₀, 0); d ₀represent the distance between adjacent two frame unmanned planes;

Step 1.2, definition formation compound rank are l, and defining maximum formation compound rank is L; And initialization l=1; Then l-1 level composite structure is now formed into columns and is meta structure and forms into columns;

Step 1.3, composition l level composite structure of being formed into columns by l-1 level composite structure are formed into columns; The type that l level composite structure is formed into columns comprises: long official l level composite structure is formed into columns, chain type l level composite structure is formed into columns and the l level composite structure that walks abreast is formed into columns;

It is several l-1 level composite structures formation composition that long official l level composite structure is formed into columns, and from l-1 level composite structure is formed into columns, select arbitrarily a l-1 level composite structure formation to form into columns as lead aircraft, other l-1 level composite structure is formed into columns and formed into columns as wing plane; Using the representative unmanned plane that the representative unmanned plane of lead aircraft formation is formed into columns as long official l level composite structure; The numbering order from small to large of the representative unmanned plane that wing plane formation is formed into columns according to each wing plane arranges, and using the sequence number that the order of arrangement is formed into columns as each wing plane; The flight pattern that long official l level composite structure is formed into columns is: the representative unmanned plane that lead aircraft is formed into columns navigates flight in the wings, and the wing plane representative unmanned plane of the forming into columns sequence number of forming into columns according to wing plane arranges and follows the representative unmanned plane during flying of lead aircraft formation front one word that affiliated lead aircraft is formed into columns is horizontal; Be the initial point of 4-coordinate system with the center of gravity of representative unmanned plane that lead aircraft is formed into columns, the dead ahead of the representative unmanned plane of forming into columns with lead aircraft, right and immediately below be respectively the x of coordinate system ₄axle, y ₄axle and z ₄axle, then the position coordinates of the representative unmanned plane that the representative unmanned plane that any one wing plane is formed into columns is formed into columns relative to lead aircraft is and have d _l=(2 × l+1) × d ₀; d _ldistance between the representative unmanned plane that in the formation of expression l-1 level composite structure, adjacent two wing planes are formed into columns; The sequence number that k ' expression wing plane is formed into columns; K '>=1;

It is to be formed into columns the chain structure formed by vertical array by G l-1 level composite structure that chain type l level composite structure is formed into columns, and g l-1 level composite structure formation is the chain type forerunner formation of g+1 l-1 level composite structure formation; It is the follow-up formation of chain type that g l-1 level composite structure is formed into columns that g+1 l-1 level composite structure is formed into columns; 1≤g < G; Using the representative unmanned plane that the representative unmanned plane of first of chain structure l-1 level composite structure formation is formed into columns as chain type l level composite structure; The flight pattern that chain type l level composite structure is formed into columns is: the representative unmanned plane of forming into columns with chain type l level composite structure navigates in forefront and flies, and the representative unmanned plane that all the other l-1 level composite structures are formed into columns follows the representative unmanned plane during flying that its chain type forerunner forms into columns in the wings; The center of gravity of the representative unmanned plane of forming into columns with g l-1 level composite structure is the initial point of Five Axis system, with the dead ahead of the representative unmanned plane of g l-1 level composite structure formation, right and immediately below be respectively the x of coordinate system ₅axle, y ₅axle and z ₅axle, then the position coordinates of the representative unmanned plane that the representative unmanned plane that g+1 l-1 level composite structure is formed into columns is formed into columns relative to g l-1 level composite structure is (-d _l, 0,0); d _lrepresent the distance between the representative unmanned plane that adjacent two l-1 level composite structures are formed into columns;

It is formed into columns by transversely arranged and chain structure that is that is formed by W l-1 level composite structure that parallel l level composite structure is formed into columns, and w l-1 level composite structure formation is parallel forerunner's formation of w+1 l-1 level composite structure formation; It is the parallel follow-up formation that w l-1 level composite structure is formed into columns that w+1 l-1 level composite structure is formed into columns; 1≤w < W; Using the representative unmanned plane that the representative unmanned plane of first of chain structure l-1 level composite structure formation is formed into columns as parallel l level composite structure; The flight pattern that parallel l level composite structure is formed into columns is: the representative unmanned plane of forming into columns with parallel l level composite structure navigates in leftmost and flies, and the representative unmanned plane that all the other l-1 level composite structures are formed into columns follows the representative unmanned plane during flying that its parallel forerunner forms into columns in right; The center of gravity of the representative unmanned plane of forming into columns with w l-1 level composite structure is the initial point of the 6th coordinate system, with the dead ahead of the representative unmanned plane of w l-1 level composite structure formation, right and immediately below be respectively the x of coordinate system ₆axle, y ₆axle and z ₆axle, then the position coordinates of the representative unmanned plane that the representative unmanned plane that w+1 l-1 level composite structure is formed into columns is formed into columns relative to w l-1 level composite structure is (0, d _l, 0); d _lrepresent the distance between the representative unmanned plane that adjacent two l-1 level composite structures are formed into columns.

Step 1.4, judge whether l=L sets up, if set up, then complete the structure of initial formation structure; Otherwise, by l+1 assignment to l; And return step 1.3 and perform.

The character string of formation configuration messages corresponding to the matrix of a m × m size separated with comma of step 1: b ₁₁, b ₁₂..., b _1m, b ₂₁, b ₂₂..., b _2m..., b _m1, b _m2..., b _mm, m represents the sum of unmanned plane; b _ijrepresent the i-th frame unmanned plane u _iwith jth frame unmanned plane u _jbetween formation structural relation or represent with the i-th frame unmanned plane u _ifor represent unmanned plane formation and with jth frame unmanned plane u _jfor represent unmanned plane formation between formation structural relation; 1≤j≤m;

Setting b _ij=0 and i ≠ j time, represent the i-th frame unmanned plane u _iwith jth frame unmanned plane u _jbetween without any formation structural relation; Or represent with the i-th frame unmanned plane u _ifor represent unmanned plane formation and with jth frame unmanned plane u _jfor represent unmanned plane formation between without any formation structural relation;

Setting b _ij=10 and i ≠ j time, represent the i-th frame unmanned plane u _ijth frame unmanned plane u _jlead aircraft;

Setting b _ij=100 × l+10 and i ≠ j time, represent with the i-th frame unmanned plane u _ifor the formation representing unmanned plane is with jth frame unmanned plane u _jfor the lead aircraft representing the formation of unmanned plane is formed into columns;

Setting b _ij=-10 and i ≠ j time, represent the i-th frame unmanned plane u _ijth frame unmanned plane u _jwing plane;

Setting b _ij=-(100 × l+10) and i ≠ j time, represent with the i-th frame unmanned plane u _ifor the formation representing unmanned plane is with jth frame unmanned plane u _jfor the wing plane representing the formation of unmanned plane is formed into columns;

Setting b _ij=20 and i ≠ j time, represent the i-th frame unmanned plane u _ijth frame unmanned plane u _jchain type to leave no successor machine;

Setting b _ij=100 × l+20 and i ≠ j time, represent with the i-th frame unmanned plane u _ifor the formation representing unmanned plane is with jth frame unmanned plane u _jthe follow-up formation of chain type for the formation representing unmanned plane;

Setting b _ij=-20 and i ≠ j time, represent the i-th frame unmanned plane u _ijth frame unmanned plane u _jchain type forerunner unmanned plane;

Setting b _ij=-(100 × l+20) and i ≠ j time, represent with the i-th frame unmanned plane u _ifor the formation representing unmanned plane is with jth frame unmanned plane u _jfor the chain type forerunner representing the formation of unmanned plane forms into columns;

Setting b _ij=30 and i ≠ j time, represent the i-th frame unmanned plane u _ijth frame unmanned plane u _jparallel machine of leaving no successor;

Setting b _ij=100 × l+30 and i ≠ j time, represent with the i-th frame unmanned plane u _ifor the formation representing unmanned plane is with jth frame unmanned plane u _jfor representing the parallel follow-up formation of the formation of unmanned plane;

Setting b _ij=-30 and i ≠ j time, represent the i-th frame unmanned plane u _ijth frame unmanned plane u _jparallel forerunner's unmanned plane;

Setting b _ij=-(100 × l+30) and i ≠ j time, represent with the i-th frame unmanned plane u _ifor the formation representing unmanned plane is with jth frame unmanned plane u _jfor the parallel forerunner representing the formation of unmanned plane forms into columns;

Setting b _ij=-2 and i=j time, represent the i-th frame unmanned plane u _idamage;

Setting b _ij=0 and i=j time, represent the i-th frame unmanned plane u _inot damage.

Step 2, m frame unmanned plane form initial formation structure according to formation configuration messages and carry out autonomous flight;

Unmanned plane in step 2 is form formation structure as follows and carry out autonomous flight according to formation configuration messages:

Step 2.1, to define current unmanned plane be u _k, k represents the numbering of current unmanned plane; 1≤k≤m; Definition p represents other unmanned plane arbitrary, 1≤p≤m; K ≠ p;

Step 2.2, initialization i=1;

Step 2.3, judge whether i=k sets up, if set up, then perform step 2.13; Otherwise, utilize l _ki=| b _ki|/100 obtain corresponding formation compound rank l _ki;

Step 2.4, judge b _ki=-(100 × l _ki+ 10) whether set up, if set up, then perform step 2.5; Otherwise, perform step 2.9;

Step 2.5, defining variable c; And initialization c=0, p=1;

Step 2.6, work as b _pi=b _kiand during p≤k establishment, by c+1 assignment to c;

Step 2.7, by p+1 assignment to p, and judge whether p > k sets up, if set up, then perform step 2.8, otherwise, perform step 2.6;

Step 2.8, current unmanned plane u _kobtain self and the i-th frame unmanned plane u _irelative position be and adjust flying speed and direction to realize keeping relative position to follow the i-th frame unmanned plane u _iflight; Perform step 2.14;

Step 2.9, judge b _ki=100 × l _kiwhether+20 set up, if set up, then performs step 2.10; Otherwise, perform step 2.11;

Step 2.10, current unmanned plane u _kobtain self and the i-th frame unmanned plane u _irelative position be and adjust flying speed and direction to realize keeping relative position to follow the i-th frame unmanned plane u _iflight; Perform step 2.14;

Step 2.11, judge b _ki=100 × l _kiwhether+30 set up, if set up, then performs step 2.12; Otherwise, perform step 2.13;

Step 2.12, current unmanned plane u _kobtain self and the i-th frame unmanned plane u _irelative position be and adjust flying speed and direction to realize keeping relative position to follow the i-th frame unmanned plane u _iflight; Perform step 2.14;

Step 2.13, by i+1 assignment to i, and judge whether i > m sets up, if set up, then represent current unmanned plane u _kself head for target autonomous flight is controlled for leading unmanned plane; Otherwise, return step 2.3 and perform;

Step 2.14, exit step 2.

There is the current unmanned plane u that multiple method can realize in step 2.8, step 2.10, step 2.12 in the prior art _kadjustment flying speed and direction are to realize keeping relative position to follow the i-th frame unmanned plane u _iflight, adopt the method based on formation error of the prior art in the present embodiment to realize, the step of the method is:

Every frame unmanned plane by a formation control device to realize following in real time its navigator's unmanned plane.Suppose that the height of all unmanned planes in formation flight is all consistent, then the i-th frame unmanned plane u _ikinetic model can be reduced to:

$\left\{\begin{array}{c}{\stackrel{\&CenterDot;}{x}}_i=v_i{\mathrm{cos\&theta;}}_i\\ {\stackrel{\&CenterDot;}{y}}_i=v_i{\mathrm{sin\&theta;}}_i\\ {\stackrel{\&CenterDot;}{\mathrm{\&theta;}}}_i={\mathrm{\&omega;}}_i\end{array}\right.---\left(1\right)$

In formula (1), x _iand y _irepresent the i-th frame unmanned plane u _iposition, v _irepresent the i-th frame unmanned plane u _ispeed, θ _irepresent the i-th frame unmanned plane u _icourse angle, ω _irepresent the i-th frame unmanned plane u _iangular velocity.

Suppose the i-th frame unmanned plane u _ifollow jth frame unmanned plane u _jflight, then the i-th frame unmanned plane u _irelative to its pilotage people's jth frame unmanned plane u _jformation error can use forward error and lateral error represent:

${\tilde{f}}_{ij}=f_{ij}-f_{ij}^d=(x_i-x_j){\mathrm{cos\&theta;}}_j+(y_i-y_j){\mathrm{sin\&theta;}}_j+dcos({\mathrm{\&theta;}}_i-{\mathrm{\&theta;}}_j)-f_{ij}^d---\left(2\right)$

${\tilde{l}}_{ij}=l_{ij}-l_{ij}^d=(x_i-x_j){\mathrm{sin\&theta;}}_j-(y_i-y_j){\mathrm{cos\&theta;}}_j-dsin({\mathrm{\&theta;}}_i-{\mathrm{\&theta;}}_j)-l_{ij}^d---\left(3\right)$

In formula (2) and formula (3), f _ijwith represent the i-th frame unmanned plane u respectively _iwith jth frame unmanned plane u _jactual forward Distance geometry expect forward direction distance, l _ijwith represent the i-th frame unmanned plane u respectively _iwith jth frame unmanned plane u _jactual lateral separation and expect lateral separation, d be a little constant: d > 0 and then the i-th frame unmanned plane u _iformation control device as follows:

$\left[\begin{array}{c}{v}_i\\ {\mathrm{\&omega;}}_i\end{array}\right]=\left[\begin{array}{cc}\cos {\widetilde{\mathrm{\&theta;}}}_{ij}& -\sin {\widetilde{\mathrm{\&theta;}}}_{ij}\\ -\frac{1}{d}\sin {\widetilde{\mathrm{\&theta;}}}_{ij}& -\frac{1}{d}\cos {\widetilde{\mathrm{\&theta;}}}_{ij}\end{array}\right]\&CenterDot;\left[\begin{array}{c}-k_1{\tilde{f}}_{ij}+v_j+l_{ij}{\mathrm{\&omega;}}_j\\ -k_2{\tilde{l}}_{ij}-f_{ij}{\mathrm{\&omega;}}_j\end{array}\right]---\left(4\right)$

In formula (4), k ₁, k ₂> 0 is feedback gain constant.Based on this formation control device, the i-th frame unmanned plane u _ijust can by the speed v of adjustment in real time self _iand angular velocity omega _i, to realize keeping relative position follow jth frame unmanned plane u _jflight.

According to the numbering order from small to large of other unmanned plane, step 3, every frame unmanned plane judge whether other unmanned plane occurs new damage respectively successively, if there is not new damage, then proceed autonomous flight, and return step 3 and perform; If there is new damage, then perform step 4;

There is every frame unmanned plane that multiple method can realize in step 3 in the prior art and judge whether other unmanned plane occurs new damage, adopt the method based on broadcast communication channel of the prior art in the present embodiment to realize, the step of the method is:

Except carrying out the unicast communication channels of point-to-point communication between unmanned plane, re-use a broadcast communication channel.Every frame unmanned plane is every T _active(T _active>=1) status information of self is just reported by this broadcast communication channel second, simultaneously every this broadcast communication channel of frame unmanned plane real-time listening, if T _activestill other certain frame unmanned plane u is not received after second _ostatus information, then think this unmanned plane u _odamage.

Step 4, remaining unmanned plane independently judge self to recalculate formation structure the need of being responsible for respectively, if desired, then perform step 5, if do not need, then judge whether to receive new formation configuration messages; If receive, then perform step 6, otherwise, continue to wait for;

Remaining unmanned plane in step 4 independently judges self to recalculate formation structure the need of being responsible for according to the following procedure respectively:

Step 4.1, the unmanned plane defining current new damage are u _o; Arbitrary unmanned plane of current residual is u _q; Definition identifier is flag, and initialization flag=-1;

Step 4.2, utilize l _qo=| b _qo|/100 obtain corresponding formation compound rank l _qo;

Step 4.3, judge b _qo=100 × l _qowhether+10 set up, if set up, then makes flag=1; And perform step 4.12; Otherwise, perform step 4.4;

Step 4.4, judge b _qo=-(100 × l _qo+ 10) whether set up, if set up, then perform step 4.5; Otherwise, perform step 4.8;

Step 4.5, defining variable r, and initialization r=1;

Step 4.6, judge b _ro=b _qoand whether r < q sets up; If set up, then perform step 4.8; Otherwise, perform step 4.7;

Step 4.7, by r+1 assignment to r, and judge whether r >=q sets up, if set up, then make flag=2; And perform step 4.12; Otherwise, perform step 4.6;

Step 4.8, judge b _qo=100 × l _qowhether+20 set up, if set up, then makes flag=3; And perform step 4.12; Otherwise, perform step 4.9;

Step 4.9, judge b _qo=100 × l _qowhether+30 set up, if set up, then makes flag=4; And perform step 4.12; Otherwise, perform step 4.10;

Step 4.10, judge b _qo=-(100 × l _qo+ 20) whether set up, if set up, then make flag=5; And perform step 4.12; Otherwise, perform step 4.11;

Step 4.11, work as b _qo=-(100 × l _qo+ 30), when setting up, flag=6 is made;

Step 4.12, judge whether flag ≠-1 sets up, if set up, then represent the unmanned plane u of current residual _qneed again to be responsible for recalculating formation structure; Otherwise, represent the unmanned plane u of current residual _qdo not need to be responsible for recalculating formation structure.

Step 5, rebuild new formation structure, and be send to other unmanned plane after new formation configuration messages by new formation cooperating measure;

The new formation structure that rebuilds of step 5 is carried out according to the following procedure:

Step 5.1, judge whether flag=2 or flag=3 or flag=4 sets up, if set up, then perform step 5.2; Otherwise, perform step 5.5;

Step 5.2, defining variable t, and initialization t=1;

Step 5.3, judge t ≠ q and whether t ≠ o sets up, if set up, then make b _qt=b _ot; Make b _tq=b _to;

Step 5.4, by t+1 assignment to t; Judge whether t > m sets up, if set up, then perform step 5.5; Otherwise, perform step 5.3;

Step 5.5, initialization t=1;

Step 5.6, make b _ot=b _to=0;

Step 5.7, by t+1 assignment to t; Judge whether t > m sets up, if set up, then perform step 5.8; Otherwise, perform step 5.6;

Step 5.8, make b _oo=-2.

Step 6, remaining unmanned plane form new formation structure according to new formation configuration messages and carry out autonomous flight; And return step 3 and perform.

Unmanned plane in step 6 forms new formation structure according to new formation configuration messages and carries out the step of autonomous flight can refer step 2 completely.

Claims (8)

1. a distributed fault-tolerance management method for multiple no-manned plane formation structure is applied to during the flight be made up of m frame unmanned plane and ground control centre controls environment; In described flight controls environment, there is the leading unmanned plane of a frame, lead other unmanned plane head for target to fly according to preset flight path; Described m frame unmanned plane is designated as u={u ₁, u ₂..., u _i..., u _m, 1≤i≤m; I represents the numbering that unmanned plane is unique, u _irepresent the i-th frame unmanned plane; It is characterized in that carrying out as follows:

Step 1, described ground control centre build structure of initially forming into columns, and are send to described m frame unmanned plane after formation configuration messages by described initial formation cooperating measure;

Step 2, described m frame unmanned plane form initial formation structure according to described formation configuration messages and carry out autonomous flight;

According to the numbering order from small to large of other unmanned plane, step 3, every frame unmanned plane judge whether other unmanned plane occurs new damage respectively successively, if there is not new damage, then proceed autonomous flight, and return step 3 and perform; If there is new damage, then perform step 4;

Step 4, remaining unmanned plane independently judge self to recalculate formation structure the need of being responsible for respectively, if desired, then perform step 5, if do not need, then judge whether to receive new formation configuration messages; If receive, then perform step 6, otherwise, continue to wait for;

Step 5, rebuild new formation structure, and be send to other unmanned plane after new formation configuration messages by new formation cooperating measure;

Step 6, described remaining unmanned plane form new formation structure according to described formation configuration messages newly and carry out autonomous flight; And return step 3 and perform.

2. the distributed fault-tolerance management method of multiple no-manned plane formation structure according to claim 1, is characterized in that, the initial formation structure of described step 1 builds as follows:

Step 1.1, by n the meta structure formation of described m frame unmanned plane composition; The type that described meta structure is formed into columns comprises: long official's meta structure is formed into columns, chain type meta structure is formed into columns and the meta structure that walks abreast is formed into columns;

Step 1.2, definition formation compound rank are l, and defining maximum formation compound rank is L; And initialization l=1; Then l-1 level composite structure is now formed into columns and is meta structure and forms into columns;

Step 1.3, composition l level composite structure of described l-1 level composite structure being formed into columns are formed into columns; The type that described l level composite structure is formed into columns comprises: long official l level composite structure is formed into columns, chain type l level composite structure is formed into columns and the l level composite structure that walks abreast is formed into columns;

Step 1.4, judge whether l=L sets up, if set up, then complete the structure of described initial formation structure; Otherwise, by l+1 assignment to l; And return step 1.3 and perform.

3. the distributed fault-tolerance management method of multiple no-manned plane formation structure according to claim 2, is characterized in that, the type that the meta structure in described step 1.1 is formed into columns is respectively:

Described long official's meta structure formation is made up of 1 frame lead aircraft and other wing plane, using the representative unmanned plane that described lead aircraft is formed into columns as described long official's meta structure; Described wing plane arranges by its numbering order from small to large, thus forms the sequence number of wing plane, for being expressed as which frame wing plane of described lead aircraft;

The flight pattern that described long official's meta structure is formed into columns is: described lead aircraft navigates flight in the wings, and described wing plane laterally arranges according to sequence number at front one word of affiliated lead aircraft and follows lead aircraft and flies;

With the initial point that the center of gravity of described lead aircraft is the first coordinate system, with the dead ahead of described lead aircraft, right and immediately below be respectively the x of coordinate system ₁axle, y ₁axle and z ₁axle, then arbitrary frame wing plane relative to the position coordinates of described lead aircraft is d ₀represent the distance between adjacent two wing planes; K represents the sequence number of wing plane; K>=1;

It is the chain structure formed by vertical array by S frame unmanned plane that described chain type meta structure is formed into columns, and s frame unmanned plane is the chain type forerunner unmanned plane of s+1 frame unmanned plane; S+1 frame unmanned plane is that the chain type of s frame unmanned plane is left no successor machine; 1≤s < S; Using the representative unmanned plane that the first unmanned plane of chain structure is formed into columns as described chain type meta structure;

The flight pattern that described chain type meta structure is formed into columns is: with the described unmanned plane that represents in forefront navigator's flight, all the other unmanned planes follow its chain type forerunner unmanned plane during flying in the wings;

With the initial point that the center of gravity of described s frame unmanned plane is the second coordinate system, with the dead ahead of s frame unmanned plane, right and immediately below be respectively the x of coordinate system ₂axle, y ₂axle and z ₂axle, then s+1 frame unmanned plane is (-d relative to the position coordinates of s frame unmanned plane ₀, 0,0); d ₀represent the distance between adjacent two frame unmanned planes;

It is transversely arranged by H frame unmanned plane and chain structure that is that formed that described parallel meta structure is formed into columns, and h frame unmanned plane is parallel forerunner's unmanned plane of h+1 frame unmanned plane; H+1 frame unmanned plane is the parallel machine of leaving no successor of h frame unmanned plane; 1≤h < H; Using the representative unmanned plane that the first unmanned plane of chain structure is formed into columns as described parallel meta structure;

The flight pattern that described parallel meta structure is formed into columns is: with the described unmanned plane that represents in leftmost navigator flight, all the other unmanned planes follow its parallel forerunner's unmanned plane during flying in right;

Be the initial point of three-coordinate with the center of gravity of described h frame unmanned plane, with the dead ahead of h frame unmanned plane, right and immediately below be respectively the x of coordinate system ₃axle, y ₃axle and z ₃axle, then h+1 frame unmanned plane is (0, d relative to the position coordinates of h frame unmanned plane ₀, 0); d ₀represent the distance between adjacent two frame unmanned planes.

4. the distributed fault-tolerance management method of multiple no-manned plane formation structure according to claim 2, is characterized in that, the type that the l level composite structure in described step 1.3 is formed into columns is respectively:

It is several l-1 level composite structures formation composition that described long official l level composite structure is formed into columns, and from l-1 level composite structure is formed into columns, select arbitrarily a l-1 level composite structure formation to form into columns as lead aircraft, other l-1 level composite structure is formed into columns and formed into columns as wing plane; Using the representative unmanned plane that the representative unmanned plane of lead aircraft formation is formed into columns as described long official l level composite structure; The numbering order from small to large of the representative unmanned plane that described wing plane formation is formed into columns according to each wing plane arranges, and using the sequence number that the order of arrangement is formed into columns as each wing plane;

The flight pattern that described long official l level composite structure is formed into columns is: the representative unmanned plane that described lead aircraft is formed into columns navigates flight in the wings, and the described wing plane representative unmanned plane of the forming into columns sequence number of forming into columns according to wing plane arranges and follows the representative unmanned plane during flying of lead aircraft formation front one word that affiliated lead aircraft is formed into columns is horizontal;

The center of gravity of the representative unmanned plane of forming into columns with described lead aircraft is the initial point of 4-coordinate system, the dead ahead of the representative unmanned plane of forming into columns with described lead aircraft, right and immediately below be respectively the x of coordinate system ₄axle, y ₄axle and z ₄axle, then the position coordinates of the representative unmanned plane that the representative unmanned plane that any one wing plane is formed into columns is formed into columns relative to described lead aircraft is and have d _l=(2 × l+1) × d ₀; d _ldistance between the representative unmanned plane that in the formation of expression l-1 level composite structure, adjacent two wing planes are formed into columns; The sequence number that k ' expression wing plane is formed into columns; K '>=1;

It is to be formed into columns the chain structure formed by vertical array by G l-1 level composite structure that described chain type l level composite structure is formed into columns, and g l-1 level composite structure formation is the chain type forerunner formation of g+1 l-1 level composite structure formation; It is the follow-up formation of chain type that g l-1 level composite structure is formed into columns that g+1 l-1 level composite structure is formed into columns; 1≤g < G; Using the representative unmanned plane that the representative unmanned plane of first of chain structure l-1 level composite structure formation is formed into columns as described chain type l level composite structure;

The flight pattern that described chain type l level composite structure is formed into columns is: the representative unmanned plane of forming into columns with described chain type l level composite structure navigates in forefront and flies, and the representative unmanned plane that all the other l-1 level composite structures are formed into columns follows the representative unmanned plane during flying that its chain type forerunner forms into columns in the wings;

The center of gravity of the representative unmanned plane of forming into columns with described g l-1 level composite structure is the initial point of Five Axis system, with the dead ahead of the representative unmanned plane of g l-1 level composite structure formation, right and immediately below be respectively the x of coordinate system ₅axle, y ₅axle and z ₅axle, then the position coordinates of the representative unmanned plane that the representative unmanned plane that g+1 l-1 level composite structure is formed into columns is formed into columns relative to g l-1 level composite structure is (-d _l, 0,0); d _lrepresent the distance between the representative unmanned plane that adjacent two l-1 level composite structures are formed into columns;

It is formed into columns by transversely arranged and chain structure that is that is formed by W l-1 level composite structure that described parallel l level composite structure is formed into columns, and w l-1 level composite structure formation is parallel forerunner's formation of w+1 l-1 level composite structure formation; It is the parallel follow-up formation that w l-1 level composite structure is formed into columns that w+1 l-1 level composite structure is formed into columns; 1≤w < W; Using the representative unmanned plane that the representative unmanned plane of first of chain structure l-1 level composite structure formation is formed into columns as described parallel l level composite structure;

The flight pattern that described parallel l level composite structure is formed into columns is: the representative unmanned plane of forming into columns with described parallel l level composite structure navigates in leftmost and flies, and the representative unmanned plane that all the other l-1 level composite structures are formed into columns follows the representative unmanned plane during flying that its parallel forerunner forms into columns in right;

The center of gravity of the representative unmanned plane of forming into columns with described w l-1 level composite structure is the initial point of the 6th coordinate system, with the dead ahead of the representative unmanned plane of w l-1 level composite structure formation, right and immediately below be respectively the x of coordinate system ₆axle, y ₆axle and z ₆axle, then the position coordinates of the representative unmanned plane that the representative unmanned plane that w+1 l-1 level composite structure is formed into columns is formed into columns relative to w l-1 level composite structure is (0, d _l, 0); d _lrepresent the distance between the representative unmanned plane that adjacent two l-1 level composite structures are formed into columns.

5. the distributed fault-tolerance management method of multiple no-manned plane formation structure according to claim 1, is characterized in that, the character string of formation configuration messages corresponding to the matrix of a m × m size separated with comma of described step 1: b ₁₁, b ₁₂..., b _1m, b ₂₁, b ₂₂..., b _2m..., b _m1, b _m2..., b _mm, m represents the sum of unmanned plane; b _ijrepresent the i-th frame unmanned plane u _iwith jth frame unmanned plane u _jbetween formation structural relation or represent with the i-th frame unmanned plane u _ifor represent unmanned plane formation and with jth frame unmanned plane u _jfor represent unmanned plane formation between formation structural relation; 1≤j≤m;

Setting b _ij=0 and i ≠ j time, represent the i-th frame unmanned plane u _iwith jth frame unmanned plane u _jbetween without any formation structural relation; Or represent with the i-th frame unmanned plane u _ifor represent unmanned plane formation and with jth frame unmanned plane u _jfor represent unmanned plane formation between without any formation structural relation;

Setting b _ij=10 and i ≠ j time, represent the i-th frame unmanned plane u _ijth frame unmanned plane u _jlead aircraft;

Setting b _ij=100 × l+10 and i ≠ j time, represent with the i-th frame unmanned plane u _ifor the formation representing unmanned plane is with jth frame unmanned plane u _jfor the lead aircraft representing the formation of unmanned plane is formed into columns;

Setting b _ij=-10 and i ≠ j time, represent the i-th frame unmanned plane u _ijth frame unmanned plane u _jwing plane;

Setting b _ij=-(100 × l+10) and i ≠ j time, represent with the i-th frame unmanned plane u _ifor the formation representing unmanned plane is with jth frame unmanned plane u _jfor the wing plane representing the formation of unmanned plane is formed into columns;

Setting b _ij=20 and i ≠ j time, represent the i-th frame unmanned plane u _ijth frame unmanned plane u _jchain type to leave no successor machine;

Setting b _ij=100 × l+20 and i ≠ j time, represent with the i-th frame unmanned plane u _ifor the formation representing unmanned plane is with jth frame unmanned plane u _jthe follow-up formation of chain type for the formation representing unmanned plane;

Setting b _ij=-20 and i ≠ j time, represent the i-th frame unmanned plane u _ijth frame unmanned plane u _jchain type forerunner unmanned plane;

Setting b _ij=-(100 × l+20) and i ≠ j time, represent with the i-th frame unmanned plane u _ifor the formation representing unmanned plane is with jth frame unmanned plane u _jfor the chain type forerunner representing the formation of unmanned plane forms into columns;

Setting b _ij=30 and i ≠ j time, represent the i-th frame unmanned plane u _ijth frame unmanned plane u _jparallel machine of leaving no successor;

Setting b _ij=100 × l+30 and i ≠ j time, represent with the i-th frame unmanned plane u _ifor the formation representing unmanned plane is with jth frame unmanned plane u _jfor representing the parallel follow-up formation of the formation of unmanned plane;

Setting b _ij=-30 and i ≠ j time, represent the i-th frame unmanned plane u _ijth frame unmanned plane u _jparallel forerunner's unmanned plane;

Setting b _ij=-(100 × l+30) and i ≠ j time, represent with the i-th frame unmanned plane u _ifor the formation representing unmanned plane is with jth frame unmanned plane u _jfor the parallel forerunner representing the formation of unmanned plane forms into columns;

Setting b _ij=-2 and i=j time, represent the i-th frame unmanned plane u _idamage;

Setting b _ij=0 and i=j time, represent the i-th frame unmanned plane u _inot damage.

6. the distributed fault-tolerance management method of multiple no-manned plane formation structure according to claim 1, is characterized in that, the unmanned plane in step 2 or step 6 is form formation structure as follows and carry out autonomous flight according to formation configuration messages:

Step 2.1, to define current unmanned plane be u _k, k represents the numbering of current unmanned plane; 1≤k≤m; Definition p represents other unmanned plane arbitrary, 1≤p≤m; K ≠ p;

Step 2.2, initialization i=1;

Step 2.3, judge whether i=k sets up, if set up, then perform step 2.13; Otherwise, utilize l _ki=| b _ki|/100 obtain corresponding formation compound rank l _ki;

Step 2.4, judge b _ki=-(100 × l _ki+ 10) whether set up, if set up, then perform step 2.5; Otherwise, perform step 2.9;

Step 2.5, defining variable c; And initialization c=0, p=1;

Step 2.6, work as b _pi=b _kiand during p≤k establishment, by c+1 assignment to c;

Step 2.7, by p+1 assignment to p, and judge whether p > k sets up, if set up, then perform step 2.8, otherwise, perform step 2.6;

Step 2.8, current unmanned plane u _kobtain self and the i-th frame unmanned plane u _irelative position be and adjust flying speed and direction to realize keeping described relative position to follow the i-th frame unmanned plane u _iflight; Perform step 2.14;

Step 2.9, judge b _ki=100 × l _kiwhether+20 set up, if set up, then performs step 2.10; Otherwise, perform step 2.11;

Step 2.10, current unmanned plane u _kobtain self and the i-th frame unmanned plane u _irelative position be and adjust flying speed and direction to realize keeping described relative position to follow the i-th frame unmanned plane u _iflight; Perform step 2.14;

Step 2.11, judge b _ki=100 × l _kiwhether+30 set up, if set up, then performs step 2.12; Otherwise, perform step 2.13;

Step 2.12, current unmanned plane u _kobtain self and the i-th frame unmanned plane u _irelative position be and adjust flying speed and direction to realize keeping described relative position to follow the i-th frame unmanned plane u _iflight; Perform step 2.14;

Step 2.13, by i+1 assignment to i, and judge whether i > m sets up, if set up, then represent current unmanned plane u _kself head for target autonomous flight is controlled for leading unmanned plane; Otherwise, return step 2.3 and perform;

Step 2.14, exit step 2.

7. the distributed fault-tolerance management method of multiple no-manned plane formation structure according to claim 1, is characterized in that, the remaining unmanned plane in step 4 independently judges self to recalculate formation structure the need of being responsible for according to the following procedure respectively:

Step 4.1, the unmanned plane defining current new damage are u _o; Arbitrary unmanned plane of current residual is u _q; Definition identifier is flag, and initialization flag=-1;

Step 4.2, utilize l _qo=| b _qo|/100 obtain corresponding formation compound rank l _qo;

Step 4.3, judge b _qo=100 × l _qowhether+10 set up, if set up, then makes flag=1; And perform step 4.12; Otherwise, perform step 4.4;

Step 4.4, judge b _qo=-(100 × l _qo+ 10) whether set up, if set up, then perform step 4.5; Otherwise, perform step 4.8;

Step 4.5, defining variable r, and initialization r=1;

Step 4.6, judge b _ro=b _qoand whether r < q sets up; If set up, then perform step 4.8; Otherwise, perform step 4.7;

Step 4.7, by r+1 assignment to r, and judge whether r >=q sets up, if set up, then make flag=2; And perform step 4.12; Otherwise, perform step 4.6;

Step 4.8, judge b _qo=100 × l _qowhether+20 set up, if set up, then makes flag=3; And perform step 4.12; Otherwise, perform step 4.9;

Step 4.9, judge b _qo=100 × l _qowhether+30 set up, if set up, then makes flag=4; And perform step 4.12; Otherwise, perform step 4.10;

Step 4.10, judge b _qo=-(100 × l _qo+ 20) whether set up, if set up, then make flag=5; And perform step 4.12; Otherwise, perform step 4.11;

Step 4.11, work as b _qo=-(100 × l _qo+ 30), when setting up, flag=6 is made;

Step 4.12, judge whether flag ≠-1 sets up, if set up, then represent the unmanned plane u of current residual _qneed again to be responsible for recalculating formation structure; Otherwise, represent the unmanned plane u of current residual _qdo not need to be responsible for recalculating formation structure.

8. the distributed fault-tolerance management method of the multiple no-manned plane formation structure according to claim 1 or 7, is characterized in that, the new formation structure that rebuilds of described step 5 is carried out according to the following procedure:

Step 5.1, judge whether flag=2 or flag=3 or flag=4 sets up, if set up, then perform step 5.2; Otherwise, perform step 5.5;

Step 5.2, defining variable t, and initialization t=1;

Step 5.3, judge t ≠ q and whether t ≠ o sets up, if set up, then make b _qt=b _ot; Make b _tq=b _to;

Step 5.4, by t+1 assignment to t; Judge whether t > m sets up, if set up, then perform step 5.5; Otherwise, perform step 5.3;

Step 5.5, initialization t=1;

Step 5.6, make b _ot=b _to=0;

Step 5.7, by t+1 assignment to t; Judge whether t > m sets up, if set up, then perform step 5.8; Otherwise, perform step 5.6;

Step 5.8, make b _oo=-2.