CN109002056A - A kind of large size fixed-wing unmanned plane formation method - Google Patents
A kind of large size fixed-wing unmanned plane formation method Download PDFInfo
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Abstract
The present invention relates to formation flight technical fields, disclose a kind of large-scale fixed-wing unmanned plane formation method.Including following procedure: step 1: choosing flight route in the round radius with the end circle of target point of starting of starting point, and select the direction of starting circle and end circle；Step 2: establishing the cost matrix formed into columns and assembled, and realize target point distribution using the iteration optimization algorithms of matrix；Step 3: choosing all aircraft unified arrival time, calculate the control speed of each aircraft.The unmanned plane formation method that the present invention designs includes Route Planning Algorithm, clustering algorithm, forming into columns keeps automatically controlling pilot composition, this method leads to too small amount of calculating and the control of aircraft itself, it effectively realizes multiple UAVs and by optimal route while reaching the formation position of requirement from the position of random distribution, keep rank flight later.
Description
Technical field
The present invention relates to formation flight technical field, especially a kind of large-scale fixed-wing unmanned plane formation method.
Background technique
The scope of reconnaissance and striking capabilities of monomer unmanned plane by itself and institute's band load limitation, can not all adapt to a wide range of
Rapid reconnaissance and the multiple target application such as strike simultaneously.Fly so a kind of multiple no-manned plane for being easily achieved and applying is needed to form into columns now
Row method assembles multi-aircraft efficiently and the flight that keeps rank, and meets the application need of requirements at the higher level in turn according to the different division of labor
It asks.
Large size fixed-wing UAV Formation Flight is also in conceptual phase at present, verifying of not being used widely.Some
Formation algorithm causes calculating overlong time that delay is brought to cannot achieve real-time since calculation amount is excessive, some are due to control mode
Complexity can not be combined with the control mode of unmanned plane itself and then be realized difficult.
Summary of the invention
The technical problems to be solved by the present invention are: in view of the above problems, provide a kind of large-scale fixed-wing without
Man-machine formation method realizes that the control for leading to too small amount of calculating and aircraft itself is final and realizes multiple UAVs from random distribution
Position reaches the formation position of requirement by optimal route simultaneously, the flight that keeps rank later provide a kind of large-scale fixed-wing without
Man-machine formation method.
The technical solution adopted by the invention is as follows: a kind of large size fixed-wing unmanned plane formation method, including following procedure:
Step 1: choosing flight route in the round radius with the end circle of target point of starting of starting point, and starting is selected to justify
With the direction for terminating circle；
Step 2: establishing the cost matrix formed into columns and assembled, and realize target point distribution using the iteration optimization algorithms of matrix；
Step 3: choosing all aircraft unified arrival time, calculate the control speed of each aircraft.
Further, the detailed process of the step 1 are as follows: step 11, choose the radius R of starting circle1With the half of end circle
Diameter R2；Step 12, with R1It is radius in starting point construction and the round and counterclockwise boat in the tangent course clockwise in current flight device course
Xiang Yuan, with R2It is radius in target point construction and the round and counterclockwise course circle in the tangent course clockwise in final heading；Step 13,
According to the corner size of starting point to target point air route, selects starting round and end circle navigates for course circle clockwise or counterclockwise
Xiang Yuan.
Further, the detailed process of the step 13 are as follows: (1) direction of starting point and target point line is vector b, is flown
If row device original heading to rotate clockwise the corner A for reaching vector b less than 180 °, originates circle and selects course circle clockwise,
Corner A then originates circle and fixes tentatively as course counterclockwise circle if it is greater than or equal to 180 °；(2) aircraft is in the direction of vector b with clockwise
If rotation reaches the corner B in the course of target point less than 180 °, terminate circle and select course clockwise circle, institute corner B if more than
Equal to 180 °, then terminates circle and fix tentatively as course counterclockwise circle；(3) if selected starting circle and terminate circle be it is in the same direction, currently
Starting circle and terminate circle be final choice；If selected starting circle and terminate circle be it is reversed, also to confirm again two it is round
Whether the distance of center of circle spacing is more than or equal to R1+R2, if satisfied, then current starting circle and end circle are final choice, if the center of circle
Away from less than R1+R2, then circle selection opposite direction is originated, it is constant to terminate circle；(4) aircraft is calculated by the length of the upper radian of circle, is obtained
Voyage needed for initial point to target point.
Further, the detailed process of the step 2 are as follows: a: N airplane flies to N number of volume from respective initial position
Team's aiming spot, aircraft number are { A1, A2, A3 ..., AN }, and target point number is { P1, P2, P3 ..., PN }, is being assembled
Initial stage, calculate each airplane reach the voyage that either objective point position needs be L11, L12, L13 ..., L1N,
L21, L22, L23 ..., LNN }, wherein N is aircraft number and target point number, and Lij indicates that the i-th frame unmanned plane is flown to
The distance of j-th of target point, and then obtain formation assembly cost matrix and be
B: the smallest variables L ij in matrix is foundmin, the position (i, j) in the cost matrix M of its place is recorded, by cost square
The i-th row and jth in battle array M are arranged and are removed from matrix, form new matrix M1, in M1In continually look for the smallest change in remaining variable
Measure Lijmin, the position (m, n) of initial cost matrix M where recording it, by M1In m row and n-th column remove, obtain new square
Battle array M2, above step is repeated, until finding N number of L composition queue, forms initial voyage ordered series of numbers { L1, L2, L3 ..., LN }；
C: V is enabledmin、VmaxFor minimum and maximum speed adjustable in aircraft flight, Lmin、LmaxFor initial voyage number
Most short and longest voyage, t in column1=Lmin/Vmin, t2=Lmax/VmaxIf t2> t1, required initial voyage L1, L2,
L3 ..., LN } in vain, if t2<=t1, the voyage ordered series of numbers is effective.
D: if judging, initial voyage ordered series of numbers is invalid, by minimum value Lij in cost matrix MminRemoval, i.e., do not consider that Ai is flown to
The case where target point Pj, above step is repeated, obtain the voyage ordered series of numbers of a new round, until meeting the requirements, is determined as final
Allocation plan.
Further, the detailed process of the step 3 are as follows: the section for choosing all aircraft arrival times is [t1, t2],
Then (t1+t2)/2, which is used as, reaches the object time, and speed command is as follows:
The total kilometres in the planning air route that wherein L is distributed by aircraft, LrunAssemble flight journey, t to start to form into columnsrunFor
Start to form into columns and assembles the elapsed time.
Compared with prior art, the unmanned plane formation side for having the beneficial effect that the present invention and designing by adopting the above technical scheme
Method include Route Planning Algorithm, clustering algorithm, form into columns keep automatically control pilot composition, this method lead to it is too small amount of calculating and
The control of aircraft itself effectively realizes multiple UAVs from the position of random distribution and by optimal route while reaching requirement
Formation position, keep rank flight later.
Detailed description of the invention
Fig. 1 is present invention starting circle and the choosing principles schematic diagram for terminating circle.
Fig. 2 is that the distance of center circle of starting circle and end circle of the invention shows less than starting radius of circle plus the case where end radius of circle
It is intended to.
Specific embodiment
The present invention is described further with reference to the accompanying drawing.
Aircraft divides in assembly initial stage every airplane in different courses, different location, different height at random during formation
Cloth plans that every frame aircraft reaches the voyage of any one target point first, then carries out target point task distribution, finally carries out speed
Distribution.A kind of large size fixed-wing unmanned plane formation method, including following procedure: step 1: choosing flight route rising in starting point
Begin the round radius of round and target point end, and selects starting circle and terminate the direction of circle；When selection starting circular direction, with flight
Device current flight direction V0Radius for tangent line, selection is slightly larger than aircraft minimum turning radius, the starting circle drawn clockwise
For course clockwise circle, circle O in Fig. 1 is seen2；When selection starting circular direction, using aircraft current flight direction as tangent line, selection
Radius is slightly larger than aircraft minimum turning radius, and the starting circle drawn counterclockwise is course counterclockwise circle, sees circle O in Fig. 11.Together
Reason, is shown in V in Fig. 11For the heading of target point, the course clockwise circle O of target point4, circle O in course counterclockwise3.Step 2: building
The vertical cost matrix assembled of forming into columns, and target point distribution is realized using the iteration optimization algorithms of matrix；Determine each frame flight
The target point that device is flown to.Step 3: choosing all aircraft unified arrival time, calculate the control speed of each aircraft；
Each frame aircraft reaches the formation position of formation simultaneously.
Preferably, the detailed process of the step 1 are as follows: step 11, choose the radius R of starting circle1With the radius for terminating circle
R2；Step 12, with R1For the radius clockwise course circle O tangent with current flight device course in starting point construction2With boat counterclockwise
To circle O1, with R2For the radius clockwise course circle O tangent with final heading in target point construction4With course counterclockwise circle O3；Step
Rapid 13, according to the corner size of starting point to target point air route, selects starting circle and terminate round for course circle clockwise or inverse
Hour hands course circle.
Preferably, the detailed process of the step 13 are as follows: (1) direction of starting point and target point line is vector b, sees figure
1, aircraft original heading then originates circle and selects course circle clockwise to rotate clockwise the corner A for reaching vector b less than 180 °
O2If target point is less than or equal to starting point in the value of x-axis direction, the value in y-axis direction is greater than starting point, then corner A is big
In being equal to 180 °, then originates circle and fix tentatively as course counterclockwise circle；(2) in Fig. 1, aircraft is in the direction of vector b to turn clockwise
The corner B in the dynamic course for reaching target point is more than or equal to 180 °, then terminates circle and fix tentatively as course counterclockwise circle O3；If institute corner B
Less than 180 °, then terminate circle and select course clockwise circle, (3) if selected starting circle and end circle be it is in the same direction, it is current
Starting circle and end circle are final choice；But situation as shown in figure 1, selected starting circle and terminate circle be it is reversed, it is also true again
Recognize two circles (i.e. round O3And O2) the distance of center of circle spacing whether be more than or equal to R1+R2If meeting, (as shown in Figure 1 the case where is
Meet above-mentioned condition), then current starting circle and end circle are final choice, if distance of center circle is less than R1+R2(feelings as shown in Figure 2
Condition), then circle selection opposite direction is originated, it is constant to terminate circle；(4) aircraft is calculated by the length of the upper radian of circle, is obtained initial point and is arrived
Voyage needed for target point.
Preferably, the detailed process of the step 2 are as follows: a: N airplane flies to N number of formation from respective initial position
Aiming spot, aircraft number are { A1, A2, A3 ..., AN }, and target point number is { P1, P2, P3 ..., PN }, is being assembled just
Stage beginning, calculate each airplane reach the voyage that either objective point position needs be L11, L12, L13 ..., L1N, L21,
L22, L23 ..., LNN }, wherein N is aircraft number and target point number, and Lij indicates that the i-th frame unmanned plane is flown to j-th
The distance of target point, and then obtain formation assembly cost matrix and be
B: the smallest variables L ij in matrix is foundmin, the position (i, j) in the cost matrix M of its place is recorded, by cost square
The i-th row and jth in battle array M are arranged and are removed from matrix, form new matrix M1, in M1In continually look for the smallest change in remaining variable
Measure Lijmin, the position (m, n) of initial cost matrix M where recording it, by M1In m row and n-th column remove, obtain new square
Battle array M2, above step is repeated, until finding N number of L composition queue, forms initial voyage ordered series of numbers { L1, L2, L3 ..., LN }；
C: V is enabledmin、VmaxFor minimum and maximum speed adjustable in aircraft flight, Lmin、LmaxFor initial voyage number
Most short and longest voyage, t in column1=Lmin/Vmin, t2=Lmax/VmaxIf t2> t1, required initial voyage L1, L2,
L3 ..., LN } in vain, if t2<=t1, the voyage ordered series of numbers is effective.
D: if judging, initial voyage ordered series of numbers is invalid, by minimum value Lij in cost matrix MminRemoval, i.e., do not consider that Ai is flown to
The case where target point Pj, above step is repeated, obtain the voyage ordered series of numbers of a new round, until meeting the requirements, is determined as final
Allocation plan.
Preferably, the detailed process of the step 3 are as follows: the section for choosing all aircraft arrival times is [t1, t2], then
(t1+t2)/2 as the object time is reached, speed command is as follows:
The total kilometres in the planning air route that wherein L is distributed by aircraft, LrunAssemble flight journey, t to start to form into columnsrunFor
Start to form into columns and assembles the elapsed time.
The invention is not limited to specific embodiments above-mentioned.The present invention, which expands to, any in the present specification to be disclosed
New feature or any new combination, and disclose any new method or process the step of or any new combination.If this
Field technical staff is altered or modified not departing from the unsubstantiality that spirit of the invention is done, should belong to power of the present invention
The claimed range of benefit.
Claims (5)
1. a kind of large size fixed-wing unmanned plane formation method, which is characterized in that including following procedure:
Step 1: choosing flight route in the round radius with the end circle of target point of starting of starting point, and select starting circle and tie
The direction of Shu Yuan；
Step 2: establishing the cost matrix formed into columns and assembled, and realize target point distribution using the iteration optimization algorithms of matrix；
Step 3: choosing all aircraft unified arrival time, calculate the control speed of each aircraft.
2. large size fixed-wing unmanned plane formation method as described in claim 1, which is characterized in that the specific mistake of the step 1
Journey are as follows: step 11, choose the radius R of starting circle1With the radius R for terminating circle2；Step 12, with R1For radius starting point construction with
The tangent course clockwise in current flight device course is round and course counterclockwise is round, with R2It is radius in target point construction and final boat
It is round round with course counterclockwise to tangent course clockwise；Step 13, according to the corner size of starting point to target point air route, choosing
It selects starting circle and end circle is course circle clockwise or course is round counterclockwise.
3. large size fixed-wing unmanned plane formation method as claimed in claim 2, which is characterized in that the specific mistake of the step 13
Journey are as follows: (1) direction of starting point and target point line is vector b, and aircraft original heading reaches vector b to rotate clockwise
If corner A less than 180 °, originates circle and selects course circle clockwise, for corner A if it is greater than or equal to 180 °, then it is inverse for originating circle and fixing tentatively
Hour hands course circle；(2) if aircraft is less than in the direction of vector b with the corner B for rotating clockwise the course for reaching target point
180 °, then terminates circle and select course circle clockwise, institute corner B then terminates circle and fix tentatively as course counterclockwise if it is greater than or equal to 180 °
Circle；(3) if selected starting circle and end circle are starting circle in the same direction, current and terminate round to be final choice；If selected
Select starting circle and terminate circle be it is reversed, also to confirm whether the distance of two round center of circle spacing is more than or equal to R again1+R2If
Meet, then current starting circle and end circle are final choice, if distance of center circle is less than R1+R2, then circle selection opposite direction is originated,
It is constant to terminate circle；(4) aircraft is calculated by the length of the upper radian of circle, obtains voyage needed for initial point to target point.
4. large size fixed-wing unmanned plane formation method as claimed in claim 3, which is characterized in that the specific mistake of the step 2
Journey are as follows: a: having N airplane to fly to N number of formation target point position from respective initial position, aircraft number be A1, A2,
A3 ..., AN }, target point number is { P1, P2, P3 ..., PN }, is assembling the initial stage, calculates each airplane and reaches and appoints
The voyage that one aiming spot needs is { L11, L12, L13 ..., L1N, L21, L22, L23 ..., LNN }, and wherein N is flight
Device number and target point number, Lij indicates that the i-th frame unmanned plane flies to the distance of j-th of target point, and then is compiled
Team assembles cost matrix
B: the smallest variables L ij in matrix is foundmin, the position (i, j) in the cost matrix M of its place is recorded, by cost matrix M
In the i-th row and jth arrange and removed from matrix, form new matrix M1, in M1In continually look for the smallest variable in remaining variable
Lijmin, the position (m, n) of initial cost matrix M where recording it, by M1In m row and n-th column remove, obtain new matrix
M2, above step is repeated, until finding N number of L composition queue, forms initial voyage ordered series of numbers { L1, L2, L3 ..., LN }；
C: V is enabledmin、VmaxFor minimum and maximum speed adjustable in aircraft flight, Lmin、LmaxFor in initial voyage ordered series of numbers
Most short and longest voyage, t1=Lmin/Vmin, t2=Lmax/VmaxIf t2> t1, required initial voyage L1, L2, L3 ...,
LN } in vain, if t2<=t1, the voyage ordered series of numbers is effective.
D: if judging, initial voyage ordered series of numbers is invalid, by minimum value Lij in cost matrix MminRemoval, i.e., do not consider that Ai flies to target
The case where point Pj, above step is repeated, obtain the voyage ordered series of numbers of a new round, until meeting the requirements, is determined as final distribution
Scheme.
5. large size fixed-wing unmanned plane formation method as claimed in claim 4, which is characterized in that the specific mistake of the step 3
Journey are as follows: the section for choosing all aircraft arrival times is [t1, t2], then (t1+t2)/2 refers to as object time, speed is reached
It enables as follows:
The total kilometres in the planning air route that wherein L is distributed by aircraft, LrunAssemble flight journey, t to start to form into columnsrunTo start
It forms into columns and assembles the elapsed time.
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| CN111221354A (en) * | 2019-11-26 | 2020-06-02 | 南京航空航天大学 | Fixed wing formation control method based on improved turning radius |
| CN111813149A (en) * | 2020-07-24 | 2020-10-23 | 西安理工大学 | Rapid partition aggregation method for unmanned aerial vehicle flight formation |
| CN113238583A (en) * | 2021-07-14 | 2021-08-10 | 四川腾盾科技有限公司 | Intensive formation flying and anti-collision control method for fixed-wing unmanned aerial vehicles |
| CN115294807A (en) * | 2022-09-28 | 2022-11-04 | 四川腾盾科技有限公司 | Control method for intelligent selection of exit of contact crossing for large unmanned aerial vehicle |
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| CN116243729A (en) * | 2023-05-11 | 2023-06-09 | 四川腾盾科技有限公司 | Phase collaborative planning method based on fixed wing cluster unmanned aerial vehicle online grouping |
| CN116534278A (en) * | 2023-07-07 | 2023-08-04 | 四川腾盾科技有限公司 | Test flight planning method for verifying minimum spiral radius index of low-speed unmanned aerial vehicle |
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| CN111221354A (en) * | 2019-11-26 | 2020-06-02 | 南京航空航天大学 | Fixed wing formation control method based on improved turning radius |
| CN111813149A (en) * | 2020-07-24 | 2020-10-23 | 西安理工大学 | Rapid partition aggregation method for unmanned aerial vehicle flight formation |
| CN111813149B (en) * | 2020-07-24 | 2024-03-05 | 深圳万知达科技有限公司 | Rapid zoning and gathering method for unmanned aerial vehicle flight formation |
| CN113238583A (en) * | 2021-07-14 | 2021-08-10 | 四川腾盾科技有限公司 | Intensive formation flying and anti-collision control method for fixed-wing unmanned aerial vehicles |
| CN113238583B (en) * | 2021-07-14 | 2021-09-24 | 四川腾盾科技有限公司 | Intensive formation flying and anti-collision control method for fixed-wing unmanned aerial vehicles |
| CN115294807B (en) * | 2022-09-28 | 2022-12-27 | 四川腾盾科技有限公司 | Control method for intelligent selection of exit of contact crossing for large unmanned aerial vehicle |
| CN115294807A (en) * | 2022-09-28 | 2022-11-04 | 四川腾盾科技有限公司 | Control method for intelligent selection of exit of contact crossing for large unmanned aerial vehicle |
| CN115373426A (en) * | 2022-10-26 | 2022-11-22 | 四川腾盾科技有限公司 | Area coverage online path collaborative planning method for fixed wing cluster unmanned aerial vehicle |
| CN115373426B (en) * | 2022-10-26 | 2023-02-17 | 四川腾盾科技有限公司 | Area coverage online path collaborative planning method for fixed wing cluster unmanned aerial vehicle |
| CN116243729A (en) * | 2023-05-11 | 2023-06-09 | 四川腾盾科技有限公司 | Phase collaborative planning method based on fixed wing cluster unmanned aerial vehicle online grouping |
| CN116243729B (en) * | 2023-05-11 | 2023-08-18 | 四川腾盾科技有限公司 | Phase collaborative planning method based on fixed wing cluster unmanned aerial vehicle online grouping |
| CN116534278A (en) * | 2023-07-07 | 2023-08-04 | 四川腾盾科技有限公司 | Test flight planning method for verifying minimum spiral radius index of low-speed unmanned aerial vehicle |
| CN116534278B (en) * | 2023-07-07 | 2023-11-07 | 四川腾盾科技有限公司 | Test flight planning method for verifying minimum spiral radius index of low-speed unmanned aerial vehicle |
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