CN107424443A - A kind of aircraft cluster regulation and control method and device based on Vicsek models - Google Patents

Abstract

The invention discloses an aircraft cluster control method and device based on a Vicsek model, and belongs to the technical field of aircraft cluster control. In the present invention, each aircraft can obtain the status information of other aircraft within the detection radius centered on itself. When the aircraft enters the conflict state, it is determined that the aircraft is calculated according to the Vicsek model according to the priority order of the aircraft and other aircraft. Whether the size and direction is running or standing still, when the aircraft or other aircraft moves toward the current speed direction to resolve the conflict, even if the aircraft has a low priority, it will not be in a hovering state, but will move toward the current speed direction . Aiming at the situation of high density and high complexity of air traffic, the present invention realizes the autonomous group flight under the environment of multi-aircraft conflict, which is important for ensuring the flight safety of aircraft, reducing flight cost, increasing airspace capacity, and improving the operating efficiency of air traffic system meaning.

Description

A Vicsek model-based aircraft cluster control method and device

technical field

The invention belongs to the technical field of aircraft, and relates to a cluster control method, in particular to a Vicsek model-based aircraft cluster control method and device.

Background technique

In the presence of known and unknown obstacles, the cluster control of multiple aircraft is the research focus of the air traffic management system. On the one hand, conflicts between aircraft must be avoided, and the distance between aircraft should not be less than the aircraft Otherwise, flight conflicts will occur; on the other hand, under the premise of ensuring flight safety, autonomously making the aircraft fly in a uniform speed direction can keep the aircraft in formation during the flight, reduce energy consumption, and improve flight efficiency. efficiency. Therefore, a set of effective aircraft swarm control methods is crucial to the safety and efficiency of air traffic control. The Vicsek model is a natural theoretical framework for analyzing cluster behavior. Individuals make decisions by obtaining surrounding information, and then realize cluster regulation.

Contents of the invention

The present invention provides an aircraft cluster control method and device based on the Vicsek model. Each aircraft can obtain the state information of other aircraft within a certain range centered on itself, and take the average speed and direction of itself and other detected aircraft as The flight direction of the aircraft in the next time step, so as to realize the autonomous cluster control of the aircraft. The aircraft also needs to consider whether there is a conflict when determining the flight state of the next time step. When the aircraft detects that the distance between it and any other aircraft is less than or equal to the conflict threshold of the aircraft, the aircraft enters the conflict state. When the aircraft enters the conflict state, it is determined according to the priority order of the aircraft and other aircraft whether the aircraft is running according to the speed and direction calculated by the Vicsek model or standing still, that is, when the priority of the aircraft is relatively low, the aircraft is in a hovering state Or fly at half speed, while other aircraft will go first, when the priority of the aircraft is relatively high, this aircraft will go first, while other aircraft are in hovering state or fly at half speed. Further, when the conflict can be resolved by moving the aircraft or other aircraft toward the direction of the current speed, even if the priority of the aircraft is low, it will not be in the hovering state, but will move toward the direction of the current speed. Our ultimate goal is to enable all aircraft to fly in a uniform speed direction.

Concrete, the described aircraft group control method based on Vicsek model, comprises the steps:

Step 1: According to the Vicsek model, calculate the possible operating speed and direction of the aircraft in the next time step;

Step 2: According to the conflict detection module, detect whether there is a conflict in the aircraft, if there is a conflict, go to the next step, if there is no conflict, go to step 4;

Step 3: Prioritize the aircraft in the scene; according to the priority, judge whether the conflicting aircraft chooses the hovering state or displaces according to the velocity and direction calculated by the Vicsek model.

Step 4: The aircraft flies through the autonomous control module according to the determined real operating speed v _r and speed direction θ in the next time step.

Step 5: Determine whether the aircraft group has reached the target (that is, the maximum deviation angle of the speed direction of all aircraft is within 5 degrees), if the target is not reached, repeat step 1; if the target is achieved, complete.

The present invention also provides a Vicsek model-based aircraft cluster control device, including an information acquisition module, an update speed module, a conflict detection module, a conflict resolution module, an autonomous control module and a ground observation module.

The advantages of the present invention are:

(1) Aiming at the high-density and high-complexity situation of air traffic, the present invention realizes the autonomous cluster flight under the environment of multi-aircraft conflict, which proposes a brand-new solution for the solution of the aircraft cluster control problem.

(2) The present invention revolves around autonomous swarm control of aircraft under dense flight conditions, and conducts research on swarm control methods for aircraft from two aspects of improving the safety and efficiency of the air traffic system. It is of great significance to ensure the flight safety of aircraft, reduce flight costs, increase airspace capacity, and improve the operating efficiency of air traffic systems.

Description of drawings

Figure 1 is a schematic diagram of the detection range, risk approach area and collision conflict area of the aircraft flight.

Fig. 2 is a schematic diagram of the position and velocity direction of the local aircraft at the initial moment.

Figure 3 is a schematic diagram of the magnitude and direction of the pre-velocity of the aircraft in the next time step.

FIG. 4 is a schematic diagram of conflict resolution of an aircraft during swarm autonomous flight.

FIG. 5 is a schematic diagram of another conflict resolution of an aircraft during autonomous swarm flight.

Figure 6 is a partial effect diagram of the final result of the aircraft cluster regulation based on the Vicsek model.

Fig. 7 is a flowchart of an implementation scheme of aircraft cluster control based on the Vicsek model.

detailed description

In order to make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the embodiments and the accompanying drawings.

The present invention firstly provides a kind of aircraft cluster control method based on Vicsek model, in conjunction with the process shown in Figure 7, described method comprises the following steps:

In the first step, each aircraft obtains the current position, flight speed, and heading angle of the aircraft within the detection radius R _D through the information acquisition module. The detection radius R _D of the aircraft is shown in Figure 1 (the risk approach radius R _NM and The collision radius R _C will be explained later). Considering the two-dimensional situation, use A to represent the collection of all aircraft in the entire plane airspace, the number of aircraft in the entire plane airspace is M, and any aircraft a _i (i=1,2,...,M) satisfies a _i ∈ A. At the initial time t=0, M aircraft are randomly scattered in a specific area, they fly at the same speed, the speed is v, the speed direction is represented by θ, and θ is the steering angle between the speed direction and the horizontal right direction , at the initial moment, the flight speed direction of each aircraft is randomly selected from [0,2π). Figure 2 is a schematic diagram of the position and velocity direction of the local aircraft at the initial moment. The velocity is v, and there may be conflicts between the aircraft. The specific definition of the conflict will be introduced later.

Based on the Vicsek model, each aircraft calculates the running speed direction and possible running speed of the flying machine in the next time step by updating the speed module, denoted as θ and v _p , the actual running speed of the next time step will be affected by the next step Impact.

The specific calculation method of θ and v _p based on the Vicsek model is as follows: the speed of each aircraft is the same as the initial running speed, and the speed direction is taken from all aircraft (including the aircraft) within the detection radius _RD of the aircraft in the previous time step itself), including an additional uncertainty factor.

The specific speed calculation formula is:

v _p =v

The formula for calculating the direction of velocity is:

Where θ(t+1) represents the velocity direction at time t+1, Indicates the average speed direction of all aircraft (including the aircraft itself) within the detection radius RD at time t, Δθ is randomly selected from the interval [ _-η /2,η/2], which represents an uncertain factor, η represents angle. Specifically, it may be errors in information collection in complex environments, errors in actual operations, and so on.

A further introduction will be given below in conjunction with the accompanying drawings. As shown in Figure 3, the aircraft in the center can obtain the state information of other aircraft within the detection radius, and then calculate the pre-velocity _vp and velocity direction of the next time step through the Vicsek model, and θ in Figure 3 represents the velocity The angle between the direction and the horizontal direction. The pre-speed refers to the magnitude and direction of the velocity of the next time step calculated directly by the formula of the Vicsek model. The velocity direction of the next time step has been determined, but the magnitude of the velocity of the next time step still depends on the conflict detection module To make a judgment, it may be the pre-speed, it may be half of the pre-speed, or it may even be 0. The specific judgment method will be further explained in the next steps.

In the second step, according to the conflict detection module, detect whether there is a conflict in the aircraft, if there is a conflict, go to the next step, and if there is no conflict, go to the fourth step.

The aircraft performs conflict detection through the conflict detection module. Two collision types are defined in this invention: risky approach and collision collisions. Each aircraft is surrounded by two virtual circular protection areas, that is, the risk approach area and the collision conflict area. With the current aircraft as the center, the radius of the risk approach area is R _NM , and the radius of the collision conflict area is R _C , R _{NM ≥RC} , as shown in Figure 1, the current detection radius of the aircraft is _RD .

Conflict detection between aircraft: when there are multiple aircraft flying in clusters in the plane airspace, at each time step during the flight of the aircraft, each aircraft is regarded as a center point, based on the center point, any When it is detected that the distance between the surroundings of the aircraft and the aircraft is less than the conflict threshold (R _NM ) of the aircraft, it is determined that the aircraft enters the conflict state, and the third step is performed; otherwise, the fourth step is not entered.

In the third step, the aircraft performs conflict resolution through the conflict resolution module. Firstly, each aircraft a _i (i=1, 2, . . . , M) in the plane airspace has a corresponding priority P _i (i=1, 2, . . . , M). When the aircraft enters the conflict state, it is determined which operating state the aircraft chooses according to the priority order of the aircraft and other aircraft until the conflict of the aircraft is resolved.

That is, when the priority of the aircraft is relatively low, first determine what type of conflict the aircraft is in. If the risk is close, the real speed v _r of the aircraft in the next time step is v _p /2, and the speed direction θ is through If the velocity direction calculated by the Vicsek model is a collision, the aircraft will be in a hovering state at the next time step, that is, the real velocity v _r is 0, and other aircraft will go first. If there is a conflict with multiple aircraft, select the minimum speed that can be executed as the speed of the next time step.

When the priority of the conflicting aircraft is relatively high, the aircraft will take the lead at the speed of v _p , and the speed direction θ is the speed direction calculated by the Vicsek model, while other aircrafts fly at the speed of v _p /2 or are in suspension stop state.

The above situation will be described in detail below with reference to the accompanying drawings. As shown in FIG. 4 , the aircraft a ₂ is in the center, and the aircraft a ₁ , a ₃ and a ₄ collide with it. The priority value corresponding to the aircraft a _i is P _i , assuming that P ₁ <P ₂ <P ₃ <P ₄ (the smaller the priority value, the higher the priority level), that is, the aircraft a ₁ has the highest priority. It can be seen from Fig. 4 that the aircraft a ₁ and a ₃ have a risk approach collision with the aircraft a ₂ , and a ₄ has a collision with the aircraft a ₂ . Since the priority of aircraft a ₂ is higher than that of aircraft a ₃ and a ₄ , aircraft a ₃ and a ₄ will not affect the flight status of a ₂ , but the priority of aircraft a ₁ is higher than that of aircraft a ₂ , and they There is a risk approach conflict between , so it will affect the aircraft a ₂ , so the flight speed of the aircraft a ₂ in the next time step should be v _p /2.

In the process of aircraft swarm flight, we also need to consider a special situation. That is, when the aircraft or other aircraft is moving towards the speed calculated by the Vicsek model, the distance between them will become farther and farther away from each other. In this case, if there is a conflict between the aircraft and other aircraft, the aircraft or other aircraft can be displaced along the current direction to resolve the conflict, so even if the priority of the aircraft is relatively low, it will not reduce the current speed or choose to hover .

The above situation will be described below in conjunction with the accompanying drawings. As shown in Figure 5, the priority value corresponding to aircraft a _i is P _i , assuming that P ₁ <P ₂ <P ₃ <P ₄ <P ₅ (the smaller the priority value, the priority The higher the class level), that is, the priority of aircraft a ₁ is the highest. It can be seen that the aircraft a ₃ in the center conflicts with the aircraft a ₁ , a ₂ , a ₄ and a _5. Since the priority of the aircraft a ₃ is higher than that of the aircraft a ₄ and a ₅ , the aircraft a ₄ and a ₅ will not affect the flight status of a _3. Furthermore, although the priority of aircraft a ₁ and a ₂ is higher than that of a ₃ , the conflict can be resolved as long as the aircraft a ₃ runs in the direction of the current speed, so the aircraft a ₃ will not change The size of its own speed, the flight speed of the aircraft a ₃ in the next time step should be v _p .

To sum up, when the aircraft conflicts, the specific calculation formula for the speed of the aircraft in the next time step is as follows:

When conflicting with multiple aircrafts, one v _r will be obtained when interacting with each aircraft, and the conflict can be resolved by choosing the smallest v _r .

In the fourth step, the aircraft flies according to the determined real operating speed v _r and speed direction θ in the next time step through the autonomous control module.

In the fifth step, the ground observation module can detect the current position, flight speed, and heading angle of all aircraft. If the maximum deviation angle of the speed direction of all aircraft in the cluster is within 5 degrees, the autonomous cluster control of the aircraft is completed, and the final effect diagram is shown in Figure 6.

After the autonomous swarm control of the aircraft is completed in a complex airspace environment, it can keep the aircraft in formation during flight, reduce energy consumption, improve flight efficiency, and provide convenience for the subsequent operation of the aircraft, which is of positive significance.

The present invention also provides a Vicsek model-based aircraft cluster control device, including an information acquisition module, an update speed module, a conflict detection module, a conflict resolution module, an autonomous control module and a ground observation module. The information acquisition module is used to obtain the current position, flight speed and heading angle of the aircraft within the detection radius of the aircraft, and send them to the update speed module; the update speed module calculates the direction and size of the motion speed of the aircraft in the next time step, Send to the conflict detection module; the conflict detection module detects whether the aircraft has a conflict, and if there is a conflict, the conflict resolution module will prioritize all the aircraft in the cluster to obtain the speed direction and size of the next time step of the aircraft, And the flight of the aircraft is regulated by the autonomous control module to achieve conflict resolution; otherwise, if there is no conflict detected, the aircraft will run directly according to the flight speed and direction calculated by the update speed module. The ground observation module detects the current position, flight speed and heading angle of all aircraft in real time to judge whether the mission is completed.

Claims (4)

1. a kind of aircraft group control method based on Vicsek model, it is characterized in that: comprise the steps, Step 1: According to the Vicsek model, calculate the speed and direction of the aircraft in the next time step; Step 2: According to the conflict detection module, detect whether there is a conflict in the aircraft, if there is a conflict, go to the next step, if there is no conflict, go to step 4; Step 3: Prioritize the aircraft in the scene; judge according to the priority whether the conflicting aircraft chooses the hovering state or displaces according to the velocity and direction calculated by the Vicsek model; Step 4: The aircraft flies according to the determined real operating speed v _r and speed direction θ of the next time step through the autonomous control module; Step 5: Determine whether the aircraft group has reached the target, if not, return to step 1; if the target is achieved, complete. 2. a kind of aircraft cluster control method based on Vicsek model according to claim 1, is characterized in that: described step 1 is specially: Each aircraft acquires the current position, flight speed, and heading angle of the aircraft in the detection radius RD through the information acquisition module, and _A is used to represent the collection of all aircraft in the entire plane flight airspace. The number of aircraft in the entire plane airspace is M, arbitrary An aircraft a _i (i=1,2,...,M) satisfies a _i ∈ A; at the initial time t=0, M aircraft are randomly scattered in a specific area, flying at the same speed, the speed The size is v, the speed direction is represented by θ, θ is the steering angle between the speed direction and the horizontal right direction, at the initial moment, the flight speed direction of each aircraft is randomly selected from [0,2π); Based on the Vicsek model, each aircraft calculates the operating speed direction and possible operating speed of the aircraft in the next time step by updating the speed module, which are recorded as θ and v _p ; The specific calculation method of θ and v _p based on the Vicsek model is as follows: the speed of each aircraft is the same as the initial running speed, and the speed direction is the average speed direction of all aircraft within the detection radius _RD of the aircraft in the previous time step , including an additional uncertainty factor; The specific speed calculation formula is: v _p =v The formula for calculating the direction of velocity is: <mrow><mi>&amp;theta;</mi><mrow><mo>(</mo><mi>t</mi><mo>+</mo><mn>1</mn><mo>)</mo></mrow><mo>=</mo><mo>&lt;</mo><mi>&amp;theta;</mi><mrow><mo>(</mo><mi>t</mi><mo>)</mo></mrow><msub><mo>&gt;</mo><msub><mi>R</mi><mi>D</mi></msub></msub><mo>+</mo><mi>&amp;Delta;</mi><mi>&amp;theta;</mi></mrow> Where θ(t+1) represents the velocity direction at time t+1, Indicates the average velocity direction of all aircraft within the detection radius RD at time t, Δθ is randomly selected from the interval [ _-η /2,η/2], which represents an uncertain factor, and η represents the angle. 3. a kind of aircraft cluster control method based on Vicsek model according to claim 1, it is characterized in that: described conflict detection is carried out by conflict detection module, has defined two kinds of conflict types: risk approaches and collision conflict; Suppose every Each aircraft is surrounded by two virtual circular protection areas, namely the risk approach area and the collision conflict area, with the current aircraft as the center, the radius of the risk approach area is R _NM , the radius of the collision conflict area is R _C , R _NM ≥ R _C , the detection radius of the current aircraft is R _D ; Conflict detection between aircraft: when there are multiple aircraft flying in clusters in the plane airspace, at each time step during the flight of the aircraft, each aircraft is regarded as a center point, based on the center point, any When it is detected that the distance between the surrounding of the aircraft and the aircraft is less than the conflict threshold _RNM of the aircraft, it is determined that the aircraft enters the conflict state. 4. a kind of aircraft cluster control device based on Vicsek model, it is characterized in that: comprise information acquisition module, update speed module, conflict detection module, conflict release module, autonomous control module and ground observation module; Described information acquisition module is used for Obtain the current position, flight speed and heading angle of the aircraft within the detection radius of the aircraft, and send them to the update speed module; the update speed module calculates the motion speed direction and size of the aircraft's next time step, and sends it to the conflict detection module; The conflict detection module detects whether there is a conflict between the aircraft. If there is a conflict, the conflict resolution module will prioritize all the aircraft in the cluster to obtain the speed direction and size of the aircraft in the next time step, and the autonomous control module will regulate the aircraft. Otherwise, if there is no conflict in the detection, the aircraft will run directly according to the flight speed and direction calculated by the update speed module; the ground observation module will detect the current position, flight speed and heading angle of all aircraft in real time to judge the task Is it done.