CN105955067A - Multi-satellite intelligent cluster control simulation system based on quadrotor unmanned planes, and simulation method using the same to implement - Google Patents
Multi-satellite intelligent cluster control simulation system based on quadrotor unmanned planes, and simulation method using the same to implement Download PDFInfo
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- CN105955067A CN105955067A CN201610389454.1A CN201610389454A CN105955067A CN 105955067 A CN105955067 A CN 105955067A CN 201610389454 A CN201610389454 A CN 201610389454A CN 105955067 A CN105955067 A CN 105955067A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
Abstract
The invention provides a multi-satellite intelligent cluster control simulation system based on quadrotor unmanned planes, and a simulation method using the same to implement, and relates to the technical field of satellite intelligent cluster control. The multi-satellite intelligent cluster control simulation system based on quadrotor unmanned planes, and the simulation method using the same to implement aim at solving the problem that a current multi-satellite intelligent cluster control technology performs simulation only depending on pure digit so that the credibility is low. For the multi-satellite intelligent cluster control simulation system, a plurality of binocular vision image positioning devices are arranged on each quadrotor unmanned plane; each binocular vision image positioning device is used for measuring the relative position of the quadrotor unmanned plane within the visible range; a sphere is arranged above each quadrotor unmanned plane; each sphere is formed by two alternating gray values, and is used as a unique identification mark for each quadrotor unmanned plane; and both each quadrotor unmanned plane and a ground control computer are each provided with networking communication equipment. The multi-satellite intelligent cluster control simulation system is used for multi-satellite intelligent cluster control.
Description
Technical field
The present invention relates to many stars Intelligent cluster based on four rotor wing unmanned aerial vehicles and control analogue system.Belong to satellite Intelligent cluster to control
Technical field.
Background technology
In recent years, the microsatellite industry possessing the advantage such as low cost, short construction cycle develops rapidly, lot of domestic and international enterprise,
The mechanism such as colleges and universities, institute joins in research and development and the application work in this field, it has been suggested that various based on microsatellite technology
The project such as space exploration, Global Internet.All kinds of space tasks complicated and changeable propose new developing direction to microsatellite,
I.e. many stars Intelligent cluster controls, and utilizes the collaborative work of many microsatellites to complete all kinds of space exploration task.It addition, it is general
With high costs for the emulation platform of verifying satellites formation control algolithm, poor expandability, such as based on air floating platform three freely
Degree analogue system, it is difficult to meet the checking requirement of many stars Intelligent cluster control technology.
Four rotor wing unmanned aerial vehicles are a kind of four-axle aircrafts by adjusting four motor speeds and realize position and attitude changing, and are one
The under-actuated systems possessing 6 freedom of movement that kind flight control technology is ripe, and simple in construction, good mechanical stability,
Extensibility is strong.By the strict rotating speed controlling four motors, four rotor wing unmanned aerial vehicles can realize level, vertical, pitching, rolling
Turn, the motion of 6 degree of freedom such as driftage.During many four rotor wing unmanned aerial vehicle networking synthetic operations, although for single unmanned plane
Controlling model is different from satellite, but from the angle of network cluster control, each unmanned plane and satellite are all counted as a node,
So, unmanned plane cluster is consistent with the network model of satellite cluster.Further, when satellite cluster in orbit time, its phase
To speed typically at several metre per second (m/s)s, and the performance of four rotor wing unmanned aerial vehicles also can meet this requirement.
At present, many stars Intelligent cluster controls technology and quickly grows in theoretical research, but simple mathematical simulation credibility is relatively low,
It is difficult to promote the tremendous development of this technology.Therefore, a kind of suitable many stars Intelligent cluster controls analogue system and the method for technology
Offer meet present stage technology development need.
By the retrieval to existing patent database, do not find similar patent.Particularly many stars Intelligent cluster controls technology,
Not yet there is a kind of effective emulation platform.
Summary of the invention
The present invention be in order to solve existing many stars Intelligent cluster control technology rely on simple numeral emulate, cause credible
Spend low problem.Many stars Intelligent cluster based on four rotor wing unmanned aerial vehicles is now provided to control analogue system and use this system to realize
Emulation mode.
Many stars Intelligent clusters based on four rotor wing unmanned aerial vehicles control analogue system, and it includes multiple four rotor wing unmanned aerial vehicles, Duo Geshuan
Visually feel framing equipment, ground control computer, group-net communication equipment and multiple spheroid,
Being provided with multiple binocular vision framing equipment on each four rotor wing unmanned aerial vehicles, binocular vision framing equipment is used for
The relative position of four rotor wing unmanned aerial vehicles in measurement visual range,
Each four rotor wing unmanned aerial vehicles be provided above a spheroid, each spheroid is made up of two kinds of alternate gray values, and often
The gray value of individual spheroid as each four unique recognition marks of rotor wing unmanned aerial vehicle,
On each four rotor wing unmanned aerial vehicles and it is provided with group-net communication equipment in ground control computer.
Many stars Intelligent clusters based on four rotor wing unmanned aerial vehicles control the emulation mode that analogue system realizes, and it includes herein below:
Step one, selection one demonstration place, on each four rotor wing unmanned aerial vehicles and will all assemble one in ground control computer
Group-net communication equipment, and be that the group-net communication equipment on each four rotor wing unmanned aerial vehicles configures independent ID identifier；
Step 2, the spheroid of different gray value is installed on each four rotor wing unmanned aerial vehicles, and binocular is installed on four rotor wing unmanned aerial vehicles
All spheroids are carried out two two mutually shootings as subsequent figure by binocular vision framing equipment by visual pattern location equipment
As the gray scale benchmark identified, and gray scale benchmark and corresponding ID identifier are entered into the computer on four rotor wing unmanned aerial vehicles；
Step 3, each four rotor wing unmanned aerial vehicles are by the ID identifier preserved and the gray value of correspondence, via respective group-net communication
Equipment the whole network is broadcasted so that in this network, each four rotor wing unmanned aerial vehicles and ground control computer obtain this data；
Simulation parameter is sent to by step 4, ground control computer by the group-net communication equipment in ground control computer to be owned
Four rotor wing unmanned aerial vehicles；After pending data is sent, ground control computer sends emulation sign on；
After step 5, all four rotor wing unmanned aerial vehicles receive emulation sign on by respective group-net communication equipment, according to ground
Face controls the simulation parameter entrance emulation beginning initial position that computer sends, and hovers over initial position, waits all four rotations
After wing unmanned plane is in place,
By simulation parameter regulation two two four mutual rotor wing unmanned aerial vehicles as reference four rotor wing unmanned aerial vehicle each other, broadcast to the whole network
Many stars orbits controlling dummy instruction, then, all binocular vision framing equipment constantly measure the phase of each four rotor wing unmanned aerial vehicles
To position, build the whole network unmanned plane coordinate system on the basis of with reference to four rotor wing unmanned aerial vehicle body coordinate systems, and according to simulation parameter
Given running orbit motion, until emulation terminates.
The invention have the benefit that the present invention is that the group-net communication equipment on each four rotor wing unmanned aerial vehicles configures independent ID knowledge
Alias, binocular vision framing equipment carries out two two and mutually shoots the gray scale benchmark as successive image identification all spheroids,
And gray scale benchmark and corresponding ID identifier are entered into the computer on four rotor wing unmanned aerial vehicles, each four rotor wing unmanned aerial vehicles will be protected
The ID identifier deposited and corresponding gray value, broadcast via respective group-net communication equipment the whole network so that in this network each four
Rotor wing unmanned aerial vehicle and ground control computer obtain this data, and simulation parameter is sent to all of four rotations by ground control computer
Wing unmanned plane, by simulation parameter regulation two two four mutual rotor wing unmanned aerial vehicles as reference four rotor wing unmanned aerial vehicle each other；All
After four rotor wing unmanned aerial vehicles receive emulation sign on, the simulation parameter sent according to ground control computer enters emulation to start
Initial position, and hover over initial position, after waiting that all four rotor wing unmanned aerial vehicles are in place, binocular vision framing equipment is not
The disconnected relative position measuring each four rotor wing unmanned aerial vehicles, builds the whole network on the basis of with reference to four rotor wing unmanned aerial vehicle body coordinate systems unmanned
Machine coordinate system, and move according to the running orbit that simulation parameter is given, until emulation terminates.Use four rotor wing unmanned aerial vehicle platforms,
The data stream that analog satellite many stars swarm intelligence controls, improves the verity of many stars Intelligent cluster control technology simulating scenes, from
And enhance the credibility of this analogue system and method, meanwhile, also reduce many stars swarm intelligence control technology analogue system and take
The difficulty built and cost, also allow for the Function Extension of subsequent simulation platform.Have the advantage that simultaneously
The four rotor wing unmanned aerial vehicle platforms that 1 application technology is ripe, encapsulate the flight of unmanned plane bottom and control interface, preferably simulate
The data stream that satellite many stars swarm intelligence controls, improves the verity of many stars Intelligent cluster control technology simulating scenes, thus
Enhance the credibility of this analogue system and method.
2 many stars wireless communication modules based on the real-time control design case of distributed collaboration, by the Various types of data in simulation process in real time
It is sent to ground control computer, and graphically interface form shows key control parameter intuitively and controls the change of result,
The performance preferably having reacted many stars swarm intelligence control algolithm is good and bad, facilitates the follow-up R&D work of research worker.
3 in the case of ensureing simulation accuracy, and the four rotor wing unmanned aerial vehicle platforms increased income that application is commercial reduce many stars collection gunz
Difficulty and cost that technology analogue system is built can be controlled, also allow for the Function Extension of subsequent simulation platform, thus push away further
Dynamic many stars swarm intelligence controls the fast development of technology.
Accompanying drawing explanation
Fig. 1 is that many stars Intelligent clusters based on four rotor wing unmanned aerial vehicles of the present invention control analogue system block diagram, in Fig. 1
tcurrentFor current time, tlastFor the last orbit parameter correction time, △ T is the orbit parameter correction cycle；
Fig. 2 is the front view of the many stars simulation nodes based on four rotor wing unmanned aerial vehicles described in detailed description of the invention one；
Fig. 3 is the top view of the many stars simulation nodes based on four rotor wing unmanned aerial vehicles described in detailed description of the invention one；
Fig. 4 is the front view of the spheroid described in detailed description of the invention one；
Fig. 5 is the top view of the spheroid described in detailed description of the invention one；
Fig. 6 is the functional block diagram of many stars simulation nodes based on four rotor wing unmanned aerial vehicles that the present invention provides.
Detailed description of the invention
Detailed description of the invention one: illustrate present embodiment with reference to Fig. 2 to Fig. 5, revolving based on four described in present embodiment
Many stars Intelligent cluster of wing unmanned plane controls analogue system, and it includes multiple four rotor wing unmanned aerial vehicles 1, multiple binocular vision image
Location equipment 2, ground control computer, group-net communication equipment and multiple spheroid 3,
Multiple binocular vision framing equipment 2, binocular vision framing equipment 2 it is provided with on each four rotor wing unmanned aerial vehicles 1
The relative position of four rotor wing unmanned aerial vehicles 1 in measuring visual range,
Each four rotor wing unmanned aerial vehicles 1 be provided above a spheroid 3, each spheroid 3 is made up of two kinds of alternate gray values,
And each spheroid 3 is as each four unique recognition marks of rotor wing unmanned aerial vehicle,
On each four rotor wing unmanned aerial vehicles 1 and it is provided with group-net communication equipment in ground control computer.
Embodiment:
As shown in Figure 1 and Figure 5, the present embodiment includes the binocular vision framing in 16 four rotor wing unmanned aerial vehicles, 80 orientation
Equipment, ground control computer, group-net communication equipment and spheroid,
On each four rotor wing unmanned aerial vehicles and it is provided with group-net communication equipment in ground control computer,
Described 16 4 rotor wing unmanned aerial vehicles are divided into two clusters, C1 and C2 in the present embodiment, and each cluster includes 8 four rotors
Unmanned plane, the most each unmanned plane is equipped with unique identifier, such as No. 1 four rotor wing unmanned aerial vehicles identifier C1-1 in C1
Represent.
Described ground control computer can carry out data interaction by described intelligent networking communication equipment with each four rotor wing unmanned aerial vehicle,
The various information monitored in real time and obtain in network, such as each unmanned plane current state, network average transmission time delay, offered load
Deng, then on the one hand these information are stored in ground data storehouse, on the other hand real-time graph shows in data analysis software
In, analyze for emulation testing personnel.
Described binocular vision framing equipment is fixed in 5 orientation of each described four rotor wing unmanned aerial vehicles: forward and backward, left,
Right, under, represent, as shown in Figure 3 with symbol A, B, C, D, E respectively.
Described binocular vision framing equipment, based on the gray level image in its visual range, resolves each unmanned plane in visual range
Relative position and identifier.
The panel of each four rotor wing unmanned aerial vehicles is provided above a spheroid, and each spheroid is unique as each four rotor wing unmanned aerial vehicles
Recognition marks, based on described recognition marks, described binocular vision image positioning device is described four rotations in can measuring visual range
The relative position of wing unmanned plane.
As shown in Figure 4 and Figure 5, spheroid is made up of two kinds of alternate gray values, and two kinds of gray values are respectively light color gray value a
With dark gray value b, light color gray value a according to different identifiers, selectable standard gray angle value is 0,30,60,90,
120,150,180,210,240 9 kind.Dark gray value b need to meet standard gray angle value than light gray value a greatly or phase
Deng.So, the alternative of gray value group [a, b] has 45 kinds, i.e. could support up 45 nodes of identification.
Described binocular vision framing equipment, when system initialization, needs to be identified certain specific described recognition marks,
And give corresponding tag number, thus using this gray value information as follow-up visual pattern identification benchmark.In the present embodiment,
Select the gray value [0,30] of intelligent simulation node C1-1 as gray value measuring basis.In simulation process, described binocular vision
Feel that framing equipment contrasts with gray value measuring basis, obtain measuring the gray value of target, thus realize target recognition.
Then, according to the image of the different angles obtained by binocular vision, the relative position obtaining target is resolved.
Intelligent cluster controls in technology analogue system, and the intelligent node in each cluster is diversion motion around a wherein node.?
In the present embodiment, mutually move between four rotor wing unmanned aerial vehicles simulation stars, two clusters rotating around simulation node C1-1 and C2-1 around
Fly.
Detailed description of the invention two: present embodiment is to the many stars intelligence based on four rotor wing unmanned aerial vehicles described in detailed description of the invention one
Clustered control analogue system can be described further, in present embodiment, each four rotor wing unmanned aerial vehicles 1 are provided with 5 pairs
Visually feel framing equipment 2, and 5 binocular vision framing equipment 2 is separately positioned on each four rotor wing unmanned aerial vehicles 1
Front end, rear end, left end, right-hand member and bottom.
Detailed description of the invention three: present embodiment is to the many stars intelligence based on four rotor wing unmanned aerial vehicles described in detailed description of the invention one
Can clustered control analogue system be described further, in present embodiment, multiple four rotor wing unmanned aerial vehicles 1 are via self-organizing network
Build multiple distributed type assemblies network.
Detailed description of the invention four: present embodiment is to the many stars intelligence based on four rotor wing unmanned aerial vehicles described in detailed description of the invention one
Can clustered control analogue system be described further, in present embodiment, multiple binocular vision framing equipment 2 are in system
During initialization, certain spheroid 3 is identified, and given corresponding tag number, and using the gray value of this spheroid 3 as
The identification benchmark of other spheroid 3 gray values.
Detailed description of the invention five: illustrate present embodiment with reference to Fig. 1 and Fig. 6, according to detailed description of the invention one or concrete
Many stars Intelligent clusters based on four rotor wing unmanned aerial vehicles described in embodiment two control the emulation mode that analogue system realizes, this reality
Executing in mode, it includes herein below:
Step one, select the demonstration place of a bright light, on each four rotor wing unmanned aerial vehicles 1 and ground control computer
On all assemble a group-net communication equipment, and be that the independent ID of the group-net communication equipment configuration on each four rotor wing unmanned aerial vehicles 1 knows
Alias；
Step 2, the spheroid 3 of different gray value is installed on each four rotor wing unmanned aerial vehicles 1, and pacifies on four rotor wing unmanned aerial vehicles 1
All spheroids 3 are carried out two two by binocular vision framing equipment 2 and mutually clap by dress binocular vision framing equipment 2
Take the photograph the gray scale benchmark as successive image identification, and gray scale benchmark and corresponding ID identifier are entered into four rotor wing unmanned aerial vehicles 1
On computer；
Step 3, each four rotor wing unmanned aerial vehicles 1, by the ID identifier preserved and the gray value of correspondence, lead to via respective networking
Letter equipment the whole network is broadcasted so that in this network, each four rotor wing unmanned aerial vehicles 1 and ground control computer obtain this data；
Simulation parameter is sent to by step 4, ground control computer by the group-net communication equipment in ground control computer to be owned
Four rotor wing unmanned aerial vehicles 1；After pending data is sent, ground control computer sends simulation parameter and starts many stars orbits controlling
Dummy instruction, wherein simulation parameter specifies that from multiple four rotor wing unmanned aerial vehicles four rotor wing unmanned aerial vehicles 1 are as with reference to four rotors
Unmanned plane；
After step 5, all four rotor wing unmanned aerial vehicles 1 receive emulation sign on by respective group-net communication equipment, according to
The simulation parameter that ground control computer sends enters emulation and starts initial position, and hovers over initial position, waits all four
After rotor wing unmanned aerial vehicle is in place,
By simulation parameter regulation two two four mutual rotor wing unmanned aerial vehicles 1 as reference unmanned plane each other, broadcast many stars to the whole network
Orbits controlling dummy instruction, then, all binocular vision framing equipment 2 constantly measure the phase of each four rotor wing unmanned aerial vehicles 1
To position, build the whole network unmanned plane coordinate system on the basis of with reference to four rotor wing unmanned aerial vehicle body coordinate systems, and according to simulation parameter
Given running orbit motion, until emulation terminates.
In present embodiment, ground control computer sends simulation parameter control binocular image alignment system and constantly measures each four rotations
Position relatively, the two two of wing unmanned plane 1, builds the whole network unmanned plane coordinate on the basis of with reference to four rotor wing unmanned aerial vehicle body coordinate systems
System, and move according to the running orbit that simulation parameter is given.
Detailed description of the invention six: present embodiment is to the many stars intelligence based on four rotor wing unmanned aerial vehicles described in detailed description of the invention five
The emulation mode that energy clustered control analogue system realizes is described further, and in present embodiment, ground control computer can
Position and speed attitude information and the relevant control of execution of each four rotor wing unmanned aerial vehicle 1 is monitored in real time by group-net communication equipment
Instruction.
Claims (6)
1. many stars Intelligent clusters based on four rotor wing unmanned aerial vehicles control analogue system, it is characterised in that it includes multiple four rotors
Unmanned plane (1), multiple binocular vision framing equipment (2), ground control computer, group-net communication equipment and multiple ball
Body (3),
Multiple binocular vision framing equipment (2), binocular vision framing it is provided with on each four rotor wing unmanned aerial vehicles (1)
Equipment (2) is used for measuring the relative position of four rotor wing unmanned aerial vehicles (1) in visual range,
Each four rotor wing unmanned aerial vehicles (1) be provided above a spheroid (3), each spheroid (3) is by two kinds of alternate ashes
Angle value forms, and the gray value of each spheroid (3) is as each four unique recognition marks of rotor wing unmanned aerial vehicle,
Each four rotor wing unmanned aerial vehicles (1) above and are provided with group-net communication equipment in ground control computer.
Many stars Intelligent clusters based on four rotor wing unmanned aerial vehicles the most according to claim 1 control analogue system, and its feature exists
In, each four rotor wing unmanned aerial vehicles (1) are provided with 5 binocular visions framing equipment (2), and 5 binocular vision figures
As location equipment (2) is separately positioned on front end, rear end, left end, right-hand member and the bottom of each four rotor wing unmanned aerial vehicles (1).
Many stars Intelligent clusters based on four rotor wing unmanned aerial vehicles the most according to claim 1 control analogue system, and its feature exists
In, multiple four rotor wing unmanned aerial vehicles (1) build multiple distributed type assemblies networks via self-organizing network.
Many stars Intelligent clusters based on four rotor wing unmanned aerial vehicles the most according to claim 1 control analogue system, and its feature exists
In, certain spheroid (3), when system initialization, is identified, and gives by multiple binocular visions framing equipment (2)
Fixed corresponding tag number, and using the gray value of this spheroid (3) as the identification benchmark of other spheroids (3) gray value.
Many stars Intelligent clusters based on four rotor wing unmanned aerial vehicles the most according to claim 1 and 2 control what analogue system realized
Emulation mode, it is characterised in that it includes herein below:
Step one, selection one demonstration place, above and all assemble each four rotor wing unmanned aerial vehicles (1) in ground control computer
One group-net communication equipment, and be that the group-net communication equipment on each four rotor wing unmanned aerial vehicles (1) configures independent ID identifier；
Step 2, at the upper spheroid (3) installing different gray values of each four rotor wing unmanned aerial vehicles (1), and at four rotor wing unmanned aerial vehicles
(1) upper installation binocular vision framing equipment (2), by binocular vision framing equipment (2) to all spheroids (3)
Carry out two two and mutually shoot the gray scale benchmark as successive image identification, and gray scale benchmark and corresponding ID identifier are entered into
Computer on four rotor wing unmanned aerial vehicles (1)；
Step 3, each four rotor wing unmanned aerial vehicles (1) are by the ID identifier preserved and corresponding gray value, via respective group
Network Communication equipment the whole network is broadcasted so that in this network, each four rotor wing unmanned aerial vehicles (1) and ground control computer obtain this data；
Simulation parameter is sent to by step 4, ground control computer by the group-net communication equipment in ground control computer to be owned
Four rotor wing unmanned aerial vehicles (1)；After pending data is sent, ground control computer sends emulation sign on；
After step 5, all four rotor wing unmanned aerial vehicles (1) receive emulation sign on by respective group-net communication equipment, press
The simulation parameter sent according to ground control computer enters emulation beginning initial position, and hovers over initial position, waits all
After four rotor wing unmanned aerial vehicles are in place,
By simulation parameter regulation two two mutual four rotor wing unmanned aerial vehicles (1) as reference four rotor wing unmanned aerial vehicle each other, to the whole network
Broadcast many stars orbits controlling dummy instruction, then, all binocular visions framing equipment (2) constantly measure each four rotors without
The relative position of man-machine (1), builds the whole network unmanned plane coordinate system on the basis of with reference to four rotor wing unmanned aerial vehicle body coordinate systems, and
According to the running orbit motion that simulation parameter is given, until emulation terminates.
Many stars Intelligent clusters based on four rotor wing unmanned aerial vehicles the most according to claim 5 control the emulation that analogue system realizes
Method, it is characterised in that it also includes herein below:
Ground control computer can monitor the position and speed appearance of each four rotor wing unmanned aerial vehicle (1) in real time by group-net communication equipment
The relevant control instruction of state information and execution.
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| CN107976220A (en) * | 2017-12-24 | 2018-05-01 | 安徽省环境科学研究院 | Based on Atmospheric components synchronization detecting system and method under fixed point different height |
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| CN109189090A (en) * | 2018-07-16 | 2019-01-11 | 南京航空航天大学 | Large Spacecraft universe monitoring method based on a bionical micro-nano group of stars |
| CN109202911A (en) * | 2018-11-08 | 2019-01-15 | 北京理工大学 | A kind of cluster amphibious robot 3-D positioning method based on panoramic vision |
| CN110189435A (en) * | 2019-05-31 | 2019-08-30 | 西安电子科技大学 | A kind of unmanned plane log storage and analysis method |
| CN110865627A (en) * | 2019-08-29 | 2020-03-06 | 北京神舟航天软件技术有限公司 | Intelligent unmanned cluster system test bed framework |
| CN114879228A (en) * | 2021-12-31 | 2022-08-09 | 北京航天驭星科技有限公司 | Method and system for simulating satellite transit by unmanned aerial vehicle |
| CN115097846A (en) * | 2022-07-20 | 2022-09-23 | 北京交通大学 | Unmanned vehicle and unmanned vehicle cooperative landing method and system |
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