CN107424443A - A kind of aircraft cluster regulation and control method and device based on Vicsek models - Google Patents
A kind of aircraft cluster regulation and control method and device based on Vicsek models Download PDFInfo
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Abstract
The invention discloses a kind of aircraft cluster based on Vicsek models to regulate and control method and device, belongs to aircraft clustered control technical field.In the present invention, each aircraft can obtain the status information of other aircraft in the range of the radius of investigation centered on oneself, after aircraft enters conflict situation, determine that aircraft is the velocity magnitude and direction operation calculated according to Vicsek models or stood according to the priority orders of aircraft and other aircraft, when aircraft or other aircraft can release conflict towards the displacement of present speed direction, floating state is also not at even if the priority of aircraft is relatively low, and can be subjected to displacement towards current velocity attitude.The present invention is for air traffic high density, the situation of high complexity, the autonomous cluster flight to conflict in multi-aircraft under environment is realized, for ensuring aircraft flight safety, reduces flight cost, increase airspace capacity, the operational efficiency for improving Air Traffic System has great importance.
Description
Technical field
The invention belongs to vehicle technology field, is related to a kind of cluster regulation and control method, specifically, refers to that one kind is based on
The aircraft cluster regulation and control method and device of Vicsek models.
Background technology
Under the scene that known and unknown obstacle be present, the cluster regulation and control for realizing multiple aircraft are air traffic control systems
Research emphasis in system, conflicting between aircraft and aircraft on the one hand must be avoided, the spacing distance between aircraft can not
Less than the conflict threshold of the aircraft, flight collision otherwise occurs；On the other hand on the premise of flight safety is ensured, autonomous
Aircraft is flown according to unified velocity attitude, aircraft can be made to be kept rank in flight course, reduce the energy
Consumption, improve flight efficiency.Therefore a set of effective aircraft cluster regulation and control method for ATM safety and efficiency all extremely
Close important.Vicsek models are a theoretical frames for naturally analyzing collective behaviour, and individual passes through the information around obtaining
To carry out decision-making, and then realize that cluster regulates and controls.
The content of the invention
The present invention provides a kind of aircraft cluster regulation and control method and device based on Vicsek models, and each aircraft can be with
The status information of other aircraft in the certain limit centered on oneself is obtained, and takes oneself and detects other
Heading of the average speed and direction of aircraft as the next time step of aircraft, so as to realize the autonomous collection of aircraft
Group's regulation and control.Aircraft it is determined that next time step state of flight when also need to consider whether conflict be present, when aircraft detects
Go out the distance between any one other aircraft be less than or equal to aircraft conflict threshold when, then the aircraft enters
Enter conflict situation.After aircraft enters conflict situation, determine to fly according to the priority orders of aircraft and other aircraft
Device is the velocity magnitude and direction operation calculated according to Vicsek models or stood, i.e., when the priority ratio of aircraft is relatively low
When, aircraft is in floating state or Half Speed flight, and other aircraft will be leading, when the priority ratio of aircraft is higher
When, the aircraft is then leading, and other aircraft are in floating state or Half Speed flight.Further, when aircraft or
The other aircraft of person towards the displacement of present speed direction can release conflict when, will not also locate even if the priority of aircraft is relatively low
In floating state, and can be subjected to displacement towards current velocity attitude.Our final goal is so that all aircraft can
To be flown according to unified velocity attitude.
Specifically, the aircraft cluster regulation and control method based on Vicsek models, comprises the following steps：
Step 1：According to Vicsek models, possible speed of service size and side that aircraft walks in future time are calculated
To；
Step 2：According to conflict probe module, sense aircraft is grasped in next step with the presence or absence of conflict if conflict performs
Make, if Lothrus apterus goes to step 4；
Step 3：Priority ranking is carried out to the aircraft in scene；It is according to the aircraft that priority judges to have conflict
The velocity magnitude and direction that selection floating state calculates also according to Vicsek models are subjected to displacement.
Step 4：Aircraft passes through the true speed of service size that from master regulation module, is walked according to the future time determined
vrFlown with velocity attitude θ.
Step 5：Whether judgement aircraft colony reaches target, and (the maximum deviation angle in i.e. all aircraft speed directions exists
Within 5 degree), if miss the mark, repeat step 1；If reaching target, complete.
The present invention also provides a kind of aircraft cluster regulation device based on Vicsek models, including data obtaining module,
Renewal speed module, conflict probe module, conflict Resolution module, from master regulation module and ground observation module.
The advantage of the invention is that：
(1) present invention is realized and conflicted in multi-aircraft under environment for air traffic high density, the situation of high complexity
Autonomous cluster flight, this be aircraft cluster regulate and control problem solution propose a brand-new scheme.
(2) the autonomous cluster regulation and control of aircraft of the present invention under intensive flying condition, from raising Air Traffic System
Security and the aspect of high efficiency two are set out, and carry out aircraft cluster regulation and control technique study.For ensuring aircraft flight safety, drop
Low flight cost, increases airspace capacity, and the operational efficiency for improving Air Traffic System has great importance.
Brief description of the drawings
Fig. 1 is the investigative range of aircraft flight, risk close to area and collides battleground schematic diagram.
Fig. 2 is the position of local aircraft initial time, velocity attitude schematic diagram.
Fig. 3 is the pre speed size and Orientation schematic diagram that aircraft walks in future time.
Fig. 4 is a kind of conflict Resolution schematic diagram of aircraft during cluster autonomous flight.
Fig. 5 is a kind of another conflict Resolution schematic diagram of aircraft during cluster autonomous flight.
Fig. 6 is that the aircraft cluster based on Vicsek models regulates and controls final result partial result figure.
Fig. 7 is that the aircraft cluster based on Vicsek models regulates and controls embodiment flow chart.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with embodiment and accompanying drawing,
Clear, complete description is carried out to technical scheme.
Present invention firstly provides a kind of aircraft cluster regulation and control method based on Vicsek models, the flow with reference to shown in Fig. 7,
Methods described comprises the following steps：
The first step, every frame aircraft obtain radius of investigation R by data obtaining moduleDThe current location of interior aircraft, fly
Scanning frequency degree, course heading, the radius of investigation R of aircraftD(the risk approaching radius R in Fig. 1 as shown in Figure 1NMWith collision conflict half
Footpath RCCan be in following explanations).Consider the situation of two dimension, the set of all aircraft in whole plane flying spatial domain represented with A,
The quantity of aircraft is M framves in whole plane spatial domain, any one frame aircraft ai(i=1,2 ..., M) all meet ai∈A.First
Begin moment t=0, M frame aircraft are randomly scattered through in specific region, and they are flown with same speed size, and speed is big
Small is v, and velocity attitude is represented with θ, and θ is the steering angle of velocity attitude and horizontal right direction, initial time, every frame aircraft
Flying speed direction at random from [0,2 π) choose.Fig. 2 is the position of local aircraft initial time, velocity attitude schematic diagram, speed
Degree size is v, may there is conflict between aircraft, and being specifically defined for conflict can introduced subsequently.
Every frame aircraft calculates the fortune that aircraft walks in future time based on Vicsek models by renewal speed module
Row velocity attitude and possible speed of service size, are designated as θ and vp, future time step actual motion velocity magnitude also suffer from
The influence of following step.
θ and v based on Vicsek modelspCircular is as follows：The velocity magnitude and initial time of every frame aircraft
Speed of service size it is identical, velocity attitude takes a time step in Air Vehicle Detection radius RDInterior all aircraft (bag
Include the aircraft in itself) average speed direction, an in addition to extra uncertain factor.
Specifically velocity magnitude calculation formula is：
vp=v
The calculation formula of velocity attitude is：
Wherein θ (t+1) represents the velocity attitude at t+1 moment,Represent radius of investigation RDInterior all aircraft
(including the aircraft is in itself) in the average speed direction of t, Δ θ random values from section [- η/2, η/2], expression
It is uncertain factor, η represents angle.May be specifically the error of the information under complex environment, and the mistake of practical operation
Difference etc..
Provide and be further described below in conjunction with accompanying drawing.As shown in figure 3, the aircraft in center can obtain detection half
The status information of other aircraft in footpath, it may then pass through the pre speed size v that Vicsek models calculate future time stepp
And velocity attitude, what θ was represented in Fig. 3 is velocity attitude and the angle of horizontal direction.Described pre speed refers to directly pass through
The velocity magnitude for the future time step that the formula of Vicsek models calculates and direction, the velocity attitude of future time step are true
It is fixed, but the velocity magnitude of future time step still will be judged according to conflict probe module, it is possible to it is exactly pre speed,
The half of pre speed is likely to be, it could even be possible to being 0, specific decision method has furtherly in following step
It is bright.
Second step, according to conflict probe module, sense aircraft is grasped in next step with the presence or absence of conflict if conflict performs
Make, if Lothrus apterus goes to the 4th step.
Aircraft carries out conflict probe by conflict probe module.Two kinds of conflict types defined in the present invention：Risk connects
Near and collision conflict.Every frame aircraft is all surround by two virtual circular protection zones, i.e., risk close to area and collides battleground,
Using current flight device as the center of circle, risk close to the radius in area be RNM, the radius for colliding battleground is RC, RNM≥RC, such as Fig. 1 institutes
Show, the radius of investigation of current flight device is RD。
Conflict probe between aircraft：When multiple aircraft in plane spatial domain be present in cluster flight, fly in aircraft
Each time step during row, each aircraft is regarded as a central point, based on the central point, every inspection
Measure the aircraft periphery and the conflict threshold (R that the distance between the aircraft is less than the aircraft be presentNM) when, then judging should
Aircraft enters conflict situation, performs the 3rd step；Otherwise do not enter conflict situation, perform the 4th step.
3rd step, aircraft carry out conflict Resolution by conflict Resolution module.Firstly for each frame in plane spatial domain
Aircraft ai(i=1,2 ..., M) all there is corresponding priority Pi(i=1,2 ..., M).After aircraft enters conflict situation,
Determine which kind of running status aircraft selects according to the priority orders of aircraft and other aircraft, until the conflict of aircraft
Released.
I.e. when the priority ratio of aircraft is relatively low, first determine whether aircraft is which kind of conflict type be in, if
That risk approaches, then the true velocity size v that the aircraft walks in future timerFor vp/ 2, velocity attitude θ are to pass through Vicsek
The velocity attitude that model calculates, if collision conflict, then aircraft is in floating state in future time step, i.e., true speed
Spend size vrFor 0, other aircraft are leading.If clashed with multiple aircraft, the minimum speed that can be performed is selected
Velocity magnitude as future time step.
And when the aircraft priority ratio in conflict is higher, the aircraft is with vpSpeed it is leading, speed side
It is the velocity attitude calculated by Vicsek models to θ, and other aircraft are with vp/ 2 velocity magnitude is flown or in outstanding
Stop state.
The above situation is discussed in detail below in conjunction with accompanying drawing, as shown in figure 4, aircraft a2In center, aircraft a1、a3
And a4Clash therewith.Aircraft aiCorresponding numerical priority value is Pi, it is assumed that P1＜ P2＜ P3＜ P4(numerical priority value is got over
Small, priority level is higher), i.e. aircraft a1Highest priority.From fig. 4, it can be seen that aircraft a1、a3With aircraft a2
The close conflict of occurrence risk, a4With aircraft a2Collision conflict.Due to aircraft a2Priority be higher than aircraft a3And a4
Priority, so aircraft a3And a4A is not interfered with2State of flight, but aircraft a1Priority be higher than aircraft a2, and
And there occurs the close conflict of risk between them, so can be to aircraft a2Have an impact, so aircraft a2Future time step
Flying speed size should be vp/2。
During aircraft cluster flies, we also need to consider a kind of special situation.I.e. when aircraft or its
For its aircraft in the velocity attitude operation calculated towards Vicsek models, the distance between they can be more and more remote each other.
In this case, if clashed between aircraft and other aircraft, aircraft or other aircraft are along working as front
Conflict can be released to being subjected to displacement, then will not also reduce current speed or choosing even if the priority ratio of aircraft is relatively low
Select hovering.
The above situation is introduced below in conjunction with accompanying drawing, as shown in figure 5, aircraft aiCorresponding numerical priority value is Pi, it is assumed that
P1＜ P2＜ P3＜ P4＜ P5(numerical priority value is smaller, and priority level is higher), i.e. aircraft a1Highest priority.It can see
Source is in the aircraft a at center3With aircraft a1、a2、a4And a5Clash, due to aircraft a3Priority be higher than aircraft
a4And a5Priority, so aircraft a4And a5A is not interfered with3State of flight, further, although aircraft a1And a2's
Priority ratio a3Height, but aircraft a3As long as conflict just can be released along the operation of present speed direction, so aircraft a3It will not change
Become the velocity magnitude of oneself, aircraft a3The flying speed size of future time step should be vp。
Integrate, when aircraft clashes, aircraft future time step velocity magnitude specific formula for calculation is as follows：
When conflicting with multiple aircraft, a v can be obtained with the effect of each aircraftr, select minimum vr,
That is releasable conflict.
4th step, aircraft is by the way that from master regulation module, the true speed of service walked according to the future time determined is big
Small vrFlown with velocity attitude θ.
5th step, ground observation module can detect the current locations of all aircraft, flying speed, course heading.Such as
The maximum deviation angle in all aircraft speed directions within 5 degree, then complete by the autonomous cluster regulation and control of aircraft in fruit cluster,
Final effect figure is as shown in Figure 6.
After the autonomous cluster regulation and control that aircraft is completed under the spatial domain environment of complexity, aircraft can be made in flight course
Keep rank, reduce energy resource consumption, improve flight efficiency, and facility is provided for the subsequent operation of aircraft, have actively
Meaning.
The present invention also provides a kind of aircraft cluster regulation device based on Vicsek models, including data obtaining module,
Renewal speed module, conflict probe module, conflict Resolution module, from master regulation module and ground observation module.Described information
Acquisition module is used to obtain the current location of aircraft, flying speed and course heading in Air Vehicle Detection radius, and is dealt into more
New acceleration module；Described renewal speed module calculates movement velocity direction and the size of aircraft future time step, sends
Give conflict probe module；Described conflict probe module sense aircraft is with the presence or absence of conflict, if there is conflict, just by conflicting
Free module and priority ranking is carried out to all aircraft in cluster, obtain the velocity attitude of aircraft future time step and big
It is small, and by regulating and controlling the flight of aircraft from master regulation module, realize conflict Resolution；Else if conflict is not present in detection, then fly
The flying speed size and Orientation that row device directly calculates according to renewal speed module is run.Ground observation module detects institute in real time
There are current location, flying speed and the course heading of aircraft, to judge whether task is completed.
Claims (4)
- A kind of 1. aircraft cluster regulation and control method based on Vicsek models, it is characterised in that：Comprise the following steps,Step 1：According to Vicsek models, the speed of service size and Orientation that aircraft walks in future time is calculated；Step 2：According to conflict probe module, sense aircraft operates in next step with the presence or absence of conflicting if conflict performs, if Lothrus apterus goes to step 4；Step 3：Priority ranking is carried out to the aircraft in scene；Judge that the aircraft that conflict be present is selection according to priority The velocity magnitude and direction that floating state calculates also according to Vicsek models are subjected to displacement；Step 4：Aircraft passes through the true speed of service size v that from master regulation module, is walked according to the future time determinedrWith Velocity attitude θ flies；Step 5：Judge whether aircraft colony reaches target, if miss the mark, return to step 1；If reaching target, complete.
- A kind of 2. aircraft cluster regulation and control method based on Vicsek models according to claim 1, it is characterised in that：Institute The step 1 stated is specially：Every frame aircraft obtains radius of investigation R by data obtaining moduleDThe current location of interior aircraft, flying speed, course angle Degree, represents the set of all aircraft in whole plane flying spatial domain with A, and the quantity of aircraft is M in whole plane spatial domain Frame, any one frame aircraft ai(i=1,2 ..., M) all meet ai∈A；In initial time t=0, M frame aircraft are randomly spread In specific region, flown with same speed size, velocity magnitude v, velocity attitude represents with θ, θ be velocity attitude with The steering angle of horizontal right direction, initial time, the flying speed direction of every frame aircraft at random from [0,2 π) choose；Every frame aircraft calculates the operation speed that aircraft walked in future time based on Vicsek models by renewal speed module Direction and possible speed of service size are spent, is designated as θ and vp；θ and v based on Vicsek modelspCircular is as follows：The velocity magnitude of every frame aircraft and the operation of initial time Velocity magnitude is identical, and velocity attitude takes a time step in Air Vehicle Detection radius RDThe average speed of interior all aircraft Direction, in addition to an extra uncertain factor；Specifically velocity magnitude calculation formula is：vp=vThe calculation formula of velocity attitude is：<mrow> <mi>&theta;</mi> <mrow> <mo>(</mo> <mi>t</mi> <mo>+</mo> <mn>1</mn> <mo>)</mo> </mrow> <mo>=</mo> <mo><</mo> <mi>&theta;</mi> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <msub> <mo>></mo> <msub> <mi>R</mi> <mi>D</mi> </msub> </msub> <mo>+</mo> <mi>&Delta;</mi> <mi>&theta;</mi> </mrow>Wherein θ (t+1) represents the velocity attitude at t+1 moment,Represent radius of investigation RDInterior all aircraft are in t The average speed direction at quarter, Δ θ random values from section [- η/2, η/2], expression is uncertain factor, and η represents angle.
- A kind of 3. aircraft cluster regulation and control method based on Vicsek models according to claim 1, it is characterised in that：Institute The conflict probe stated is carried out by conflict probe module, defines two kinds of conflict types：Risk is close and collision conflicts；It is assuming that every Frame aircraft is all surround by two virtual circular protection zones, i.e. risk close to area and collision battleground, using current flight device as The center of circle, risk close to the radius in area be RNM, the radius for colliding battleground is RC, RNM≥RC, the radius of investigation of current flight device is RD；Conflict probe between aircraft：When multiple aircraft in plane spatial domain be present in cluster flight, in aircraft flight mistake Each time step in journey, each aircraft is regarded as a central point, it is every to detect based on the central point The conflict threshold R that the distance between the aircraft is less than the aircraft be present in the aircraft peripheryNMWhen, then judge the aircraft Enter conflict situation.
- A kind of 4. aircraft cluster regulation device based on Vicsek models, it is characterised in that：Including data obtaining module, renewal Acceleration module, conflict probe module, conflict Resolution module, from master regulation module and ground observation module；Described acquisition of information Module is used to obtain the current location of aircraft, flying speed and course heading in Air Vehicle Detection radius, and is dealt into renewal speed Spend module；Described renewal speed module calculates movement velocity direction and the size of aircraft future time step, is sent to punching Prominent detecting module；Described conflict probe module sense aircraft is with the presence or absence of conflict, if there is conflict, just by conflict Resolution Module carries out priority ranking to all aircraft in cluster, obtains the velocity attitude and size of aircraft future time step, And by regulating and controlling the flight of aircraft from master regulation module, realize conflict Resolution；Conflict else if detection is not present, then aircraft The flying speed size and Orientation directly calculated according to renewal speed module is run；Ground observation module detects all fly in real time Current location, flying speed and the course heading of row device, to judge whether task is completed.
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| CN108363438A (en) * | 2017-12-29 | 2018-08-03 | 易瓦特科技股份公司 | Method and device for being controlled unmanned plane |
| CN108363436A (en) * | 2017-12-29 | 2018-08-03 | 易瓦特科技股份公司 | Unmanned aerial vehicle (UAV) control method and device based on earth station |
| CN108363439A (en) * | 2017-12-29 | 2018-08-03 | 易瓦特科技股份公司 | The method and device that aircraft is controlled based on type |
| CN108363437A (en) * | 2017-12-29 | 2018-08-03 | 易瓦特科技股份公司 | Control the method and device of unmanned plane in the target area based on communication command vehicle |
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| CN109189092A (en) * | 2018-08-03 | 2019-01-11 | 北京航空航天大学 | A kind of multi-machine Scheduling method for 2 dimensional region covering task |
| CN110785720A (en) * | 2018-04-27 | 2020-02-11 | 深圳市大疆创新科技有限公司 | Information processing device, information presentation instruction method, program, and recording medium |
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| CN108363436A (en) * | 2017-12-29 | 2018-08-03 | 易瓦特科技股份公司 | Unmanned aerial vehicle (UAV) control method and device based on earth station |
| CN108363439A (en) * | 2017-12-29 | 2018-08-03 | 易瓦特科技股份公司 | The method and device that aircraft is controlled based on type |
| CN108363437A (en) * | 2017-12-29 | 2018-08-03 | 易瓦特科技股份公司 | Control the method and device of unmanned plane in the target area based on communication command vehicle |
| CN108363440A (en) * | 2017-12-29 | 2018-08-03 | 易瓦特科技股份公司 | Unmanned aerial vehicle (UAV) control method and device based on communication command vehicle |
| CN107918403A (en) * | 2017-12-31 | 2018-04-17 | 天津津彩物联科技有限公司 | A kind of implementation method of multiple no-manned plane flight path collaborative planning |
| CN110785720A (en) * | 2018-04-27 | 2020-02-11 | 深圳市大疆创新科技有限公司 | Information processing device, information presentation instruction method, program, and recording medium |
| CN109189092A (en) * | 2018-08-03 | 2019-01-11 | 北京航空航天大学 | A kind of multi-machine Scheduling method for 2 dimensional region covering task |
| CN108829136B (en) * | 2018-08-29 | 2019-06-25 | 北京航空航天大学 | The a wide range of synergic monitoring method of unmanned aerial vehicle group |
| CN108829136A (en) * | 2018-08-29 | 2018-11-16 | 北京航空航天大学 | The a wide range of synergic monitoring method and apparatus of unmanned aerial vehicle group |
| CN111210669A (en) * | 2020-01-11 | 2020-05-29 | 中国人民解放军93209部队 | Airspace conflict resolution rule creation method and system based on deduction evaluation |
| HRP20210018A1 (en) * | 2020-05-25 | 2021-11-26 | Sveučilište u Zagrebu FAKULTET PROMETNIH ZNANOSTI | Method for air traffic control system operation |
| CN113284372A (en) * | 2021-07-07 | 2021-08-20 | 中国民航管理干部学院 | Method for evaluating space utilization right required by aircraft operation |
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