CN109240341A - A kind of unmanned plane close/intra control method based on interacting message - Google Patents
A kind of unmanned plane close/intra control method based on interacting message Download PDFInfo
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- CN109240341A CN109240341A CN201811472328.8A CN201811472328A CN109240341A CN 109240341 A CN109240341 A CN 109240341A CN 201811472328 A CN201811472328 A CN 201811472328A CN 109240341 A CN109240341 A CN 109240341A
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- unmanned plane
- message
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
Abstract
The invention belongs to avionics fields, are related to a kind of unmanned plane close/intra control method based on interacting message.The present invention carries out that the flight for completing big formation cluster is cooperateed with to control with the unmanned plane of six direction nearest around itself by each unmanned plane, mission planning and bottom flight control are integrated into a whole and are accounted for by the present invention, provide a kind of control method for supporting extensive unmanned plane cluster autonomous flight.The present invention is able to solve the command and control problem of current extensive unmanned plane close/intra, reduces unmanned plane cluster and relies on ground control system, promotes the using effect that unmanned plane is formed into columns.
Description
Technical field
The invention belongs to avionics fields, are related to a kind of unmanned plane close/intra controlling party based on interacting message
Method.
Background technique
With the development of unmanned air vehicle technique, the cost of unmanned plane gradually declines, and provides base for unmanned plane large-scale use
Plinth.Load and cruising ability limitation, the function of single unmanned plane in view of unmanned aerial vehicle platform receive certain limitation, therefore,
It needs a large amount of unmanned plane collaboration to complete a specific task in most cases, makes up single platform energy using the advantage of quantity
The limitation of power.The limiting factor of large-scale use unmanned plane is also more, such as the distance between unmanned plane formation, command centre pair
The problems such as charge of unmanned plane, the collaboration of unmanned plane is all the obstacle of unmanned plane cluster large-scale application.In traditional unmanned plane
In control technology, the control of all unmanned planes is completed using an earth station.This method drawback is more, first is that can not support to advise greatly
Mould is formed into columns, second is that being difficult to ensure that the distance between unmanned plane is kept, therefore is badly in need of developing a kind of extensive unmanned plane of adaptation
The control algolithm of group's formation flight.
The algorithm of research UAV Formation Flight is concentrated mainly on mission planning level, shorter mention to extensive nothing at present
The control algolithm of man-machine group's individual.We learn that there has been no the patents of extensive unmanned aerial vehicle group control algolithm type at present.
Summary of the invention
The unmanned plane close/intra control method based on interacting message that the object of the present invention is to provide a kind of is big to solve
UAV Flight Control problem in scale unmanned aerial vehicle group flight course realizes the big formation unmanned plane for being detached from ground control's control
The autonomous flight control of cluster.
The technical scheme is that a kind of unmanned plane close/intra control method based on interacting message, the method
It carries out cooperateing with the flight for completing big formation cluster with the unmanned plane of six direction nearest around itself by each unmanned plane
Control, specifically includes the following steps:
Step 1, determine unmanned plane locally form into columns: by each unmanned plane all around up and down each face with it is other
The distance of unmanned plane is ranked up, and when being equidistant, takes the smallest unmanned plane of angle, nearest unmanned plane is bound this
The marshalling unmanned plane in direction；Each face only takes local formation unmanned plane of the unmanned plane as the face, until there is closer nothing
Man-machine appearance.When in the distance threshold of unmanned plane one side without unmanned plane, it is believed that the face is without unmanned plane.
Step 2, control message encapsulation: each unmanned plane is interacted with unmanned plane real-time perfoming nearest around itself.
Step 3, unmanned plane Message Processing and control: each unmanned plane receives the message broadcasted by other unmanned planes
It is all handled and is compared afterwards, by the movement of itself if the completeness that itself is greater than in current message the completeness of task
Information encapsulation is broadcasted outward into chain of messages；If itself is less than the completeness in current message to the completeness of task
Then with no treatment；
All unmanned planes receive and handle incessantly remaining nothing while keeping displacement in a timeslice
The message of man-machine transmission；The message for the most long-chain that first time after timeslice stores according to itself is moved.
Further, the message content in the step 2 includes file header feature, platform ID, current interaction time piece generation
Code, moving direction code, small range apart from array, mobile priority, task fitness, previous message cryptographic Hash.
The invention has the benefit that mission planning and bottom flight control are integrated into a whole and are examined by the present invention
Consider, provides a kind of control method for supporting extensive unmanned plane cluster autonomous flight.This method is able to solve current extensive
The command and control problem of unmanned plane close/intra reduces unmanned plane cluster and relies on ground control system, promotes unmanned plane and forms into columns
Using effect.
Detailed description of the invention
Fig. 1 is that unmanned plane of the present invention sets up unmanned plane distance calculating method schematic diagram around when local flight is netted；
Fig. 2 is unmanned plane formation message envelope format schematic diagram in the present invention；
The present invention is based on the unmanned plane close/intra control method flow charts of interacting message by Fig. 3.
Specific embodiment
Present pre-ferred embodiments are provided with reference to the accompanying drawing, in order to explain the technical scheme of the invention in detail.
A kind of unmanned plane close/intra control method based on interacting message, the method is by each unmanned plane and certainly
The unmanned plane of nearest six direction carries out the flight control that big formation cluster is completed in collaboration around body, specifically includes following step
It is rapid:
Step 1, determine that unmanned plane is locally formed into columns: unmanned plane can be motor-driven to any direction in three dimensions, to reduce
The direction of motion of unmanned plane is constrained in 6 directions for the institute in each each face of unmanned plane by the range in route searching space
The distance of some unmanned planes is ranked up, and when being equidistant, the smallest unmanned plane of angle is taken, by the binding of nearest unmanned plane
For the marshalling unmanned plane of the direction.Each face only takes local formation unmanned plane of the unmanned plane as the face, until having closer
Unmanned plane occur.When in the distance threshold of unmanned plane one side without unmanned plane, it is believed that the face is without unmanned plane.
Step 2, control message encapsulation: the flight control of big formation unmanned aerial vehicle group is based on unmanned plane and surrounding minimum model
Unmanned plane in enclosing is linked and realizes the flight control integrally formed into columns, therefore, each unmanned plane with around itself recently
Unmanned real-time perfoming interaction.Message content includes file header feature, platform ID, current interaction time piece code, moving direction
Code, small range apart from array, mobile priority, task fitness, previous message cryptographic Hash.
Step 3, unmanned plane Message Processing and control: each unmanned plane receives the message broadcasted by other unmanned planes
It is all handled and is compared afterwards, by the movement of itself if the completeness that itself is greater than in current message the completeness of task
Information encapsulation carries out locally broadcast into chain of messages outward；If itself be less than to the completeness of task complete in current message
Then with no treatment at degree.In a timeslice all unmanned planes while keeping displacement it is continual receiving and
Handle the message of remaining unmanned plane transmission.The message for the most long-chain that first time after timeslice stores according to itself into
Row movement.
A specific embodiment of the invention is as follows:
Determine unmanned plane part formation method.Unmanned plane can constrain in the direction of motion of unmanned plane in three dimensions
6 directions, as shown in Figure 1, be respectively all around up and down six direction, indicated with S1, S2, S3, S4, S5 and S6.In determination
Around unmanned plane other unmanned planes apart from when, benefit carry out in the following method.With D4 signal the face unmanned plane S4 and it is other nobody
The distance calculating method of machine.It calculates
D4=d*sin α
Being ranked up at a distance from other unmanned planes, and by all distances for similar other five faces of calculating, works as distance
When equal, the smallest unmanned plane of angle [alpha] is taken, by the marshalling unmanned plane for binding the direction of nearest unmanned plane, forms local
It forms into columns.The value of distance threshold L is according to unmanned plane during flying speed Vf, message processing time tiWith the flight control system reaction time
tcIt determines,
L≥Vf(ti+tc)
Distance threshold takes 80 meters in the present embodiment.
(1) control message encapsulates.Each unmanned plane is interacted with unmanned real-time perfoming nearest around itself.Message content
It is preferential apart from array, movement including file header feature, platform ID, current interaction time piece code, moving direction code, small range
Grade, the message format of the cryptographic Hash of task fitness, previous message interaction are as shown in Figure 2.
Such as it is in the message that tn moment unmanned plane is sent
Indicate that the unmanned plane that number is WQ98 flies in the current time direction forward direction S4, at this time apart from six unmanned planes of surrounding
Distance difference maximum distance be 50 meters, minimum range is 20 meters, is flown according to orthodox flight priority, and task is completed suitable
Response is greater than the task fitness of the upper chain of messages received, therefore upper a piece of news is carried out coding compression are as follows:
000000001SD87XIF88SDKHGREXPGRMC。
(2) unmanned plane Message Processing and control method.Unmanned aerial vehicle control system carries out unmanned plane according to logic shown in Fig. 3
Message Processing and control.Each unmanned plane is handled and is compared after receiving the message broadcasted by other unmanned planes, such as
Fruit itself is greater than the completeness in current message to the completeness of task and then the mobile message of itself is encapsulated into chain of messages, to
Outer carry out locally broadcast；If the completeness that itself is less than in current message the completeness of task with no treatment.?
All unmanned planes are continual while keeping displacement in one timeslice receives and handles what remaining unmanned plane was sent
Message.Motor-driven direction indicated by the message for the most long-chain that first time after timeslice stores according to itself carries out machine
It is dynamic.
Tight formation flight is completed in final unmanned plane formation under the control of the algorithm, and can be adjusted automatically according to mission requirements
The whole flight path formed into columns.
Claims (4)
1. a kind of unmanned plane close/intra control method based on interacting message, it is characterized in that the method by each nobody
Machine and the unmanned plane of six direction nearest around itself carry out that the flight for completing big formation cluster is cooperateed with to control, specifically include with
Lower step:
Step 1, determine unmanned plane locally form into columns: by each unmanned plane all around up and down each face with it is other nobody
The distance of machine is ranked up, and when being equidistant, takes the smallest unmanned plane of angle, nearest unmanned plane is bound the direction
Marshalling unmanned plane；Each face only takes local formation unmanned plane of the unmanned plane as the face, until there is closer unmanned plane
Occur；When in the distance threshold of unmanned plane one side without unmanned plane, it is believed that the face is without unmanned plane；
Step 2, control message encapsulation: each unmanned plane is interacted with unmanned plane real-time perfoming nearest around itself；
Step 3, unmanned plane Message Processing and control: after each unmanned plane receives the message broadcasted by other unmanned planes
It is handled and is compared, by the mobile message of itself if the completeness that itself is greater than in current message the completeness of task
It is encapsulated into chain of messages, is broadcasted outward；If the completeness that itself is less than in current message the completeness of task not
Make any processing；
All unmanned planes receive and handle incessantly remaining unmanned plane while keeping displacement in a timeslice
The message of transmission；The message for the most long-chain that first time after timeslice stores according to itself is moved.
2. unmanned plane close/intra control method according to claim 1, it is characterized in that: in the message in the step 2
Hold excellent apart from array, movement including file header feature, platform ID, current interaction time piece code, moving direction code, small range
First grade, task fitness, previous message cryptographic Hash.
3. unmanned plane close/intra control method according to claim 1, it is characterized in that: in the step 1, apart from threshold
The value of value L is according to unmanned plane during flying speed Vf, message processing time tiWith flight control system reaction time tcIt determines, meets
Formula:
L≥Vf(ti+tc)。
4. unmanned plane close/intra control method according to claim 3, it is characterized in that: the distance threshold is 80 meters.
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