CN109901620A - A kind of multiple UAVs cooperative system and formation method - Google Patents
A kind of multiple UAVs cooperative system and formation method Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- 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
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Abstract
The invention discloses a kind of multiple UAVs cooperative system and based on its formation method, cooperative system includes ground control terminal, virtual leader, first communication module, second communication module and multiple entity wing planes；Ground control terminal includes instruction control unit and status display unit；Virtual leader includes assignment instructions receiving unit, leader flight controller unit, path planning unit, assignment decisions and allocation unit, analog simulation unit and wing plane information process unit；Each entity wing plane, which has, oneself is uniquely different from the number of other wing planes, and is equipped with data transmission resolution unit, wing plane flight controller unit, Sensor Measurement Unit, fusion navigation elements and state detection unit.It using virtual leader and non-genuine unmanned plane, is not in the problem of task is unable to complete since the influences such as external environment cause leader abnormal conditions in turn result in the out of control of formation.
Description
Technical field
The invention belongs to unmanned plane Formation Technology field, it is related to a kind of multiple UAVs cooperative system and formation method.
Background technique
Currently, UAV Formation Flight is the technology that army, various countries and researcher are just pursued all the time.Firstly, its
It is exactly the deficiency for making up unmanned plane in terms of continuation of the journey relative to the most apparent advantage of single rack unmanned plane, multiple aircraft formation can be by task
It is decomposed, including investigation, fight etc., frame unmanned plane every in this way can maximize the effect of oneself, can be to a certain extent
Improve the probability of success of single machine single combat duty.Secondly, in terms of military surveillance, target and it is civilian spray insecticide,
The efficiency that single completes task can be improved in photovoltaic inspection etc., UAV Formation Flight.Multi-machine collaborative is formed into columns at present adopts more
With leader and wing plane mode, all wing planes follow leader and are kept fixed distance, and this mode can complete most of scene
It uses, since leader plays the role of key, on the one hand receives the assignment instructions on ground, on the one hand according to assignment decisions and send
Decision task gives all wing planes.If using entity leader, once leader is out of control or is shot down etc. and to break down or abnormal, and it is long
Machine cannot receive ground-based mission and give wing plane and correctly instruct, and entire work compound is caused to fail, and all wing planes will be held
The corresponding safeguard measure of row, autonomous to carry out task or cancel task, serious conditions are given false command since leader is out of control and will be led
All wing planes are caused to collide, multi-machine collaborative formation out-of-control condition.
Summary of the invention
The purpose of the present invention is to provide a kind of multiple UAVs cooperative system and formation methods, solve existing formation skill
Entity leader present in art the problem of causing entire formation runaway task that cannot complete out of control.
The present invention is to be achieved through the following technical solutions:
A kind of multiple UAVs cooperative system, including ground control terminal, virtual leader, first communication module, the second communication
Module and multiple entity wing planes；Ground control terminal carries out data interaction, virtual leader by first communication module and virtual leader
Data interaction is carried out by second communication module and multiple entity wing planes；
Ground control terminal includes instruction control unit；Virtual leader includes assignment instructions receiving unit, leader flight control
Device unit, path planning unit, assignment decisions and allocation unit and analog simulation unit；Each entity wing plane has oneself unique
Be different from the number of other wing planes, and be equipped with data transmission resolution unit and wing plane flight controller unit；
Instruction control unit is communicated by first communication module and assignment instructions receiving unit, assignment decisions and allocation unit
Resolution unit communication is transmitted by second communication module and data, analog simulation unit is transmitted by second communication module and data
Resolution unit communication；
Instruction control unit is used to send control instruction to virtual leader；
Assignment instructions receiving unit is used to receive the instruction and task of instruction control unit transmission；
Path planning unit is used to make path planning to the aerial mission received, and to leader flight controller unit
It is guided, guides unmanned plane during flying；
Leader flight controller unit controls virtual leader for controlling the emulation unmanned plane of analog simulation unit
Reach the target position of path planning unit guidance；
Assignment decisions and allocation unit are used to carry out decision to the task of instruction control unit, and the result of decision is distributed to
All wing planes；
Analog simulation unit obtains the current position and speed of virtual leader and posture for simulating true unmanned plane during flying
Information；
Data transmission resolution unit is used to receive the real time position speed of virtual leader and the mission bit stream of distribution, and parses
Task corresponding with itself wing plane number；
Wing plane flight controller unit is used to complete the task that virtual leader is sent.
Further, each entity wing plane further includes state detection unit, and ground control terminal further includes status display unit, empty
Quasi- leader further includes wing plane information process unit.State detection unit is used to detect the status information of wing plane, wing plane information processing
Unit is used to handle the data of all wing plane state detection unit detections and is transmitted to status display unit, and status display unit is used
In the status information for showing all wing plane state detection unit detections；Status display unit is believed by first communication module and wing plane
Cease processing unit communication；Wing plane information process unit is communicated by second communication module and state detection unit.
Further, status information includes information about power and communication state.
Further, information about power is obtained using A/D converter.
Further, the detection of communication state carries out data feedback using 1HZ heartbeat packet form, if virtual leader is more than the time
The heartbeat packet for not receiving certain wing plane then indicates that the communication of this number wing plane is abnormal.
Further, each entity wing plane further includes Sensor Measurement Unit and fusion navigation elements, Sensor Measurement Unit
It is connected with navigation elements are merged；Sensor Measurement Unit is used to measure the reset condition data of wing plane；Fusion navigation elements are used for
The reset condition data of Sensor Measurement Unit measurement are handled, and clear out the three-dimensional space position speed and appearance of unmanned plane itself
State information.
Further, Sensor Measurement Unit includes Inertial Measurement Unit, magnetic field measurement unit, positioning unit and barometric surveying
Unit.
Further, Inertial Measurement Unit uses MEMS gyroscope and accelerometer, magnetic field measurement unit using magnetometer or
Electronic compass, barometric surveying unit use barometer, and positioning unit uses GPS positioning or RTK Differential positioning.
The invention also discloses the formation methods of above-mentioned multiple UAVs cooperative system, comprising the following steps:
Step 1: ground control terminal uploads assignment instructions to assignment instructions receiving unit by instruction control unit, virtually
After leader receives assignment instructions, path planning unit is planned route according to the assignment instructions of receiving and is drawn as outbound path
It leads, while the real-time analog simulation of analog simulation unit goes out the three-dimensional position and velocity information of virtual leader itself, and in real time by mould
Quasi- information is sent to entity wing plane；
Step 2: leader flight controller unit controls virtual leader real-time tracing road according to Route guiding and analog information
The target point of diameter planning unit, while assignment decisions and allocation unit carry out decision and instruction according to current wing plane formation situation
Each wing plane is distributed to task；
Step 3: the data transmission resolution unit of all wing planes receives assignment instructions that virtual leader is sent and virtual in real time
The current analog information of leader, the task that wing plane flight controller unit is distributed according to virtual leader utilize the mould of virtual leader
Quasi- information and the position and speed information realization for merging navigation elements processing clearing control the flight of wing plane.
Further, each entity wing plane further includes state detection unit, and ground control terminal further includes status display unit, empty
Quasi- leader includes wing plane information process unit；
In wing plane flight course, the state of flight of state detection unit real-time detection wing plane simultaneously passes through second communication module
It is handed down to wing plane information process unit to make a policy automatically for virtual leader, while state of flight is transmitted to status display list
Member.
Compared with prior art, the invention has the following beneficial technical effects:
Multiple UAVs cooperative system disclosed by the invention, including ground control terminal, first communication module, virtual leader,
Second communication module and multiple entity wing planes；Operator gives virtual leader uploading instructions and task by ground control terminal, empty
After quasi- leader receives task, decision is carried out according to current wing plane formation situation and task is distributed to each wing plane, Suo Youliao
Machine completes collaboration formation task under the leading and command of same virtual leader, through the cooperation between each unit, therefore not
There are task duplication distribution or target disunities etc. to cause the case where colliding between wing plane.Due to virtual leader and non-genuine nothing
It is man-machine, be not in that abnormal conditions caused by being influenced due to external environment etc. cause to form into columns out of control, cause task impossible
Problem.
Further, each entity wing plane further includes state detection unit, and ground control terminal further includes status display unit, empty
Quasi- leader includes wing plane information process unit, wing plane information process unit can the state constantly to all wing planes detect, one
Denier has wing plane exception, and the decision that can pull up a horse, which cancels this wing plane task and assigns the task to other wing plane, to be executed, and guarantees task
Maximum probability is completed, and any one failure not will lead to and form into columns out of control, improve the stability of formation.
Further, the Sensor Measurement Unit of all wing planes includes that Inertial Measurement Unit, magnetic field measurement unit and air pressure are surveyed
Unit is measured, the reset condition data of unmanned plane are measured by each unit, measurement data is complete, clears out nothing for fusion navigation elements
It is man-machine itself three-dimensional space position speed and posture information provide safeguard.
Formation method disclosed by the invention, the real-time analog simulation of analog simulation unit of virtual leader go out the three-dimensional position of itself
It sets and velocity information, and sends information to all wing planes；Path planning unit plans route according to the task of receiving
And Route guiding is made, leader flight controller unit carries out PID control according to Route guiding and analog information, realizes virtual long
The target point of machine real-time tracing path planning unit；The data transmission resolution unit of all wing planes receives virtual leader in real time and sends
Leader current location velocity information, the task that wing plane flight controller unit is distributed according to virtual leader utilizes virtual leader
Analog information and the position and speed information realizations of fusion navigation elements processing clearing the flight of wing plane is controlled.Formation method is patrolled
It is clear to collect, and data transmission and processing is high-efficient, the final accurate control for guaranteeing ground control terminal to day dead end unmanned plane.
Further, the state of flight of detection unit real-time detection unmanned plane and state is handed down to virtual leader for virtual long
Machine makes a policy, the task that wing plane flight controller unit is distributed according to virtual leader, is believed using the position and speed of virtual leader
The control of breath and the position and speed information realization of fusion navigation elements processing Sensor Measurement Unit data clearing to unmanned plane.
Detailed description of the invention
Fig. 1 is the functional block diagram of multiple UAVs cooperative system of the invention.
Specific embodiment
Below with reference to specific embodiment, the present invention is described in further detail, it is described be explanation of the invention and
It is not to limit.
As shown in Figure 1, multiple UAVs cooperative system disclosed by the invention, including ground control terminal, first communication module,
Virtual leader, second communication module and multiple entity wing planes, ground control terminal are carried out by first communication module and virtual leader
Data interaction, virtual leader carry out data interaction by second communication module and multiple entity wing planes.Virtual length described herein
Machine is different from entity leader, and entity leader is identical as wing plane attribute, is to be able to achieve the unmanned plane of airflight, and virtual leader
The only control system more complicated than entity leader does not need to carry out airflight.
First communication module is wirelessly connected using wired connection or data radio station, network TCP/UDP etc., the second communication mould
Block is wirelessly connected using data radio station, 4G/5G etc., using customized serial data packet protocol (including frame head, frame ordering,
Frame length, data packet and and verification) it is transmitted.
Ground control terminal includes instruction control unit, and virtual leader includes assignment instructions receiving unit, leader flight control
Unit, path planning unit, assignment decisions and allocation unit and analog simulation unit.Every frame entity wing plane has oneself unique
It is different from the number of other wing planes, and is equipped with data transmission resolution unit and wing plane flight controller unit.
Instruction control unit is communicated by first communication module and assignment instructions receiving unit, assignment decisions and allocation unit
Resolution unit communication is transmitted by second communication module and data；Analog simulation unit is transmitted by second communication module and data
Resolution unit communication.
Instruction control unit is used to send control instruction to virtual leader；Assignment instructions receiving unit is for receiving instruction control
The instruction and task of unit processed；Path planning unit is used to make the aerial mission received path planning and fly to leader
Controller unit is guided, guidance wing plane flight；Leader flight control units be used for the emulation of analog simulation unit nobody
Machine carries out closed-loop control, realizes and controls the target position that virtual leader reaches the guidance of path planning unit；Assignment decisions and distribution
Unit is used to carry out decision to the task of instruction control unit, and the result of decision is distributed to all wing planes.
Analog simulation unit mainly by carrying out three-dimensional dynamics and kinematics model foundation to unmanned plane, simulates true nothing
Man-machine flight, and obtain unmanned plane current position and speed and posture information；Data transmission resolution unit is for receiving virtual length
The real time position speed of machine and the mission bit stream of distribution will execute task corresponding with itself unmanned plane number after parsing；Wing plane
Flight controller unit mainly automatically controls pid algorithm using classical, completes the task that virtual leader is sent.
More preferably, each entity wing plane further includes state detection unit, and ground control terminal further includes status display unit, empty
Quasi- leader further includes wing plane information process unit.State detection unit is used to detect the status information of wing plane, wing plane information processing
Unit is used to handle the data of all wing plane state detection unit detections and is transmitted to status display unit, and status display unit is used
In the status information for showing all wing plane state detection unit detections；Status display unit is believed by first communication module and wing plane
Cease processing unit communication；Wing plane information process unit is communicated by second communication module and state detection unit.
More preferably, each entity wing plane further includes Sensor Measurement Unit and fusion navigation elements, Sensor Measurement Unit
It is connected with navigation elements are merged；Sensor Measurement Unit is used to measure the reset condition data of wing plane；Fusion navigation elements are used for
The reset condition data of Sensor Measurement Unit measurement are handled, and clear out the three-dimensional space position speed and appearance of unmanned plane itself
State information.
Wing plane information process unit is used to handle the data of all wing plane state detection units, and carries out integration and be sent to shape
State display unit.Wing plane information process unit can the state constantly to all wing planes detect, once have wing plane exception,
The decision that can pull up a horse, which cancels this wing plane task and assigns the task to other wing plane, to be executed, and guarantees that task maximum probability is completed, and
Any one failure, which not will lead to, forms into columns out of control, improves the stability of formation.
State detection unit is used to detect the status information of unmanned plane, and status information includes information about power and communication state.
Voltage analog signal is switched to digital signal using A/D converter by information about power, is compared with calibrated cell voltage, low
Early warning is then carried out in calibration minimum voltage；Communication state carries out data feedback using 1HZ heartbeat packet form, if virtual leader is super
Cross the time do not receive certain wing plane heartbeat packet then indicate to communicate it is abnormal, virtual leader will decision cancel this number wing plane appoint
Business arranges other wing planes to replace operation.
Sensor Measurement Unit includes Inertial Measurement Unit, magnetic field measurement unit, positioning unit and air pressure measuring unit.It is used
Property measuring unit use MEMS gyroscope and accelerometer, magnetic field measurement unit use magnetometer or electronic compass, barometric surveying
Unit uses barometer, and positioning unit uses GPS positioning or RTK Differential positioning.
Operator gives virtual leader uploading instructions and task by instruction control unit, and virtual leader receives task
Afterwards, decision is carried out according to current wing plane formation situation and task is distributed to each wing plane.The analog simulation unit of virtual leader
Real-time analog simulation goes out itself three-dimensional position and velocity information, and sends information to all wing planes；Path planning unit root
Route guiding is planned route and made according to the task of receiving, and leader flight controller unit is according to Route guiding and simulation
Information carries out PID control, realizes the target point of virtual leader real-time tracing path planning unit, while wing plane information process unit
Abnormal judgement constantly is carried out to the status information that all wing planes issue and is made decisions, and abnormal conditions are handed down to status display
Module is for operator's decision；The data transmission resolution unit of all wing planes receives the leader present bit that virtual leader is sent in real time
Set velocity information, state is simultaneously handed down to virtual leader and done for virtual leader by the state of flight of detection unit real-time detection unmanned plane
Decision out, the task that wing plane flight controller unit is distributed according to virtual leader, using virtual leader position and speed information and
Merge control of the position and speed information realization of navigation elements processing Sensor Measurement Unit data clearing to unmanned plane.
This formation principle, which is similar to, carries out work compound according to keeping rank between men, establishes a mark post first,
It is all to participate in forming into columns on the basis of mark post per capita for formation formation, and unified instruction is sent by mark post, everybody could protect
Demonstrate,prove orderly completion task.
Formation method based on above-mentioned multiple UAVs cooperative system, comprising the following steps:
Step 1: ground control terminal uploads assignment instructions to assignment instructions receiving unit by instruction control unit, virtually
After leader receives assignment instructions, path planning unit is planned route according to the assignment instructions of receiving and is drawn as outbound path
It leads, while the real-time analog simulation of analog simulation unit goes out the three-dimensional position and velocity information of virtual leader itself, and in real time by mould
Quasi- information is sent to all wing planes；
Step 2: leader flight controller unit controls virtual leader real-time tracing road according to Route guiding and analog information
The target point of diameter planning unit, while assignment decisions and allocation unit carry out decision and instruction according to current wing plane formation situation
Each wing plane is distributed to task；
Step 3: the data transmission resolution unit of all wing planes receives assignment instructions that virtual leader is sent and virtual in real time
The current analog information of leader, the task that wing plane flight controller unit is distributed according to virtual leader utilize the mould of virtual leader
Quasi- information and the position and speed information realization for merging navigation elements processing clearing control the flight of wing plane；In wing plane flight course
In, the state of flight of state detection unit real-time detection wing plane is simultaneously handed down to wing plane information process unit by second communication module
It makes a policy automatically for virtual leader, while status display unit will be transmitted under state of flight.
Claims (10)
1. a kind of multiple UAVs cooperative system, which is characterized in that including ground control terminal, virtual leader, first communication module,
Second communication module and multiple entity wing planes；Ground control terminal carries out data interaction by first communication module and virtual leader,
Virtual leader carries out data interaction by second communication module and multiple entity wing planes；
Ground control terminal includes instruction control unit；Virtual leader includes assignment instructions receiving unit, leader flight controller list
Member, path planning unit, assignment decisions and allocation unit and analog simulation unit；Each entity wing plane has oneself unique area
Not in the number of other wing planes, and it is equipped with data transmission resolution unit and wing plane flight controller unit；
Instruction control unit is communicated by first communication module and assignment instructions receiving unit, and assignment decisions pass through with allocation unit
Second communication module and data transmission resolution unit communication, analog simulation unit are parsed by second communication module and data transmission
Unit communications；
Instruction control unit is used to send control instruction to virtual leader；
Assignment instructions receiving unit is used to receive the instruction and task of instruction control unit transmission；
Path planning unit is used to make the aerial mission received path planning, and carries out to leader flight controller unit
Guidance guides unmanned plane during flying；
Leader flight controller unit controls virtual leader and reaches for controlling the emulation unmanned plane of analog simulation unit
The target position of path planning unit guidance；
Assignment decisions and allocation unit are used to carry out decision to the task of instruction control unit, and the result of decision are distributed to all
Wing plane；
Analog simulation unit obtains the current position and speed of virtual leader and posture letter for simulating true unmanned plane during flying
Breath；
Data transmission resolution unit be used for receive virtual leader real time position speed and distribution mission bit stream, and parse with from
Body wing plane numbers corresponding task；
Wing plane flight controller unit is used to complete the task that virtual leader is sent.
2. multiple UAVs cooperative system according to claim 1, which is characterized in that each entity wing plane further includes state
Detection unit, ground control terminal further include status display unit, and virtual leader further includes wing plane information process unit, state-detection
Unit is used to detect the status information of wing plane, and wing plane information process unit is used to handle all wing plane state detection unit detections
Data are simultaneously transmitted to status display unit, and status display unit is used to show the state letter of all wing plane state detection unit detections
Breath；Status display unit is communicated by first communication module and wing plane information process unit；Wing plane information process unit passes through the
Two communication modules and state detection unit communicate.
3. multiple UAVs cooperative system according to claim 2, which is characterized in that status information include information about power and
Communication state.
4. multiple UAVs cooperative system according to claim 3, which is characterized in that information about power uses A/D converter
It obtains.
5. multiple UAVs cooperative system according to claim 3, which is characterized in that the detection of communication state uses 1HZ
Heartbeat packet form carries out data feedback, indicates this number wing plane if virtual leader is more than the heartbeat packet for not receiving certain wing plane the time
It communicates abnormal.
6. multiple UAVs cooperative system according to claim 1, which is characterized in that each entity wing plane further includes sensing
Device measuring unit and fusion navigation elements, Sensor Measurement Unit are connected with navigation elements are merged；Sensor Measurement Unit is used for
Measure the reset condition data of wing plane；Fusion navigation elements are used to handle the reset condition data of Sensor Measurement Unit measurement,
And clear out the three-dimensional space position speed and posture information of unmanned plane itself.
7. multiple UAVs cooperative system according to claim 6, which is characterized in that Sensor Measurement Unit includes inertia
Measuring unit, magnetic field measurement unit, positioning unit and air pressure measuring unit.
8. multiple UAVs cooperative system according to claim 7, which is characterized in that Inertial Measurement Unit uses MEMS top
Spiral shell instrument and accelerometer, magnetic field measurement unit use magnetometer or electronic compass, and barometric surveying unit uses barometer, and positioning is single
Member uses GPS positioning or RTK Differential positioning.
9. the formation method based on multiple UAVs cooperative system described in claim 1~8 any one, which is characterized in that
The following steps are included:
Step 1: ground control terminal uploads assignment instructions, virtual leader to assignment instructions receiving unit by instruction control unit
After receiving assignment instructions, Route guiding is planned according to the assignment instructions of receiving route and made to path planning unit,
The real-time analog simulation of analog simulation unit goes out the three-dimensional position and velocity information of virtual leader itself simultaneously, and in real time believes simulation
Breath is sent to all entity wing planes；
Step 2: leader flight controller unit is advised according to Route guiding and analog information control virtual leader real-time tracing path
The target point of unit is drawn, while assignment decisions and allocation unit and according to current wing plane formation situation progress decision and instruction appoint
Each wing plane is distributed in business；
Step 3: the data transmission resolution unit of all wing planes receives assignment instructions and virtual leader that virtual leader is sent in real time
Current analog information, the task that wing plane flight controller unit is distributed according to virtual leader are believed using the simulation of virtual leader
Breath and the position and speed information realization of fusion navigation elements processing clearing control the flight of wing plane.
10. formation method according to claim 9, which is characterized in that each entity wing plane further includes state detection unit,
Ground control terminal further includes status display unit, and virtual leader includes wing plane information process unit in wing plane flight course, shape
The state of flight of state detection unit real-time detection wing plane is simultaneously handed down to wing plane information process unit for void by second communication module
Quasi- leader makes a policy automatically, while state of flight is transmitted to status display unit.
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| CN110865651A (en) * | 2019-12-19 | 2020-03-06 | 南京航空航天大学 | Fixed wing formation flight control system and control method under virtual long machine mode |
| CN111493055A (en) * | 2020-03-25 | 2020-08-07 | 深圳威阿科技有限公司 | Multi-airport-collaborative airspace intelligent bird repelling system and method |
| CN111831008A (en) * | 2020-06-18 | 2020-10-27 | 航空工业信息中心 | Unmanned aerial vehicle formation cooperative control system and method based on distributed architecture |
| CN113228140A (en) * | 2019-08-30 | 2021-08-06 | 乐天集团股份有限公司 | Control simulation system and method for unmanned aerial vehicle |
| CN113724415A (en) * | 2021-09-01 | 2021-11-30 | 国网福建省电力有限公司龙岩供电公司 | Interactive automatic inspection method and equipment for unmanned aerial vehicle of power distribution line |
| CN113741531A (en) * | 2021-09-15 | 2021-12-03 | 江苏航空职业技术学院 | Unmanned aerial vehicle cluster cooperative control system and control method for sharing target task information |
| CN114019828A (en) * | 2021-11-29 | 2022-02-08 | 中国人民解放军国防科技大学 | Multi-mode virtual-real interaction simulation system and method for unmanned aerial vehicle cluster |
| CN114615614A (en) * | 2020-12-09 | 2022-06-10 | 北京理工大学 | Interactive checking and printing system for multiple aircrafts |
| CN114930265A (en) * | 2019-12-31 | 2022-08-19 | 华为技术有限公司 | Control method, device and system of unmanned aerial vehicle |
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