CN105353766B - A kind of distributed fault-tolerance management method of multiple no-manned plane formation structure - Google Patents

Abstract

The invention discloses the distributed fault-tolerance management method of a kind of multiple no-manned plane formation structure, it is characterized in that comprising the steps: that 1 ground control centre builds structure of initially forming into columns, and be sent to all unmanned planes；2 every frame unmanned planes are autonomously formed initial formation structure and fly；3 every frame unmanned planes judge whether other unmanned plane new damage occurs, if not, return step 3；4 residue unmanned planes judge self the need of being responsible for recalculating formation structure, the most then to perform step 5, if need not, judge whether to receive new formation configuration messages, if receiving, performing step 6, otherwise continuing waiting for；5 rebuild new formation structure and are sent to other unmanned plane；6 residue unmanned planes are autonomously formed new formation structure and fly, and return step 3.The present invention can support the multiple no-manned plane formation structure of multistage composite, and can when there is damage in unmanned plane Autonomous Reconfiguration formation structure rapidly, there is higher reliability and robustness.

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

During the fault-tolerant management of multiple no-manned plane formation structure refers to multiple no-manned plane formation execution task, certain frame or many in formation When damage occurs in frame unmanned plane, the residue unmanned plane in forming into columns is used to complete the adjustment of formation structure, to keep formation structure Stable, so that it is guaranteed that the smoothly completing of formation task.

The fault tolerance management method of traditional multiple no-manned plane formation structure, based on centralized, needs a Master Control Center (can be ground Face control centre, it is also possible to Shi Yijia center unmanned plane) be responsible for follow the tracks of form into columns state, when form into columns in certain frame or multi rack without During man-machine appearance damage, thus Master Control Center is responsible for controlling the residue unmanned plane of whole formation and is carried out the adjustment of formation structure to keep Stablizing of formation structure.Centralized approach is simply easily achieved, but its shortcoming is also apparent from: the communication capacity to Master Control Center Height is required with computing capability；If Master Control Center damage or communication disruption, the most whole multiple no-manned plane is formed into columns and is paralysed.Additionally, it is traditional The fault-tolerant management formed into columns mainly for single unmanned plane of the fault tolerance management method of multiple no-manned plane formation structure, also lack multiple nothings The fault-tolerant management that the complicated unmanned plane of man-machine formation composition is formed into columns.

Summary of the invention

The present invention is the weak point in order to overcome the fault tolerance management method of existing multiple no-manned plane formation structure to exist, it is proposed that a kind of The distributed fault-tolerance management method of multiple no-manned plane formation structure, to the complicated unmanned plane being composited in the formation of multiple unmanned planes Occurring when unmanned plane is damaged in the flight course formed into columns, remaining unmanned plane can be made decisions on one's own, uniquely to determine wherein one Frame unmanned plane completes the adjustment of formation structure, so that it is guaranteed that the stability of multiple no-manned plane formation structure, improves multiple no-manned plane and forms into columns The reliability of the fault-tolerant management of structure and robustness.

The present invention be the technical scheme is that by reaching above-mentioned purpose

The distributed fault-tolerance management method of the present invention a kind of multiple no-manned plane formation structure, is to be applied to by m frame unmanned plane and a ground The flight of face control centre composition controls in environment；Control environment exists a leading unmanned plane of frame in described flight, according to predetermined Flight path leads other unmanned plane towards target flight；Described m frame unmanned plane is designated as u={u₁,u₂,…,u_i,…,u_m, 1≤i≤m； I represents that unmanned plane is uniquely numbered, u_iRepresent the i-th frame unmanned plane；It is characterized in carrying out as follows:

Step 1, described ground control centre build structure of initially forming into columns, and described initial formation structure are converted to formation structure Described m frame unmanned plane it is sent to after message；

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 that other unmanned plane is respectively successively The damage that no appearance is new, if there is not new damage, then proceeds autonomous flight, and returns step 3 and perform；If occurring New damage, then perform step 4；

Step 4, remaining unmanned plane the most independently judge that self is the need of being responsible for recalculating formation structure, if desired, then Perform step 5, if need not, then judge whether to receive new formation configuration messages；If receiving, then perform step 6, no Then, continue waiting for；

Step 5, rebuild new formation structure, and be sent to after new formation structure is converted to new formation configuration messages Other unmanned plane；

Step 6, described remaining unmanned plane form new formation structure according to described new formation configuration messages and independently fly OK；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 lies also in,

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

Step 1.1, described m frame unmanned plane is formed the formation of n meta structure；The type that described meta structure is formed into columns includes: long official unit Structure is formed into columns, chain type meta structure is formed into columns and parallel meta structure is formed into columns；

Step 1.2, definition are formed into columns and be combined rank is l, and the maximum compound rank of forming into columns of definition is L；And initialize l=1；The most now L-1 level composite construction form into columns be meta structure form into columns；

Step 1.3, composition l level composite construction of being formed into columns by described l-1 level composite construction are formed into columns；The class that described l level composite construction is formed into columns Type includes: long official's l level composite construction is formed into columns, chain type l level composite construction is formed into columns and parallel l level composite construction is formed into columns；

Step 1.4, judging whether l=L sets up, if setting up, then completing the structure of described initial formation structure；Otherwise, by l+1 It is assigned 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 as follows:

Described long official's meta structure is formed into columns and is made up of 1 frame lead aircraft and other wing plane, forms into columns using described lead aircraft as described long official's meta structure Representative unmanned plane；Described wing plane is arranged by its numbering order from small to large, thus forms the sequence number of wing plane, for table It is shown 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, described wing plane according to sequence number in institute Front one word belonging to lead aircraft laterally arranges and follows lead aircraft flight；

With the initial point that center of gravity is the first coordinate system of described lead aircraft, it is respectively with dead ahead, right and the underface of described lead aircraft and sits The x of mark system₁Axle, y₁Axle and z₁Axle, arbitrary frame wing plane relative to the position coordinates of described lead aircraft isd₀Represent 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's 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 formed into columns as described chain type meta structure using the first unmanned plane of chain structure；

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

With the initial point that center of gravity is the second coordinate system of described s frame unmanned plane, with the dead ahead of s frame unmanned plane, right and just under Side is respectively the x of coordinate system₂Axle, y₂Axle and z₂Axle, then s+1 frame unmanned plane relative to the position coordinates of s frame unmanned plane is (-d₀,0,0)；d₀Represent the distance between adjacent two frame unmanned planes；

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

The flight pattern that described parallel meta structure is formed into columns is: with the described unmanned plane that represents at leftmost navigator's flight, remaining unmanned plane Its parallel forerunner's unmanned plane during flying is followed in right；

With the initial point that center of gravity is three-coordinate of described h frame unmanned plane, with the dead ahead of h frame unmanned plane, right and just under Side is respectively the x of coordinate system₃Axle, y₃Axle and z₃Axle, then h+1 frame unmanned plane relative to the position coordinates of h frame unmanned plane is (0,d₀,0)；d₀Represent the distance between adjacent two frame unmanned planes；

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

It is several l-1 level composite constructions formation composition that described long official's l level composite construction is formed into columns, from l-1 level composite construction is formed into columns Arbitrarily selecting a l-1 level composite construction to form into columns as lead aircraft to form into columns, other l-1 level composite construction is formed into columns and is formed into columns as wing plane； The representative unmanned plane formed into columns as described long official's l level composite construction using the representative unmanned plane of lead aircraft formation；Described wing plane is formed into columns according to respectively The numbering of the representative unmanned plane that individual wing plane is formed into columns order from small to large arranges, and compiles using the order arranged as each wing plane The sequence number of team；

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

With the initial point that center of gravity is 4-coordinate system of the representative unmanned plane that described lead aircraft is formed into columns, unmanned with the representative that described lead aircraft is formed into columns The dead ahead of machine, right and underface are respectively the x of coordinate system₄Axle, y₄Axle and z₄Axle, then any one wing plane form into columns representative without The position coordinates of the man-machine representative unmanned plane formed into columns relative to described lead aircraft isAnd have d_l=(2 × l+1) × d₀；d_lRepresent l-1 level composite construction form into columns between the representative unmanned plane formed into columns of adjacent two wing planes away from From；K ' represents the sequence number that wing plane is formed into columns；k′≥1；

The formation of described chain type l level composite construction is the chain structure formed by vertical array by G l-1 level composite construction formation, It is that the chain type forerunner that the g+1 l-1 level composite construction is formed into columns forms into columns that the g l-1 level composite construction is formed into columns；The g+1 l-1 Level composite construction formation is the follow-up formation of chain type that the g l-1 level composite construction is formed into columns；1≤g ＜ G；With chain structure The representative unmanned plane that the representative unmanned plane of one l-1 level composite construction formation is formed into columns as described chain type l level composite construction；

The flight pattern that described chain type l level composite construction is formed into columns is: exist with the representative unmanned plane that described chain type l level composite construction is formed into columns Forefront navigates and flies, and the representative unmanned plane that remaining l-1 level composite construction is formed into columns follows the representative that its chain type forerunner forms into columns in the wings Unmanned plane during flying；

With the initial point that center of gravity is Five Axis system of the representative unmanned plane that described the g l-1 level composite construction is formed into columns, with g The dead ahead of representative unmanned plane, right and the underface that l-1 level composite construction is formed into columns is respectively the x of coordinate system₅Axle, y₅Axle and z₅ Axle, then the representative that the representative unmanned plane of the g+1 l-1 level composite construction formation is formed into columns relative to the g l-1 level composite construction The position coordinates of unmanned plane is (-d_l,0,0)；d_lRepresent between the representative unmanned plane that adjacent two l-1 level composite constructions are formed into columns away from From；

It is by transversely arranged and that formed chain structure by the formation of W l-1 level composite construction that described parallel l level composite construction is formed into columns, It is that the parallel forerunner that the w+1 l-1 level composite construction is formed into columns forms into columns that the w l-1 level composite construction is formed into columns；The w+1 l-1 Level composite construction formation is the parallel follow-up formation that the w l-1 level composite construction is formed into columns；1≤w ＜ W；With chain structure The representative unmanned plane that the representative unmanned plane of one l-1 level composite construction formation is formed into columns as described parallel l level composite construction；

The flight pattern that described parallel l level composite construction is formed into columns is: exist with the representative unmanned plane that described parallel l level composite construction is formed into columns Leftmost is navigated and is flown, and the representative unmanned plane that remaining l-1 level composite construction is formed into columns follows the representative that its parallel forerunner forms into columns in right Unmanned plane during flying；

With the initial point that center of gravity is the 6th coordinate system of the representative unmanned plane that described the w l-1 level composite construction is formed into columns, with w The dead ahead of representative unmanned plane, right and the underface that l-1 level composite construction is formed into columns is respectively the x of coordinate system₆Axle, y₆Axle and z₆ Axle, then the representative that the representative unmanned plane of the w+1 l-1 level composite construction formation is formed into columns relative to the w l-1 level composite construction The position coordinates of unmanned plane is (0, d_l,0)；d_lRepresent between the representative unmanned plane that adjacent two l-1 level composite constructions are formed into columns away from From.

The formation configuration messages of described step 1 is the character string corresponding to the matrix of a m × m size separated with comma: b₁₁,b₁₂,...,b_1m,b₂₁,b₂₂,...,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 J frame unmanned plane u_jBetween formation structural relation or represent with the i-th frame unmanned plane u_iFor representing the formation of unmanned plane and with jth frame Unmanned plane u_jFor representing the formation structural relation between the formation of unmanned plane；1≤j≤m；

Set b_ijWhen=0 and i ≠ j, 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 representing the formation of unmanned plane and with jth frame unmanned plane u_jFor representing between the formation of unmanned plane Without any formation structural relation；

Set b_ijWhen=10 and i ≠ j, represent the i-th frame unmanned plane u_iIt is jth frame unmanned plane u_jLead aircraft；

Set b_ijWhen=100 × l+10 and i ≠ j, represent with the i-th frame unmanned plane u_iFor represent the formation of unmanned plane be with jth frame without Man-machine u_jForm into columns for representing the lead aircraft of the formation of unmanned plane；

Set b_ijWhen=-10 and i ≠ j, represent the i-th frame unmanned plane u_iIt is jth frame unmanned plane u_jWing plane；

Set b_ij=-(100 × l+10) and during i ≠ j, represent with the i-th frame unmanned plane u_iIt is with jth frame for representing the formation of unmanned plane Unmanned plane u_jForm into columns for representing the wing plane of the formation of unmanned plane；

Set b_ijWhen=20 and i ≠ j, represent the i-th frame unmanned plane u_iIt is jth frame unmanned plane u_jChain type leave no successor machine；

Set b_ijWhen=100 × l+20 and i ≠ j, represent with the i-th frame unmanned plane u_iFor represent the formation of unmanned plane be with jth frame without Man-machine u_jFor representing the follow-up formation of the chain type of the formation of unmanned plane；

Set b_ijWhen=-20 and i ≠ j, represent the i-th frame unmanned plane u_iIt is jth frame unmanned plane u_jChain type forerunner's unmanned plane；

Set b_ij=-(100 × l+20) and during i ≠ j, represent with the i-th frame unmanned plane u_iIt is with jth frame for representing the formation of unmanned plane Unmanned plane u_jForm into columns for representing the chain type forerunner of the formation of unmanned plane；

Set b_ijWhen=30 and i ≠ j, represent the i-th frame unmanned plane u_iIt is jth frame unmanned plane u_jMachine of leaving no successor parallel；

Set b_ijWhen=100 × l+30 and i ≠ j, represent with the i-th frame unmanned plane u_iFor represent the formation of unmanned plane be with jth frame without Man-machine u_jFor representing the parallel follow-up formation of the formation of unmanned plane；

Set b_ijWhen=-30 and i ≠ j, represent the i-th frame unmanned plane u_iIt is jth frame unmanned plane u_jParallel forerunner's unmanned plane；

Set b_ij=-(100 × l+30) and during i ≠ j, represent with the i-th frame unmanned plane u_iIt is with jth frame for representing the formation of unmanned plane Unmanned plane u_jForm into columns for representing the parallel forerunner of the formation of unmanned plane；

Set b_ijWhen=-2 and i=j, represent the i-th frame unmanned plane u_iDamage；

Set b_ijWhen=0 and i=j, represent the i-th frame unmanned plane u_iNot damage.

Unmanned plane in step 2 or step 6 is to form formation structure as follows and independently fly according to formation configuration messages OK:

Step 2.1, definition currently without man-machine for u_k, k represents currently without man-machine numbering；1≤k≤m；Definition p represents arbitrary Other unmanned plane, 1≤p≤m；k≠p；

Step 2.2, initialization i=1；

Step 2.3, judging whether i=k sets up, if setting up, then performing step 2.13；Otherwise, l is utilized_ki=| b_ki|/100 obtain Corresponding compound rank l of forming into columns_ki；

Step 2.4, judge b_ki=-(100 × l_ki+ 10) whether setting up, if setting up, then performing step 2.5；Otherwise, step is performed 2.9；

Step 2.5, defined variable c；And initialize c=0, p=1；

Step 2.6, work as b_pi=b_kiAnd during p≤k establishment, c+1 is assigned to c；

Step 2.7, p+1 is assigned to p, and judges whether p ＞ k sets up, if setting up, then perform step 2.8, otherwise, hold Row step 2.6；

Step 2.8, currently without man-machine u_kObtain self and the i-th frame unmanned plane u_iRelative position beAnd adjust flight speed with direction to realize keeping described relative location following 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 setting up, then performs step 2.10；Otherwise, step is performed 2.11；

Step 2.10, currently without man-machine u_kObtain self and the i-th frame unmanned plane u_iRelative position beAnd adjustment flies Line speed keeps described relative location following the i-th frame unmanned plane u with direction with realization_iFlight；Perform step 2.14；

Step 2.11, judge b_ki=100 × l_kiWhether+30 set up, if setting up, then performs step 2.12；Otherwise, step is performed 2.13；

Step 2.12, currently without man-machine u_kObtain self and the i-th frame unmanned plane u_iRelative position beAnd adjust flight Speed keeps described relative location following the i-th frame unmanned plane u with direction with realization_iFlight；Perform step 2.14；

Step 2.13, i+1 is assigned to i, and judges whether i ＞ m sets up, if setting up, then it represents that currently without man-machine u_kFor leading Unmanned plane also controls self towards Target self-determination flight；Otherwise, return step 2.3 to perform；

Step 2.14, exit step 2.

Remaining unmanned plane in step 4 the most independently judges that self is the need of being responsible for recalculating formation structure:

Step 4.1, the unmanned plane of the current new damage of definition are u_o；Arbitrary unmanned plane of current residual is u_q；Definition identifier is Flag, and initialize flag=-1；

Step 4.2, utilize l_qo=| b_qo|/100 obtain corresponding compound rank l of forming into columns_qo；

Step 4.3, judge b_qo=100 × l_qoWhether+10 set up, if setting up, then makes flag=1；And perform step 4.12；No Then, step 4.4 is performed；

Step 4.4, judge b_qo=-(100 × l_qo+ 10) whether setting up, if setting up, then performing step 4.5；Otherwise, step is performed 4.8；

Step 4.5, defined variable r, and initialize r=1；

Step 4.6, judge b_ro=b_qoAnd whether r ＜ q sets up；If setting up, then perform step 4.8；Otherwise, step 4.7 is performed；

Step 4.7, r+1 being assigned to r, and judge whether r >=q sets up, if setting up, then making flag=2；And perform step 4.12；Otherwise, step 4.6 is performed；

Step 4.8, judge b_qo=100 × l_qoWhether+20 set up, if setting up, then makes flag=3；And perform step 4.12；No Then, step 4.9 is performed；

Step 4.9, judge b_qo=100 × l_qoWhether+30 set up, if setting up, then makes flag=4；And perform step 4.12；No Then, step 4.10 is performed；

Step 4.10, judge b_qo=-(100 × l_qo+ 20) whether setting up, if setting up, then making flag=5；And perform step 4.12； Otherwise, step 4.11 is performed；

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 setting up, then it represents that the unmanned plane u of current residual_qNeed again to be responsible for Recalculate formation structure；Otherwise, the unmanned plane u of current residual is represented_qNeed not be responsible for recalculating formation structure.

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

Step 5.1, judging whether flag=2 or flag=3 or flag=4 sets up, if setting up, then performing step 5.2；Otherwise, Perform step 5.5；

Step 5.2, defined variable t, and initialize t=1；

Step 5.3, judging whether t ≠ q and t ≠ o set up, if setting up, then making b_qt=b_ot；Make b_tq=b_to；

Step 5.4, t+1 is assigned to t；Judging whether t ＞ m sets up, if setting up, then performing 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, t+1 is assigned to t；Judging whether t ＞ m sets up, if setting up, then performing step 5.8；Otherwise, perform Step 5.6；

Step 5.8, make b_oo=-2.

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

1, the multistage composite method that the present invention is formed into columns by meta structure can quickly generate various before multiple-uav formation flight Complicated structure of initially forming into columns, and ensure that every frame unmanned plane can be autonomously formed and keep corresponding initial formation structure towards target Flight, when during formation flight, damage occur in certain frame or multiple UAVs, by making decisions on one's own of residue unmanned plane simultaneously, Ensure that residue unmanned plane is autonomously formed and keeps new formation structure, continue towards target flight, improve multiple no-manned plane and form into columns knot The reliability of the fault-tolerant management of structure and robustness.

2, the present invention supports long official's meta structure to form into columns, chain type meta structure is formed into columns and parallel meta structure three kinds of common meta structures of formation Formation type, the most also supports multiple meta structure to form into columns by multistage composite and forms long official, chain type or parallel l (l >=1) level composite junction Structure is formed into columns, and number and compound rank l that meta structure is formed into columns the most do not limit, and flexibility ratio is high, extensibility is good.

3, the present invention describes the unmanned unit of m frame by the character string corresponding to the matrix of a m × m size separated with comma Formation configuration messages corresponding to formation structure become, it is mutual that all unmanned planes have only to by this formation configuration messages, Ji Keshi The fault-tolerant management of existing multiple no-manned plane formation structure, convenient and simple, and the required traffic is little.

4, initial formation configuration messages corresponding for structure of initially forming into columns is sent to all unmanned by the ground control centre in the present invention After machine, just unmanned plane no longer carrying out any intervention and control, remaining work is used distributed side by all unmanned planes Formula independently completes, and does not has a center unmanned plane, thus avoids ground control centre or center unmanned plane once lose efficacy, whole formation The problem of paralysis.

5, after the every frame unmanned plane in the present invention receives the initial formation configuration messages that ground control centre transmission comes, by solving Analysis formation configuration messages after just can make decisions on one's own self unmanned plane be as leading unmanned plane according to preset flight path fly, or work Following certain frame unmanned plane during flying for following unmanned plane and keep corresponding position relatively, simple and convenient, reliability is high.

6, when in the present invention, there is damage in certain frame or multiple UAVs, it is not necessary to remaining every frame unmanned plane all recalculates formation Structure, and have only to by analyzing current formation structure and the new information damaging unmanned plane, it becomes possible to uniquely determine a frame residue nothing Man-machine it is responsible for recalculating formation structure, newer formation configuration messages is sent to other unmanned plane by network, reduce Amount of calculation and traffic load, there is the probability of conflict in the result of calculation that it also avoid different unmanned plane.

7, after the residue of the every frame in present invention unmanned plane receives new formation configuration messages, by resolving this formation configuration messages Self unmanned plane of the most just can making decisions on one's own flies adjustment accordingly, thus forms and keep new formation structure, simple and convenient, Reliability is high.

Accompanying drawing explanation

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

Detailed description of the invention

So that technical scheme is clearer, complete, below in conjunction with the accompanying drawings and the present invention is directed to the unmanned unit of m frame The case that is embodied as of the distributed fault-tolerance management that the multiple no-manned plane become is formed into columns is further described.

With reference to Fig. 1, in the present embodiment, the distributed fault-tolerance management method of a kind of multiple no-manned plane formation structure, is to be applied to by m frame The flight of unmanned plane and a ground control centre composition controls in environment；A leading unmanned plane of frame is there is in flight controls environment, Lead other unmanned plane towards target flight according to preset flight path；M frame unmanned plane is designated as u={u₁,u₂,…,u_i,…,u_m, 1≤i≤m；I represents that unmanned plane is uniquely numbered, u_iRepresent the i-th frame unmanned plane；The method is carried out as follows:

Step 1, ground control centre build and initially form into columns structure, and send out after structure of initially forming into columns is converted to formation configuration messages Give m frame unmanned plane；

The initial formation structure of step 1 builds as follows:

Step 1.1, m frame unmanned plane is formed the formation of n meta structure；The type that meta structure is formed into columns includes: the formation of long official's meta structure, Chain type meta structure is formed into columns and parallel meta structure is formed into columns；

Long official's meta structure is formed into columns and is made up of 1 frame lead aircraft and other wing plane, the representative unmanned plane formed into columns as long official's meta structure using lead aircraft； Wing plane is arranged 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, wing plane according to sequence number at front one word of affiliated lead aircraft Laterally arrange and follow lead aircraft flight；With the initial point that center of gravity is the first coordinate system of lead aircraft, with the dead ahead of lead aircraft, right and just Lower section is respectively the x of coordinate system₁Axle, y₁Axle and z₁Axle, arbitrary frame wing plane relative to the position coordinates of lead aircraft isd₀It is a constant the most given, represents the distance between adjacent two wing planes；k Represent 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 s+1 frame Chain type forerunner's unmanned plane of 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；With The representative unmanned plane that the first unmanned plane of chain structure is formed into columns as chain type meta structure；The flight pattern that chain type meta structure is formed into columns is: With represent unmanned plane forefront navigate flight, remaining unmanned plane follows its chain type forerunner's unmanned plane during flying in the wings；With s frame The center of gravity of unmanned plane is the initial point of the second coordinate system, is respectively coordinate system with dead ahead, right and the underface of s frame unmanned plane X₂Axle, y₂Axle and z₂Axle, then s+1 frame unmanned plane is (-d relative to the position coordinates of s frame unmanned plane₀,0,0)；d₀Table Show the distance between adjacent two frame unmanned planes；

It is chain structure that is transversely arranged by H frame unmanned plane and that formed that parallel meta structure is formed into columns, and h frame unmanned plane is h+1 frame Parallel forerunner's unmanned plane of unmanned plane；H+1 frame unmanned plane is the machine of leaving no successor parallel of h frame unmanned plane；1≤h ＜ H； The representative unmanned plane formed into columns as parallel meta structure using the first unmanned plane of chain structure；The flight pattern that parallel meta structure is formed into columns For: with represent unmanned plane leftmost navigate flight, remaining unmanned plane follows its parallel forerunner's unmanned plane during flying in right；With h The center of gravity of frame unmanned plane is the initial point of three-coordinate, is respectively coordinate with dead ahead, right and the underface of h frame unmanned plane The x of system₃Axle, y₃Axle and z₃Axle, then h+1 frame unmanned plane is (0, d relative to the position coordinates of h frame unmanned plane₀,0)；d₀Table Show the distance between adjacent two frame unmanned planes；

Step 1.2, definition are formed into columns and be combined rank is l, and the maximum compound rank of forming into columns of definition is L；And initialize l=1；The most now L-1 level composite construction form into columns be meta structure form into columns；

Step 1.3, composition l level composite construction of being formed into columns by l-1 level composite construction are formed into columns；The type that l level composite construction is formed into columns includes: Long official's l level composite construction is formed into columns, chain type l level composite construction is formed into columns and parallel l level composite construction is formed into columns；

It is several l-1 level composite constructions formation composition that long official's l level composite construction is formed into columns, from l-1 level composite construction is formed into columns arbitrarily Selecting a l-1 level composite construction to form into columns as lead aircraft to form into columns, other l-1 level composite construction is formed into columns and is formed into columns as wing plane；With length The representative unmanned plane that the representative unmanned plane that machine is formed into columns is formed into columns as long official's l level composite construction；Wing plane formation is formed into columns according to each wing plane Represent the numbering of unmanned plane order from small to large to arrange, and the sequence number formed into columns as each wing plane using the order of arrangement；Long The flight pattern that official's l level composite construction is formed into columns is: the representative unmanned plane that lead aircraft is formed into columns navigates flight in the wings, the representative of wing plane formation The representative that the sequence number that unmanned plane is formed into columns according to wing plane laterally arranged and followed lead aircraft formation at front one word that affiliated lead aircraft is formed into columns is unmanned Machine flies；The initial point that center of gravity is 4-coordinate system of representative unmanned plane formed into columns with lead aircraft, the representative unmanned plane formed into columns with lead aircraft Dead ahead, right and underface are respectively the x of coordinate system₄Axle, y₄Axle and z₄Axle, then the representative unmanned plane that any one wing plane is formed into columns Relative to the position coordinates of the representative unmanned plane of lead aircraft formation it isAnd have d_l=(2 × l+1) × d₀；d_lRepresent l-1 level composite construction form into columns between the representative unmanned plane formed into columns of adjacent two wing planes away from From；K ' represents the sequence number that wing plane is formed into columns；k′≥1；

The formation of chain type l level composite construction is the chain structure formed by vertical array by G l-1 level composite construction formation, g It is that the chain type forerunner that the g+1 l-1 level composite construction is formed into columns forms into columns that individual l-1 level composite construction is formed into columns；The g+1 l-1 level is multiple Closing structure formation is the follow-up formation of chain type that the g l-1 level composite construction is formed into columns；1≤g ＜ G；With chain structure first The representative unmanned plane that the representative unmanned plane that l-1 level composite construction is formed into columns is formed into columns as chain type l level composite construction；Chain type l level composite junction The flight pattern that structure is formed into columns is: fly forefront navigator with the representative unmanned plane that chain type l level composite construction is formed into columns, remaining l-1 level The representative unmanned plane that composite construction is formed into columns follows the representative unmanned plane during flying that its chain type forerunner forms into columns in the wings；With the g l-1 level The initial point that center of gravity is Five Axis system of the representative unmanned plane that composite construction is formed into columns, the generation formed into columns with the g l-1 level composite construction The dead ahead of table unmanned plane, right and underface are respectively the x of coordinate system₅Axle, y₅Axle and z₅Axle, then the g+1 l-1 level is multiple The position coordinates of the representative unmanned plane that the representative unmanned plane that conjunction structure is formed into columns is formed into columns relative to the g l-1 level composite construction is (-d_l,0,0)；d_lRepresent the distance between the representative unmanned plane that adjacent two l-1 level composite constructions are formed into columns；

It is by transversely arranged and that formed chain structure, w by W l-1 level composite construction formation that parallel l level composite construction is formed into columns It is that the parallel forerunner that the w+1 l-1 level composite construction is formed into columns forms into columns that individual l-1 level composite construction is formed into columns；The w+1 l-1 level is multiple Closing structure formation is the parallel follow-up formation that the w l-1 level composite construction is formed into columns；1≤w ＜ W；With chain structure first The representative unmanned plane that the representative unmanned plane that l-1 level composite construction is formed into columns is formed into columns as parallel l level composite construction；Parallel l level composite junction The flight pattern that structure is formed into columns is: fly leftmost navigator with the representative unmanned plane that parallel l level composite construction is formed into columns, remaining l-1 level The representative unmanned plane that composite construction is formed into columns follows the representative unmanned plane during flying that its parallel forerunner forms into columns in right；With the w l-1 level The initial point that center of gravity is the 6th coordinate system of the representative unmanned plane that composite construction is formed into columns, the generation formed into columns with the w l-1 level composite construction The dead ahead of table unmanned plane, right and underface are respectively the x of coordinate system₆Axle, y₆Axle and z₆Axle, then the w+1 l-1 level is multiple The position coordinates of the representative unmanned plane that the representative unmanned plane that conjunction structure is formed into columns is formed into columns relative to the w l-1 level composite construction is (0,d_l,0)；d_lRepresent the distance between the representative unmanned plane that adjacent two l-1 level composite constructions are formed into columns.

Step 1.4, judge whether l=L sets up, if setting up, then the structure of the structure that completes initially to form into columns；Otherwise, l+1 is composed Value is to l；And return step 1.3 and perform.

The formation configuration messages of step 1 is the character string corresponding to the matrix of a m × m size separated with comma: b₁₁,b₁₂,...,b_1m,b₂₁,b₂₂,...,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 J frame unmanned plane u_jBetween formation structural relation or represent with the i-th frame unmanned plane u_iFor representing the formation of unmanned plane and with jth frame Unmanned plane u_jFor representing the formation structural relation between the formation of unmanned plane；1≤j≤m；

Set b_ijWhen=0 and i ≠ j, 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 representing the formation of unmanned plane and with jth frame unmanned plane u_jFor representing between the formation of unmanned plane Without any formation structural relation；

Set b_ijWhen=10 and i ≠ j, represent the i-th frame unmanned plane u_iIt is jth frame unmanned plane u_jLead aircraft；

Set b_ijWhen=100 × l+10 and i ≠ j, represent with the i-th frame unmanned plane u_iFor represent the formation of unmanned plane be with jth frame without Man-machine u_jForm into columns for representing the lead aircraft of the formation of unmanned plane；

Set b_ijWhen=-10 and i ≠ j, represent the i-th frame unmanned plane u_iIt is jth frame unmanned plane u_jWing plane；

Set b_ij=-(100 × l+10) and during i ≠ j, represent with the i-th frame unmanned plane u_iIt is with jth frame for representing the formation of unmanned plane Unmanned plane u_jForm into columns for representing the wing plane of the formation of unmanned plane；

Set b_ijWhen=20 and i ≠ j, represent the i-th frame unmanned plane u_iIt is jth frame unmanned plane u_jChain type leave no successor machine；

Set b_ijWhen=100 × l+20 and i ≠ j, represent with the i-th frame unmanned plane u_iFor represent the formation of unmanned plane be with jth frame without Man-machine u_jFor representing the follow-up formation of the chain type of the formation of unmanned plane；

Set b_ijWhen=-20 and i ≠ j, represent the i-th frame unmanned plane u_iIt is jth frame unmanned plane u_jChain type forerunner's unmanned plane；

Set b_ij=-(100 × l+20) and during i ≠ j, represent with the i-th frame unmanned plane u_iIt is with jth for representing the formation of unmanned plane Frame unmanned plane u_jForm into columns for representing the chain type forerunner of the formation of unmanned plane；

Set b_ijWhen=30 and i ≠ j, represent the i-th frame unmanned plane u_iIt is jth frame unmanned plane u_jMachine of leaving no successor parallel；

Set b_ijWhen=100 × l+30 and i ≠ j, represent with the i-th frame unmanned plane u_iFor represent the formation of unmanned plane be with jth frame without Man-machine u_jFor representing the parallel follow-up formation of the formation of unmanned plane；

Set b_ijWhen=-30 and i ≠ j, represent the i-th frame unmanned plane u_iIt is jth frame unmanned plane u_jParallel forerunner's unmanned plane；

Set b_ij=-(100 × l+30) and during i ≠ j, represent with the i-th frame unmanned plane u_iIt is with jth for representing the formation of unmanned plane Frame unmanned plane u_jForm into columns for representing the parallel forerunner of the formation of unmanned plane；

Set b_ijWhen=-2 and i=j, represent the i-th frame unmanned plane u_iDamage；

Set b_ijWhen=0 and i=j, 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 to form formation structure as follows and carry out autonomous flight according to formation configuration messages:

Step 2.1, definition currently without man-machine for u_k, k represents currently without man-machine numbering；1≤k≤m；Definition p represents arbitrary Other unmanned plane, 1≤p≤m；k≠p；

Step 2.2, initialization i=1；

Step 2.3, judging whether i=k sets up, if setting up, then performing step 2.13；Otherwise, l is utilized_ki=| b_ki|/100 obtain Corresponding compound rank l of forming into columns_ki；

Step 2.4, judge b_ki=-(100 × l_ki+ 10) whether setting up, if setting up, then performing step 2.5；Otherwise, step is performed 2.9；

Step 2.5, defined variable c；And initialize c=0, p=1；

Step 2.6, work as b_pi=b_kiAnd during p≤k establishment, c+1 is assigned to c；

Step 2.7, p+1 being assigned to p, and judge whether p ＞ k sets up, if setting up, then performing step 2.8, otherwise, Perform step 2.6；

Step 2.8, currently without man-machine u_kObtain self and the i-th frame unmanned plane u_iRelative position beAnd adjust flight speed with direction to realize keeping relative location following the i-th frame unmanned Machine u_iFlight；Perform step 2.14；

Step 2.9, judge b_ki=100 × l_kiWhether+20 set up, if setting up, then performs step 2.10；Otherwise, step is performed 2.11；

Step 2.10, currently without man-machine u_kObtain self and the i-th frame unmanned plane u_iRelative position beAnd adjustment flies Line speed keeps relative location following the i-th frame unmanned plane u with direction with realization_iFlight；Perform step 2.14；

Step 2.11, judge b_ki=100 × l_kiWhether+30 set up, if setting up, then performs step 2.12；Otherwise, step is performed 2.13；

Step 2.12, currently without man-machine u_kObtain self and the i-th frame unmanned plane u_iRelative position beAnd adjustment flies Line speed keeps relative location following the i-th frame unmanned plane u with direction with realization_iFlight；Perform step 2.14；

Step 2.13, i+1 is assigned to i, and judges whether i ＞ m sets up, if setting up, then it represents that currently without man-machine u_kFor neck Head unmanned plane also controls self towards Target self-determination flight；Otherwise, return step 2.3 to perform；

Step 2.14, exit step 2.

Exist in the prior art multiple method can realize in step 2.8, step 2.10, step 2.12 currently without man-machine u_kAdjust Whole flight speed keeps relative location following the i-th frame unmanned plane u with direction with realization_iFlight, uses prior art in the present embodiment In method based on formation error realize, the step of the method is:

Every frame unmanned plane passes through a formation control device to realize following in real time its navigator's unmanned plane.Assume institute in formation flight The height having unmanned plane is all consistent, then the i-th frame unmanned plane u_iKinetic model can be reduced to:

$\left\{\begin{array}{c}{\stackrel{\·}{x}}_i=v_i{\mathrm{cos\θ}}_i\\ {\stackrel{\·}{y}}_i=v_i{\mathrm{sin\θ}}_i\\ {\stackrel{\·}{\mathrm{\θ}}}_i={\mathrm{\ω}}_i\end{array}\right.---\left(1\right)$

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.

Assume 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 without Man-machine u_jFormation error can use forward errorAnd lateral errorRepresent:

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

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

In formula (2) and formula (3), f_ijWithRepresent the i-th frame unmanned plane u respectively_iWith jth frame unmanned plane u_jActual forward distance and the phase Hope forward direction distance, l_ijWithRepresent the i-th frame unmanned plane u respectively_iWith jth frame unmanned plane u_jActual lateral separation and expectation laterally away from From, d be a little constant: d ＞ 0 andThen the i-th frame unmanned plane u_iFormation control device as follows:

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

In formula (4),k₁,k₂＞ 0 is feedback oscillator constant.Based on this formation control device, the i-th frame unmanned plane u_iJust Can be by adjusting the speed v of self in real time_iAnd angular velocity omega_i, to realize keeping relative positionFollow jth frame unmanned Machine u_jFlight.

According to the numbering order from small to large of other unmanned plane, step 3, every frame unmanned plane judge that other unmanned plane is respectively successively The damage that no appearance is new, if there is not new damage, then proceeds autonomous flight, and returns step 3 and perform；If occurring New damage, then perform step 4；

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

In addition to 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) second just reports the status information of self by this broadcast communication channel, and the most every frame unmanned plane is real Time monitor this broadcast communication channel, if T_activeStill other certain frame unmanned plane u it is not received by after Miao_oStatus information, then Think this unmanned plane u_oDamage.

Step 4, remaining unmanned plane the most independently judge that self is the need of being responsible for recalculating formation structure, if desired, then Perform step 5, if need not, then judge whether to receive new formation configuration messages；If receiving, then perform step 6, no Then, continue waiting for；

Remaining unmanned plane in step 4 the most independently judges that self is the need of being responsible for recalculating formation structure:

Step 4.1, the unmanned plane of the current new damage of definition are u_o；Arbitrary unmanned plane of current residual is u_q；Definition identifier is Flag, and initialize flag=-1；

Step 4.2, utilize l_qo=| b_qo|/100 obtain corresponding compound rank l of forming into columns_qo；

Step 4.3, judge b_qo=100 × l_qoWhether+10 set up, if setting up, then makes flag=1；And perform step 4.12；No Then, step 4.4 is performed；

Step 4.4, judge b_qo=-(100 × l_qo+ 10) whether setting up, if setting up, then performing step 4.5；Otherwise, step is performed 4.8；

Step 4.5, defined variable r, and initialize r=1；

Step 4.6, judge b_ro=b_qoAnd whether r ＜ q sets up；If setting up, then perform step 4.8；Otherwise, step 4.7 is performed；

Step 4.7, r+1 being assigned to r, and judge whether r >=q sets up, if setting up, then making flag=2；And perform step 4.12；Otherwise, step 4.6 is performed；

Step 4.8, judge b_qo=100 × l_qoWhether+20 set up, if setting up, then makes flag=3；And perform step 4.12；No Then, step 4.9 is performed；

Step 4.9, judge b_qo=100 × l_qoWhether+30 set up, if setting up, then makes flag=4；And perform step 4.12；No Then, step 4.10 is performed；

Step 4.10, judge b_qo=-(100 × l_qo+ 20) whether setting up, if setting up, then making flag=5；And perform step 4.12； Otherwise, step 4.11 is performed；

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 setting up, then it represents that the unmanned plane u of current residual_qNeed again to be responsible for Recalculate formation structure；Otherwise, the unmanned plane u of current residual is represented_qNeed not be responsible for recalculating formation structure.

Step 5, rebuild new formation structure, and be sent to it after new formation structure is converted to new formation configuration messages Its unmanned plane；

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

Step 5.1, judging whether flag=2 or flag=3 or flag=4 sets up, if setting up, then performing step 5.2；Otherwise, Perform step 5.5；

Step 5.2, defined variable t, and initialize t=1；

Step 5.3, judging whether t ≠ q and t ≠ o set up, if setting up, then making b_qt=b_ot；Make b_tq=b_to；

Step 5.4, t+1 is assigned to t；Judging whether t ＞ m sets up, if setting up, then performing 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, t+1 is assigned to t；Judging whether t ＞ m sets up, if setting up, then performing 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 performs.

Unmanned plane in step 6 forms new formation structure according to new formation configuration messages and to carry out the step of autonomous flight permissible Entirely by reference to step 2.

Claims (7)

1. a distributed fault-tolerance management method for multiple no-manned plane formation structure, is to be applied to by m frame unmanned plane and a ground control The flight of center processed composition controls in environment；Control environment exists a leading unmanned plane of frame, according to preset flight path in described flight Lead other unmanned plane towards target flight；Described m frame unmanned plane is designated as u={u₁,u₂,…,u_i,…,u_m, 1≤i≤m；I table Show that unmanned plane is uniquely numbered, 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 described initial formation structure are converted to formation structure Described m frame unmanned plane it is sent to after message；

Step 1.1, described m frame unmanned plane is formed the formation of n meta structure；The type that described meta structure is formed into columns includes: long official unit Structure is formed into columns, chain type meta structure is formed into columns and parallel meta structure is formed into columns；

Step 1.2, definition are formed into columns and be combined rank is l, and the maximum compound rank of forming into columns of definition is L；And initialize l=1；The most now L-1 level composite construction form into columns be meta structure form into columns；

Step 1.3, composition l level composite construction of being formed into columns by described l-1 level composite construction are formed into columns；Described l level composite construction is formed into columns Type includes: long official's l level composite construction is formed into columns, chain type l level composite construction is formed into columns and parallel l level composite construction is formed into columns；

Step 1.4, judging whether l=L sets up, if setting up, then completing the structure of described initial formation structure；Otherwise, by l+1 It is assigned to l；And return step 1.3 and perform；

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 that other unmanned plane is respectively successively The damage that no appearance is new, if there is not new damage, then proceeds autonomous flight, and returns step 3 and perform；If occurring New damage, then perform step 4；

Step 4, remaining unmanned plane the most independently judge that self is the need of being responsible for recalculating formation structure, if desired, then Perform step 5, if need not, then judge whether to receive new formation configuration messages；If receiving, then perform step 6, no Then, continue waiting for；

Step 5, rebuild new formation structure, and be sent to after new formation structure is converted to new formation configuration messages Other unmanned plane；

Step 6, described remaining unmanned plane form new formation structure according to described new formation configuration messages and independently fly OK；And return step 3 and perform.

The distributed fault-tolerance management method of multiple no-manned plane formation structure the most according to claim 1, it is characterised in that described The type that meta structure in step 1.1 is formed into columns is respectively as follows:

Described long official's meta structure is formed into columns and is made up of 1 frame lead aircraft and other wing plane, forms into columns using described lead aircraft as described long official's meta structure Representative unmanned plane；Described wing plane is arranged by its numbering order from small to large, thus forms the sequence number of wing plane, for table It is shown 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, described wing plane according to sequence number in institute Front one word belonging to lead aircraft laterally arranges and follows lead aircraft flight；

With the initial point that center of gravity is the first coordinate system of described lead aircraft, it is respectively with dead ahead, right and the underface of described lead aircraft and sits The x of mark system₁Axle, y₁Axle and z₁Axle, arbitrary frame wing plane relative to the position coordinates of described lead aircraft isd₀Represent 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's 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 formed into columns as described chain type meta structure using the first unmanned plane of chain structure；

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

With the initial point that center of gravity is the second coordinate system of described s frame unmanned plane, with the dead ahead of s frame unmanned plane, right and just under Side is respectively the x of coordinate system₂Axle, y₂Axle and z₂Axle, then s+1 frame unmanned plane relative to the position coordinates of s frame unmanned plane is (-d₀,0,0)；d₀Represent the distance between adjacent two frame unmanned planes；

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

The flight pattern that described parallel meta structure is formed into columns is: with the described unmanned plane that represents at leftmost navigator's flight, remaining unmanned plane Its parallel forerunner's unmanned plane during flying is followed in right；

With the initial point that center of gravity is three-coordinate of described h frame unmanned plane, with the dead ahead of h frame unmanned plane, right and just under Side is respectively the x of coordinate system₃Axle, y₃Axle and z₃Axle, then h+1 frame unmanned plane relative to the position coordinates of h frame unmanned plane is (0,d₀,0)；d₀Represent the distance between adjacent two frame unmanned planes.

The distributed fault-tolerance management method of multiple no-manned plane formation structure the most according to claim 1, it is characterised in that described The type that l level composite construction in step 1.3 is formed into columns is respectively as follows:

It is several l-1 level composite constructions formation composition that described long official's l level composite construction is formed into columns, and forms into columns from l-1 level composite construction In arbitrarily select a l-1 level composite construction to form into columns as lead aircraft to form into columns, other l-1 level composite construction is formed into columns and is formed into columns as wing plane； The representative unmanned plane formed into columns as described long official's l level composite construction using the representative unmanned plane of lead aircraft formation；Described wing plane is formed into columns according to respectively The numbering of the representative unmanned plane that individual wing plane is formed into columns order from small to large arranges, and compiles using the order arranged as each wing plane The sequence number of team；

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

With the initial point that center of gravity is 4-coordinate system of the representative unmanned plane that described lead aircraft is formed into columns, unmanned with the representative that described lead aircraft is formed into columns The dead ahead of machine, right and underface are respectively the x of coordinate system₄Axle, y₄Axle and z₄Axle, then any one wing plane form into columns representative without The position coordinates of the man-machine representative unmanned plane formed into columns relative to described lead aircraft isAnd have d_l=(2 × l+1) × d₀；d_lRepresent l-1 level composite construction form into columns between the representative unmanned plane formed into columns of adjacent two wing planes away from From；K ' represents the sequence number that wing plane is formed into columns；k′≥1；

The formation of described chain type l level composite construction is the chain structure formed by vertical array by G l-1 level composite construction formation, It is that the chain type forerunner that the g+1 l-1 level composite construction is formed into columns forms into columns that the g l-1 level composite construction is formed into columns；The g+1 l-1 Level composite construction formation is the follow-up formation of chain type that the g l-1 level composite construction is formed into columns；1≤g ＜ G；With chain structure The representative unmanned plane that the representative unmanned plane of one l-1 level composite construction formation is formed into columns as described chain type l level composite construction；

The flight pattern that described chain type l level composite construction is formed into columns is: exist with the representative unmanned plane that described chain type l level composite construction is formed into columns Forefront navigates and flies, and the representative unmanned plane that remaining l-1 level composite construction is formed into columns follows the representative that its chain type forerunner forms into columns in the wings Unmanned plane during flying；

With the initial point that center of gravity is Five Axis system of the representative unmanned plane that described the g l-1 level composite construction is formed into columns, with g The dead ahead of representative unmanned plane, right and the underface that l-1 level composite construction is formed into columns is respectively the x of coordinate system₅Axle, y₅Axle and z₅ Axle, then the representative that the representative unmanned plane of the g+1 l-1 level composite construction formation is formed into columns relative to the g l-1 level composite construction The position coordinates of unmanned plane is (-d_l,0,0)；d_lRepresent between the representative unmanned plane that adjacent two l-1 level composite constructions are formed into columns away from From；

It is by transversely arranged and that formed chain structure by the formation of W l-1 level composite construction that described parallel l level composite construction is formed into columns, It is that the parallel forerunner that the w+1 l-1 level composite construction is formed into columns forms into columns that the w l-1 level composite construction is formed into columns；The w+1 l-1 Level composite construction formation is the parallel follow-up formation that the w l-1 level composite construction is formed into columns；1≤w ＜ W；With chain structure The representative unmanned plane that the representative unmanned plane of one l-1 level composite construction formation is formed into columns as described parallel l level composite construction；

The flight pattern that described parallel l level composite construction is formed into columns is: exist with the representative unmanned plane that described parallel l level composite construction is formed into columns Leftmost is navigated and is flown, and the representative unmanned plane that remaining l-1 level composite construction is formed into columns follows the representative that its parallel forerunner forms into columns in right Unmanned plane during flying；

With the initial point that center of gravity is the 6th coordinate system of the representative unmanned plane that described the w l-1 level composite construction is formed into columns, with w The dead ahead of representative unmanned plane, right and the underface that l-1 level composite construction is formed into columns is respectively the x of coordinate system₆Axle, y₆Axle and z₆ Axle, then the representative that the representative unmanned plane of the w+1 l-1 level composite construction formation is formed into columns relative to the w l-1 level composite construction The position coordinates of unmanned plane is (0, d_l,0)；d_lRepresent between the representative unmanned plane that adjacent two l-1 level composite constructions are formed into columns away from From.

The distributed fault-tolerance management method of multiple no-manned plane formation structure the most according to claim 1, it is characterised in that described The formation configuration messages of step 1 is the character string corresponding to the matrix of a m × m size separated with comma: b₁₁,b₁₂,...,b_1m,b₂₁,b₂₂,...,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 J frame unmanned plane u_jBetween formation structural relation or represent with the i-th frame unmanned plane u_iFor representing the formation of unmanned plane and with jth frame Unmanned plane u_jFor representing the formation structural relation between the formation of unmanned plane；1≤j≤m；

Set b_ijWhen=0 and i ≠ j, 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 representing the formation of unmanned plane and with jth frame unmanned plane u_jFor representing between the formation of unmanned plane Without any formation structural relation；

Set b_ijWhen=10 and i ≠ j, represent the i-th frame unmanned plane u_iIt is jth frame unmanned plane u_jLead aircraft；

Set b_ijWhen=100 × l+10 and i ≠ j, represent with the i-th frame unmanned plane u_iFor represent the formation of unmanned plane be with jth frame without Man-machine u_jForm into columns for representing the lead aircraft of the formation of unmanned plane；

Set b_ijWhen=-10 and i ≠ j, represent the i-th frame unmanned plane u_iIt is jth frame unmanned plane u_jWing plane；

Set b_ij=-(100 × l+10) and during i ≠ j, represent with the i-th frame unmanned plane u_iIt is with jth frame for representing the formation of unmanned plane Unmanned plane u_jForm into columns for representing the wing plane of the formation of unmanned plane；

Set b_ijWhen=20 and i ≠ j, represent the i-th frame unmanned plane u_iIt is jth frame unmanned plane u_jChain type leave no successor machine；

Set b_ijWhen=100 × l+20 and i ≠ j, represent with the i-th frame unmanned plane u_iFor represent the formation of unmanned plane be with jth frame without Man-machine u_jFor representing the follow-up formation of the chain type of the formation of unmanned plane；

Set b_ijWhen=-20 and i ≠ j, represent the i-th frame unmanned plane u_iIt is jth frame unmanned plane u_jChain type forerunner's unmanned plane；

Set b_ij=-(100 × l+20) and during i ≠ j, represent with the i-th frame unmanned plane u_iIt is with jth frame for representing the formation of unmanned plane Unmanned plane u_jForm into columns for representing the chain type forerunner of the formation of unmanned plane；

Set b_ijWhen=30 and i ≠ j, represent the i-th frame unmanned plane u_iIt is jth frame unmanned plane u_jMachine of leaving no successor parallel；

Set b_ijWhen=100 × l+30 and i ≠ j, represent with the i-th frame unmanned plane u_iFor represent the formation of unmanned plane be with jth frame without Man-machine u_jFor representing the parallel follow-up formation of the formation of unmanned plane；

Set b_ijWhen=-30 and i ≠ j, represent the i-th frame unmanned plane u_iIt is jth frame unmanned plane u_jParallel forerunner's unmanned plane；

Set b_ij=-(100 × l+30) and during i ≠ j, represent with the i-th frame unmanned plane u_iIt is with jth frame for representing the formation of unmanned plane Unmanned plane u_jForm into columns for representing the parallel forerunner of the formation of unmanned plane；

Set b_ijWhen=-2 and i=j, represent the i-th frame unmanned plane u_iDamage；

Set b_ijWhen=0 and i=j, represent the i-th frame unmanned plane u_iNot damage.

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

Step 2.1, definition currently without man-machine for u_k, k represents currently without man-machine numbering；1≤k≤m；Definition p represents arbitrary Other unmanned plane, 1≤p≤m；k≠p；

Step 2.2, initialization i=1；

Step 2.3, judging whether i=k sets up, if setting up, then performing step 2.13；Otherwise, l is utilized_ki=| b_ki|/100 obtain Corresponding compound rank l of forming into columns_ki；

Step 2.4, judge b_ki=-(100 × l_ki+ 10) whether setting up, if setting up, then performing step 2.5；Otherwise, step is performed 2.9；

Step 2.5, defined variable c；And initialize c=0, p=1；

Step 2.6, work as b_pi=b_kiAnd during p≤k establishment, c+1 is assigned to c；

Step 2.7, p+1 is assigned to p, and judges whether p ＞ k sets up, if setting up, then perform step 2.8, otherwise, hold Row step 2.6；

Step 2.8, currently without man-machine u_kObtain self and the i-th frame unmanned plane u_iRelative position beAnd adjust flight speed with direction to realize keeping described relative location following 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 setting up, then performs step 2.10；Otherwise, step is performed 2.11；

Step 2.10, currently without man-machine u_kObtain self and the i-th frame unmanned plane u_iRelative position beAnd adjustment flies Line speed keeps described relative location following the i-th frame unmanned plane u with direction with realization_iFlight；Perform step 2.14；

Step 2.11, judge b_ki=100 × l_kiWhether+30 set up, if setting up, then performs step 2.12；Otherwise, step is performed 2.13；

Step 2.12, currently without man-machine u_kObtain self and the i-th frame unmanned plane u_iRelative position beAnd adjust flight Speed keeps described relative location following the i-th frame unmanned plane u with direction with realization_iFlight；Perform step 2.14；

Step 2.13, i+1 is assigned to i, and judges whether i ＞ m sets up, if setting up, then it represents that currently without man-machine u_kFor leading Unmanned plane also controls self towards Target self-determination flight；Otherwise, return step 2.3 to perform；

Step 2.14, exit step 2.

The distributed fault-tolerance management method of multiple no-manned plane formation structure the most according to claim 1, it is characterised in that step Remaining unmanned plane in 4 the most independently judges that self is the need of being responsible for recalculating formation structure:

Step 4.1, the unmanned plane of the current new damage of definition are u_o；Arbitrary unmanned plane of current residual is u_q；Definition identifier is Flag, and initialize flag=-1；

Step 4.2, utilize l_qo=| b_qo|/100 obtain corresponding compound rank l of forming into columns_qo；

Step 4.3, judge b_qo=100 × l_qoWhether+10 set up, if setting up, then makes flag=1；And perform step 4.12；No Then, step 4.4 is performed；

Step 4.4, judge b_qo=-(100 × l_qo+ 10) whether setting up, if setting up, then performing step 4.5；Otherwise, step is performed 4.8；

Step 4.5, defined variable r, and initialize r=1；

Step 4.6, judge b_ro=b_qoAnd whether r ＜ q sets up；If setting up, then perform step 4.8；Otherwise, step 4.7 is performed；

Step 4.7, r+1 being assigned to r, and judge whether r >=q sets up, if setting up, then making flag=2；And perform step 4.12；Otherwise, step 4.6 is performed；

Step 4.8, judge b_qo=100 × l_qoWhether+20 set up, if setting up, then makes flag=3；And perform step 4.12；No Then, step 4.9 is performed；

Step 4.9, judge b_qo=100 × l_qoWhether+30 set up, if setting up, then makes flag=4；And perform step 4.12；No Then, step 4.10 is performed；

Step 4.10, judge b_qo=-(100 × l_qo+ 20) whether setting up, if setting up, then making flag=5；And perform step 4.12； Otherwise, step 4.11 is performed；

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 setting up, then it represents that the unmanned plane u of current residual_qNeed again to be responsible for Recalculate formation structure；Otherwise, the unmanned plane u of current residual is represented_qNeed not be responsible for recalculating formation structure.

7. according to the distributed fault-tolerance management method of the multiple no-manned plane formation structure described in claim 1 or 6, it is characterised in that The new formation structure that rebuilds of described step 5 is to carry out according to the following procedure:

Step 5.1, judging whether flag=2 or flag=3 or flag=4 sets up, if setting up, then performing step 5.2；Otherwise, Perform step 5.5；

Step 5.2, defined variable t, and initialize t=1；

Step 5.3, judging whether t ≠ q and t ≠ o set up, if setting up, then making b_qt=b_ot；Make b_tq=b_to；

Step 5.4, t+1 is assigned to t；Judging whether t ＞ m sets up, if setting up, then performing 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, t+1 is assigned to t；Judging whether t ＞ m sets up, if setting up, then performing step 5.8；Otherwise, perform Step 5.6；

Step 5.8, make b_oo=-2.