CN110262553A - Fixed-wing UAV Formation Flight apparatus and method based on location information - Google Patents
Fixed-wing UAV Formation Flight apparatus and method based on location information Download PDFInfo
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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 fixed-wing unmanned plane automatic formation flight apparatus and method based on location information that the present invention relates to a kind of, the target of formation control are every frame wing plane to be controlled to target erect-position, and have the ground speed size and Orientation as leader.Firstly, setting up a kind of star-shaped a pair of of multi communication network, the location information of leader is sent to ground control station (GCS) by downlink, leader location information is sent to each wing plane again by GCS；Secondly, wing plane goes out target location coordinate according to scheduled formation erect-position and leader location information, real-time resolving；Again, wing plane calculates according to oneself physical location and target position information and decomposes to obtain longitudinal and horizontal course navigation information；Then, formation flight control algolithm is called, targeted attitude, speed and the height of wing plane are obtained；Finally, posture, speed and the position control module of the automatic pilot of wing plane are called, wing plane control to target position.
Description
Technical field
The present invention relates to UAV Formation Flight control technology field more particularly to it is a kind of low cost based on location information
Fixed-wing unmanned plane automatic formation flight method and apparatus.
Background technique
With the continuous development of aeronautical technology, automatic control technology, the communication technology, unmanned plane obtains in military and civilian field
To being more and more widely used.A contradiction existing in actual use is, from the ease for use such as storage, transport, landing angle
Degree considers, it is desirable to which the unmanned aerial vehicle platform the light the smaller the better；From the point of view of execution task, it would be desirable to the load of carrying it is more more more
Again better, it is as big as possible that this means that unmanned aerial vehicle platform needs.Solve the contradictory mode first is that disperse load to install
Onto multi rack small drone, combined in the form of cooperating between multimachine, so that existing small drone is flexible and convenient
Advantage, and the advantage for having the load-carrying ability of large-scale unmanned plane strong.But in this way accompanying problem is that needing
The unmanned plane that multi rack cooperates can be automatically composed formation flight.It, can also be sufficiently sharp using reasonable formation flight array
With the vortex of preceding machine, the aerodynamic efficiency of machine after raising, to improve the voyage and endurance of unmanned aerial vehicle group.
In fixed-wing UAV Formation Flight field, (Yuan Liping, Chen Zongji one kind are based on local relative status letter to document
The 30th Chinese Control Conference of the decentralized formation flight control method of fixed-wing unmanned plane [C] of breath, China, Yantai,
2011.) using the formation direction of motion as reference, the formation geometric configuration that the formation figure description based on relative position is given is utilized.It presses
According to the requirement of formation figure, a kind of decentralized formation flight control strategy based on consistency on messaging is provided.Its control strategy is by two
Part form, a part be using between unmanned plane relative velocity and virtual course information progress speed it is synchronous with course, separately
A part is to carry out forming into columns using the relative position information between unmanned plane being formed keeping with formation.But this method needs
It to the relative velocity and course information between unmanned plane, and requires unmanned plane that there is Heading control ability, that is, needs unmanned equipment
There are stronger situation perception and control ability, it is not very practical on low-cost unmanned machine.
Document (a kind of fixed-wing unmanned plane formation guidance device of Zhang Min, Huang Kun, Xia Weizheng, Chen Xin and collaboration homing guidance
Method [P] People's Republic of China (PRC) patent of invention, CN 107422748A, 2017.12 invention 01.) propose a kind of fixation
Wing unmanned plane formation guidance device and collaboration homing guidance method, belong to UAV Flight Control technical field.The invention is being set
On the basis of the embedded computer device for counting a kind of guidance of forming into columns for unmanned plane, collaboration Tracking Ground Targets guidance side is carried out
Method design, automatically tracks the method for guidance of ground target and has carried out stability analysis firstly, devising Leader unmanned plane；Its
It is secondary, it devises Follower unmanned plane and automatically tracks the homing guidance method of Leader unmanned plane and for phase controlling of forming into columns
Cooperative guidance method, and carried out stability analysis；Finally, being directed to static target, linear uniform motion target and speed change respectively
The tracking problem of moving target has carried out simulating, verifying.The invention can be realized the tracking of the automatic collaboration to all kinds of ground targets,
And under equal conditions tracking performance is substantially better than the method for guidance using classical Lyapunov vector quantity method.But the party
Method is same will to be needed using the course angle information of unmanned plane, the track algorithm used to be the Guidance Law based on angular speed and acceleration,
It is completely different with the formation control method proposed by the invention based on location information.
(Zhang Xuejun, Nie Zunli are based on Chinese in unmanned plane formation control method and device [P] of Artificial Potential Field Method for document
People republic patent of invention, CN 108459612 A, 2018.08.28.) invention be related to a kind of nothing based on Artificial Potential Field Method
Man-machine formation control method and device, by the way that formation coordinate system is transformed into global NED coordinate system, determine in forming into columns it is each nobody
Ideal position of the machine in global NED coordinate system；According to the assigned target position of unmanned plane, the ideal position of unmanned plane is determined
The gravitation that assigned target position suffered by unmanned plane applies it；According to the velocity vector of unmanned plane, corresponding with unmanned plane
Barrier velocity vector, determine the repulsion that barrier suffered by unmanned plane applies it；Drawn according to what unmanned plane was subject to
The repulsion that all barriers that power and unmanned plane are subject to apply it, determines resultant force suffered by unmanned plane；According to unmanned plane by
The state of flight information of the resultant force arrived, unmanned plane and its surrounding wing plane, determines the movement tendency of unmanned plane so that controller according to
The motion model of unmanned plane carries out flight control to unmanned plane formation.But the invention belongs to multi-rotor unmanned aerial vehicle field, is mentioned
Method out is difficult to be suitable for the fixed-wing unmanned plane of the nonholonomic motion binding characteristic with positive rate limitation, is proposed
Device only has basic function description, without reference to entity.
(a kind of large-scale fixed-wing unmanned plane formation method [P] People's Republic of China (PRC) invention of Huang Jianhua, Zhang Jian is special for document
Benefit, CN 109002056 A, 2018.12.14.) invention be related to formation flight technical field, disclose a kind of large-scale fixed-wing
Unmanned plane formation method.Including following procedure: step 1: choosing flight route in the round end with target point of starting of starting point
Round radius, and select starting circle and terminate the direction of circle；Step 2: establishing the cost matrix formed into columns and assembled, and using matrix
Iteration optimization algorithms realize target point distribution；Step 3: choosing all aircraft unified arrival time, calculate each flight
The control speed of device.The unmanned plane formation method of invention design includes Route Planning Algorithm, clustering algorithm, forming into columns keeps automatic
Control pilot composition, this method lead to it is too small amount of calculating and aircraft itself control, effectively realize multiple UAVs from
The position of machine distribution is reached the formation position of requirement by optimal route simultaneously, and keep rank flight later.This method is to nobody
How machine, which enters to form into columns, has been made more explanation, but specific formation is kept not retouching with control method and its realization device
It states.
A kind of document (fixed-wing unmanned plane formation homing guidance based on distance measuring signal of Zhang Min, Huang Kun, Zheng Chenming, Lin Yun
Method [P] People's Republic of China (PRC) patent of invention, CN 108227736 A, 2018.06.29.) invention propose that one kind is based on
Distance measuring signal fixed-wing unmanned plane formation homing guidance method, this method devise single rack unmanned plane first and automatically track ground appearance
Target guides model, secondly, having separately designed phase and speed control cooperative guidance model for single neighbours formation and being used for
The phase and speed control cooperative guidance model that double neighbours form into columns；Finally, the track demand for ground static target selects phase
Guidance of the guidance model answered as each unmanned plane.Other method of guidance are different from, distance can be used only in the present invention
Sensor is to realize that the automatic collaboration to ground static target tracks.The invention is highly dependent on airborne range only radar and its output
Signal is equally difficult to be suitable for small low-cost unmanned plane.
Summary of the invention
Technical problems to be solved
In order to avoid the shortcomings of the prior art, the present invention proposes that a kind of fixed-wing unmanned plane based on location information is compiled
Team's flight instruments and method.
Technical solution
A kind of fixed-wing UAV Formation Flight device based on location information, it is characterised in that including a frame leader, more
The location information of frame wing plane and ground control station GCS, leader are sent to ground control station GCS by downlink, and GCS is again length
Machine location information is sent to each wing plane；Identical automatic pilot, the automatic pilot are equipped on leader and wing plane
Include global positioning system GNSS, Inertial Measurement Unit IMU, airspeed sensor, barometertic altimeter, processor and power supply system；
Processor be automatic pilot core, for handle global positioning system GNSS, Inertial Measurement Unit IMU, airspeed sensor,
The metrical information of barometertic altimeter resolves Flight Control Law, and issues control signal to steering engine and motor；Inertial Measurement Unit
IMU is used to measure angle, the angular speed, acceleration information of unmanned plane, is connect by SPI interface with processor；Global positioning system
System GNSS is used to measure the global positioning coordinates of unmanned plane, is connect by UART interface with processor；Airspeed sensor is for surveying
Unmanned plane is measured with respect to the speed of front air, is connected by I2C bus with processor；Barometertic altimeter is for measuring unmanned plane institute
The air pressure size for locating position, is connected by I2C bus with processor；Power supply system power supply.
The static roll angle and elevation measurement error of the Inertial Measurement Unit IMU is not more than 0.5 degree, airspeed error
It is not more than 1m/s in flight envelope.
The position error e of the global positioning system GNSSGNSSIt is required that calculation formula are as follows:
Wherein, RiniMinimum between the adjacent unmanned plane of any two frame in formation presets erect-position distance, fGNSSFor leader
Location update frequencies, bj,ljRespectively number half length and half captain of the unmanned plane for being j, bi,liRespectively number the nothing for being i
Man-machine half length and half captain, Vmax-VminFor the speed difference of two frame unmanned planes.
A kind of fixed-wing UAV Formation Flight method based on location information, it is characterised in that steps are as follows:
Step 1: after its geo-location information is packaged into a piece of news together with the world unified time by leader, passing through data-link
It is sent to GCS, GCS identifies the message by system identifier in text and message id；The geo-location information includes latitude
Degree, longitude and altitude；
Step 2: after GCS detects that certain wing plane comes into formation flight mode, leader location message being packaged and is sent out
Give the wing plane；
Step 3: when wing plane receives leader location message for the first time, former state of flight is first kept to be waited, second
After receiving leader location message, the course angle of leader is calculated using time differencing method:
Wherein, Re=6371004m is the mean radius of the earth；WithRespectively the ground speed of leader is on ground
Manage the component of due north and due east direction；[Lat,Lon]prev[Lat, Lon]currRespectively previous step time tprevWith it is current when
Between tcurrCorresponding latitude, longitude information；
Step 4: according to the angle σ of the target erect-position of preset wing plane and leaderLT, horizontal distance RTWith vertical range relationship
HT, calculate the world coordinates of the target erect-position of the wing plane:
The position offset of the relatively long machine of target erect-position is calculated using the spin moment tactical deployment of troops first:
Then according to geometrical relationship, difference of latitude Δ lat and difference of longitude from the current location of leader to target erect-position are solved
Δ lon:
Latitude of the wing plane target erect-position under global coordinates system, longitude and altitude are calculated using following formula are as follows:
Wherein, HcurrFor leader current time height；
Step 5: on the target erect-position of wing plane, according to the course angle information of leader, establishing track coordinate in the horizontal plane
System:
Using wing plane Target Station site as coordinate origin Ok, leader flying speed over the ground horizontal component as xkAxis is square
To, ykAxis is in the horizontal plane perpendicular to xkAxis is directed toward right, zkAxis is perpendicular to OkxkykUnder plane is directed toward, flight path axis system is established
Okxkykzk；The angle of the flight path axis system and earth axes is χT, and have:
χT=χL
Step 5a: using component of the distance of following formula calculating wing plane to target erect-position in flight path axis system:
Step 5b: using to the difference method of time be calculated the ground speed of wing plane in earth axes it is geographical just
The component in north and due east directionWith
Latfollower,prev、Lonfollower,prevAnd Latfollower,curr、Lonfollower,currRespectively wing plane is in previous step
Time tfollower,prevWith current time tfollower,currCorresponding latitude, longitude information；
Component of the ground velocity of wing plane in flight path axis system is calculated using following coordinate transformation relation:
Obtain the current ground velocity size of wing plane are as follows:
Step 5c: its difference in height is calculated according to the difference of the object height of wing plane and present level:
ΔHF=Htarget-HF,curr
Step 6: lateral, tangential and three directions of height formation flights are next carried out according to navigation information and are controlled:
Step 6a: the lateral control of formation
According to the lateral distance R under the flight path axis system of wing plane to target erect-positionF,y, using following control law, it is calculated
The target side velocity V of wing planeF,y,c:
Wherein,The respectively proportional gain of lateral distance, integral gain and integral operator；
According to the target side velocity V of wing planeF,y,cWith the practical side velocity V under flight path axis systemF,yDifference, use with
The target side acceleration a of wing plane is calculated in lower control lawy,c:
Wherein,The respectively proportional gain of side velocity, integral gain；
According to the target side acceleration a of wing planey,cWith the crabbing Kinetic model for substrate of aircraft, wing plane is calculated
Target roll angle φc:
Wherein, g is acceleration of gravity；
The maximum allowable roll angle φ limited according to the flying quality of wing planec,max, to target roll angle φcCarry out output limit
Width:
By target roll angle φcThe input of roll angle control loop as automatic pilot eliminates wing plane to its target
The lateral displacement of erect-position, to complete the lateral formation control of wing plane formation；
Step 6b: the Tangents Control of formation
According to the tangential distance R of wing plane to target erect-positionF,x, Tangents Control rule is called, the mesh of wing plane and leader is calculated
Mark speed difference Δ VF,x,c, in addition the present speed V of wing planeF,curr, obtain the target velocity V of wing planeF,c, then as automatic
The input of the speed control loop of pilot；
Specific control law algorithmic formula are as follows:
VF,c=VF,curr+ΔVF,x,c
Wherein,For the proportional gain of tangential distance；
Step 6c: the height control of formation
By the object height H of wing planeTThe input value H with control loop is kept directly as the height of automatic pilotc, it may be assumed that
Hc=HT。
Beneficial effect
A kind of fixed-wing UAV Formation Flight device and method based on location information proposed by the present invention, using flight
Emulation and the three machine formation flight verification experimental verifications feasibility of method and apparatus proposed by the invention.It has the beneficial effect that:
(1) on the basis of only relying on automatic pilot and its location information, the automatic volume of fixed-wing unmanned plane is realized
Team's flight has the advantages that low hardware requirement, navigation and control method are simple easy to accomplish；
(2) use the navigation mode based on rectangular coordinate system, avoid wing plane close to after target erect-position it is possible that
Unusual appearance, and theoretically demonstrate the formation navigation in proposed horizontal plane and control algolithm when inner looping stabilization
When, external loop be also it is stable, the instruction of external loop is continuous and smooth.
Detailed description of the invention
Fig. 1 is fixed-wing UAV Formation Flight and location information transmission principle figure of the invention
Fig. 2 is fixed-wing UAV Formation Flight control device hardware elementary diagram of the invention
Fig. 3 is the cabinet size of the adjacent unmanned plane of two framves, relative distance relational graph
Fig. 4 is the data structure of the message package of leader location information of the invention
Fig. 5 is control loop logic relation picture of the invention
Fig. 6 is leader of the invention, wing plane and its correlation of target position and coordinate exploded view
Fig. 7 is that the roll angle of formation flight control system keeps the structure chart with control loop (inner looping)
Fig. 8 is the lateral structure chart kept with control loop (external loop) of formation flight control system
Fig. 9 is the global position curve graph of 3 machine formation flying simulators
Figure 10 is the relative position curve graph of 3 machine formation flying simulators
Figure 11 is the roll angle curve graph of 3 machine formation flying simulators
Figure 12 is 3 machine formation flight testing ground photos
Figure 13 is the trajectory diagram that 3 machine formation flights test earth station shows
Specific embodiment
Now in conjunction with embodiment, attached drawing, the invention will be further described:
The invention proposes a kind of fixed-wing unmanned plane automatic formation flight method based on location information of low cost with
Device.The target of formation control is every frame wing plane to be controlled to target erect-position, and have the ground speed size as leader
The direction and.Firstly, setting up a kind of star-shaped a pair of of multi communication network, the location information of leader is sent to ground by downlink
Leader location information is sent to each wing plane again by face control station (GCS), GCS；Secondly, wing plane according to scheduled formation erect-position and
Leader location information, real-time resolving go out target location coordinate；Again, wing plane is believed according to the physical location of oneself and target position
Breath, calculates and decomposes to obtain longitudinal and horizontal course navigation information；Then, formation flight control algolithm is called, the mesh of wing plane is obtained
Mark posture, speed and height；Finally, posture, speed and the position control module of the automatic pilot of wing plane are called, wing plane control
It makes to target position.
Leader, wing plane are equipped with automatic pilot, and the hardware of each automatic pilot includes at least: global positioning system
(GNSS), Inertial Measurement Unit (IMU), airspeed sensor, barometertic altimeter, central processing unit, external apparatus interface plate
(PCB), power supply module and wireless data transfer module.(wherein, processor is the core of automatic pilot, is passed for handling
The metrical information of sensor resolves Flight Control Law, and issues control signal to steering engine and motor；Pcb board be responsible for processor with
The external equipments such as flight parameter measurement sensor, flight control actuator are connected；IMU is used to measure the angle of unmanned plane, angle speed
Degree, acceleration information, are connect by SPI interface with pcb board；GNSS is used to measure the global positioning coordinates of unmanned plane, by the
One UART interface is connect with pcb board；Data radio station is responsible for information between unmanned plane and ground control station and command and control refer to
Transmitted in both directions between order is connect by second UART interface with pcb board；Pitot meter is for measuring unmanned plane with respect to front air
Speed, be connected by I2C bus with pcb board；Barometer is used to measure the air pressure size of unmanned plane present position, passes through I2C
Bus is connected with pcb board；Remote-control receiver is used to receive the flight control instruction of manipulation hand, is connected by S.Bus bus and pcb board
It connects；For driving propeller, power needed for generating unmanned plane during flying is directly controlled motor by electron speed regulator；Steering engine is used for
Driving flight control rudder face, air force and torque needed for generating UAV Flight Control；Electron speed regulator and steering engine by
The digital signal of reason device output directly controls after being converted to PWM analog signal；Power supply system is responsible for automatic pilot, electronics tune
Fast device power supply；Electron speed regulator is powered after BEC decompression to steering engine.
In order to avoid bumping against caused by navigation error, it is adjacent that the position error of GNSS is necessarily less than any two frame in forming into columns
Minimum between unmanned plane presets the 1/2 of the difference of the maximum value of erect-position distance and half length and half captain of two machine；Further, since
Fixed-wing unmanned plane has biggish forward flight speed, and the location information of GNSS is discrete sampling and publication, so in order to eliminate
The influence of asynchronous sampling will also deduct the two frame unmanned planes within a sampling period when calculating the position error of GNSS and be passed through
The distance crossed；In addition, since data that wing plane receives slower than the physical location of leader one are clapped and data transfer delay, so
Practical minimum location frequency at least also needs smaller than the location update frequencies of leader by 1；
The Flight Control Law of automatic pilot is at least needed with roll angle control, pitch angle control, speed control, height
The function of control；
Wireless data transfer module must have both the sending and receiving function and group-net communication function of data, each in formation
For frame unmanned plane by the system identifier in the datalink network as identification code, the transmitting-receiving frequency of location information must not be lower than GNSS's
Minimum location frequency；
Its global positioning coordinates information (latitude, longitude, height) is packaged into one unified time together with the world and disappeared by leader
After breath, GCS is sent to by data-link, GCS identifies the message by system identifier in text and message id；
Only after GCS detects that certain wing plane comes into formation flight mode, so that reducing data-link loads with lotus,
Leader location message is transmitted and gives the wing plane；
When wing plane receives leader location message for the first time, first keeps former state of flight to be waited, receive for the second time
After leader location message, the course angle of leader is calculated using time differencing method；
Wing plane is according to formation erect-position information (distance, erect-position angle, height to leader preset in airborne automatic pilot
Difference) and leader position, course angle information, calculate the world coordinates of the target erect-position of the wing plane；
On the target erect-position of wing plane, according to the course angle information of leader, flight path axis system is established in the horizontal plane, official
The ground speed vector of machine to the displacement of target erect-position, wing plane decomposes in the coordinate system, and the navigation for completing relativeness calculates；
Next lateral, tangential and three directions of height formation flights are carried out according to navigation information to control；
According to wing plane to the lateral distance of target erect-position, using Navigation Control algorithm, the target that wing plane is calculated is lateral
Speed；
It is calculated according to the difference of the target side velocity of wing plane He practical side velocity using lateral guidance control algolithm
To the target side acceleration of wing plane；
According to the target side acceleration and flight dynamics relational expression of wing plane, the target roll angle of wing plane is calculated；
It is limited according to the flying quality of wing plane, output violent change is carried out to target roll angle, then as automatic Pilot
The input of the roll angle control loop of instrument, to complete the lateral position control of wing plane formation；
Wing plane and leader are calculated using tangential Navigation Control algorithm according to wing plane to the tangential distance of target erect-position
Target velocity it is poor, in addition the present speed of wing plane, and with carrying out clipping according to the flying quality of wing plane, obtain the target speed of wing plane
Degree, then as the input of the speed control loop of automatic pilot；
According to wing plane to the vertical drop of target erect-position, in addition the present level of wing plane, and with the flight according to wing plane
It can be carried out clipping, obtain the object height of wing plane, then as the input of the height control loop of automatic pilot；
So far, step formation flight control is completed, next constantly updates tune after the navigation information of leader and wing plane
With corresponding controller, lasting formation flight can be completed.In addition, it is worth mentioning at this point that the target erect-position of wing plane is to connect
Receive what leader location information just calculated later, it is possible to the position for adjusting every frame wing plane in real time as needed, to change
The formation of formation；
According to used control law it can be proved that external loop is also steady when the road Hui Nei of horizontal direction controller is stablized
Fixed, target roll angle can be led with respect to side velocity single order, opposite lateral position second order can be led, and target velocity is with respect to tangential distance
Single order can be led, therefore formation navigation proposed by the invention and control algolithm have preferable stability and continuity, from theory
On ensure that the slickness of wing plane flight path.
Formation flight control logic relationship is as shown in Figure 1.Firstly, the location information of leader is sent to by downlink
Leader location information is sent to each wing plane again by GCS, GCS；Secondly, wing plane is stood according to the scheduled formation of airborne automatic pilot
Position and leader location information, real-time resolving go out target position；Then, wing plane is believed according to the physical location of oneself and target position
Breath calculates and decomposes to obtain the instruction of longitudinal and horizontal course Navigation Control；Finally, calling the position of the automatic pilot of wing plane, appearance
State and rate control module, wing plane control to target position.
Without loss of generality, by taking 1 frame leader and 2 frame wing planes as an example, illustrate proposed by the invention based on location information
The specific implementation process of fixed-wing UAV Formation Flight method and apparatus:
Embodiment unmanned plane:
Without loss of generality, it is formed into columns to three framves with the unmanned plane of model using formation flight method and apparatus of the invention
Flight control.The population parameter of every frame unmanned plane are as follows:
The span is long: 1.8m
Captain: 1.3m
Take-off weight: 4kg
Cruising flight speed: 18m/s
Minimum flying speed: 8m/s
Maximum flying speed: 28m/s
Control surface: aileron, elevator, rudder
Maximum roll angle limitation: 35 degree
The design of hardware and software of automatic formation device:
(1) basic composition
Leader, wing plane are equipped with identical automatic pilot, one suitable for the control of fixed-wing UAV Formation Flight
Typical automatic pilot is as shown in Fig. 2, its basic hardware includes: global positioning system (GNSS), Inertial Measurement Unit
(IMU), airspeed sensor, barometertic altimeter, microprocessor, power supply system, wireless data transmission radio station (aerial end), outside are set
Standby interface board, the various cables for connecting equipment etc.；In order to constitute automatic flight control system, it is also necessary to ground control station (GCS),
Wireless data transmission radio station (ground surface end), the various cables for connecting equipment etc.；
(2) hardware performance
In order to guarantee operational capability, it is desirable that the dominant frequency of microprocessor is higher than 150MHz, random access memory at least 256KB,
In order to guarantee the compatibility of hardware, external apparatus interface includes UART, I2C, SPI etc., and electron speed regulator and steering engine are used
PWM driving, in order to ensure that can control under the state of emergency with manual intervention, remains S.Bus remote control receiver interface.
In order to guarantee the good gesture stability ability of safety, the static roll angle and elevation measurement error of IMU is not more than
0.5 degree, airspeed error is not more than 1m/s in flight envelope.
As shown in figure 3, in order to avoid the collision of two machines caused by navigation error, the position error e of GNSSGNSSIt is necessarily less than volume
The minimum between the adjacent unmanned plane of any two frame in team presets erect-position distance RiniMost with the half length b and half captain l of two machine
The 1/2 of the difference of big value, and in view of the location information of GNSS is discrete sampling, so also to deduct a sampling period
The distance that interior two framves unmanned plane is passed through, further, since the data that receive of wing plane slower than the physical location of leader one clap and
Data transfer delay, thus practical minimum location frequency at least also need it is smaller than the location update frequencies of leader by 1, so GNSS
Position error eGNSSIt is required that calculation formula are as follows:
General GNSS location renewal frequency is 5Hz, pre- when given wing plane and leader so for embodiment unmanned plane
If erect-position distance RiniWhen=10m, most extreme situation is that the speed difference of two machines is maximum, at this moment requires the position error of GNSS
eGNSS<1.6m；The most ideal situation is that the speed difference of two machines is zero, the position error e of GNSS is at this moment requiredGNSS<4.1m。
(3) data link
Wireless data transfer module must have both the sending and receiving function and group-net communication function of data, each in formation
For frame unmanned plane by the system identifier in the datalink network as identification code, the transmitting-receiving frequency of location information must not be lower than GNSS's
Minimum location frequency；In order to facilitate identification, the system identifier of leader is generally defined as 1；
Its geo-location information is packaged into (its data lattice after a piece of news packet together with world's unified time (UTC) by leader
Formula is as shown in figure 4, body matter is [t, Lat, Lon, H]), GCS is sent to by data-link, GCS passes through in text after unpacking
System identifier and message id identify the message；
Only after GCS detects that certain wing plane comes into formation flight mode, so that reducing data-link loads with lotus,
Leader location message is transmitted again and gives the wing plane；
(4) single machine Flight Control Law
The controller of automatic pilot is made of multiple control loops.The logical relation of each control loop is as shown in Figure 5.
The function of control loop is realized by Flight Control Law.
Roll angle control loop can use following Flight Control Law:
qc=Kθ(θc-θ)
Wherein, Kq、KqI、KθRespectively rate of pitch proportional gain, rate of pitch integral gain, pitch angle ratio increase
Benefit, q, qcThe respectively rate of pitch and its instruction value of unmanned plane, θ, θcThe respectively pitch angle and its instruction value of unmanned plane,
δeFor the lifting angle of rudder reflection of unmanned plane；
Pitch loop uses following Flight Control Law:
qc=Kθ(θc-θ)
Wherein, Kq、KqI、KθRespectively rate of pitch proportional gain, rate of pitch integral gain, pitch angle ratio increase
Benefit, q, qcThe respectively rate of pitch and its instruction value of unmanned plane, θ, θcThe respectively pitch angle and its instruction value of unmanned plane,
δeFor the lifting angle of rudder reflection of unmanned plane；
Speed control loop uses following Flight Control Law:
Wherein, KV、KVIThe respectively speed proportional gain of unmanned plane, rate integrating gain, V, VcRespectively unmanned plane
Speed and its instruction value, δtFor the accelerator open degree of unmanned plane；
Height control loop uses following Flight Control Law；
Wherein, KH、KHIRespectively the height ratio gain of unmanned plane, height integral gain, H, HcRespectively unmanned plane
Height and its instruction value；
The navigation algorithm of formation flight:
The navigation relation of formation flight is as shown in Figure 6；
In formation flight, leader is indicated with L, and wing plane is indicated with F, and the target position of wing plane is indicated with T；
(1) it initializes
In order to complete to form into columns, it is necessary first to preset its target erect-position in the flight control system of wing plane: given wing plane phase
To the deflection angle σ of the ground velocity of leaderLT, horizontal distance RT, vertical range HT, in which: σLTIt is positive counterclockwise, HTIt is positive upwards；
(2) ground velocity of leader is calculated
When the flight control system of wing plane receives leader location message packet for the first time, the former state of flight of first holding carries out etc.
To the ground speed vector of leader be calculated according to message package informatin first: when use after receiving leader location message for the second time
Between difference method, according to previous step time tprevWith current time tcurrCorresponding latitude, longitude information: [Lat, Lon]prev
[Lat, Lon]curr, calculate the ground speed V of leaderLComponent:
Wherein: Re=6371004m is the mean radius of the earth；WithRespectively the ground speed of leader is on ground
Manage the component of due north and due east direction.
Next, the ground speed V of leader can be calculatedLThe angle χ of vector and due northLAre as follows:
In order to unifiedly calculate conveniently, χLValue range consolidation to (- π, π], be directed toward due north when be 0, be positive counterclockwise.
(3) world coordinates of target erect-position is calculated
According to the angle of the target erect-position of preset wing plane and leader, horizontal distance and vertical range relationship: σLT、RT、HT,
The position offset of the relatively long machine of target erect-position is calculated using the spin moment tactical deployment of troops first:
Then according to geometrical relationship, difference of latitude Δ lat and difference of longitude from the current location of leader to target erect-position are solved
Δ lon (unit is radian):
Wherein: LatcurrFor leader current time latitude (unit is radian)；
Thus it is possible to acquire wing plane target erect-position latitude of (such as WGS84 coordinate), longitude and altitude under global coordinates system
Are as follows:
LoncurrLongitude for leader at current time, HcurrFor leader current time height；
(4) distance of the calculating wing plane to target erect-position
Firstly, obtaining its location information packet [t, Lat, Lon, H] according to the airborne GNSS system measurement of wing planeF, then, meter
Calculate wing plane to target erect-position latitude and longitude difference of the distance under global coordinates system:
Then calculate wing plane to its target erect-position north orientation range difference Δ x of the position vector under global coordinates systemFTWith east orientation away from
Deviation Δ yFT:
And wing plane is to the distance R of its target erect-positionF:
(5) flight path axis system of leader is established
As shown in fig. 6, according to the course angle information of leader, establishing track in the horizontal plane on the target erect-position of wing plane
Coordinate system.Method particularly includes:
Using wing plane Target Station site as coordinate origin Ok, leader flying speed over the ground horizontal component as xkAxis is square
To, ykAxis is in the horizontal plane perpendicular to xkAxis is directed toward right, zkAxis is perpendicular to OkxkykUnder plane is directed toward, flight path axis system is established
Okxkykzk；
It will be appreciated from fig. 6 that the angle of the flight path axis system and earth axes is χT, and have:
χT=χL
(6) distance of the decomposition wing plane to target erect-position in flight path axis system
Since earth axes turn over angle χTThe flight path axis system of available leader later, it is possible to using following
Formula calculates wing plane to the distance of target erect-position in the component in flight path axis system:
(7) ground speed of wing plane is decomposed in flight path axis system
Similar to the processing method of leader, the ground speed of wing plane is calculated on ground using the difference method to the time
The component of geographical due north and due east direction in coordinate systemWith
Thus it is possible to calculate component of the ground velocity of wing plane in flight path axis system using following coordinate transformation relation:
Then the current ground velocity size of wing plane can also be calculated are as follows:
(8) object height of wing plane is poor
The target erect-position height H of wing planetargetAs its object height, according to the object height of wing plane and present level it
Its difference in height can be calculated in difference:
ΔHF=Htarget-HF,curr
The Navigation Control algorithm of formation flight:
Next, according to decoupling control principle, carrying out lateral, tangential and three directions of height volume according to navigation information
Team's control；
(1) the lateral control formed into columns
Firstly, according to the lateral distance R under the flight path axis system of wing plane to target erect-positionF,y, using following control law, meter
Calculation obtains the target side velocity V of wing planeF,y,c:
Then, according to the target side velocity V of wing planeF,y,cWith the practical side velocity V under flight path axis systemF,yDifference, adopt
With following control law, the target side acceleration a of wing plane is calculatedy,c:
Then, according to the target side acceleration a of wing planey,cWith the crabbing Kinetic model for substrate of aircraft, it is calculated
The target roll angle φ of wing planec:
Then, the maximum allowable roll angle φ limited according to the flying quality of wing planec,max, to target roll angle φcIt carries out
Output violent change:
Then using target roll angle as the input of the roll angle control loop of automatic pilot, wing plane is eliminated to its target
The lateral displacement of erect-position, to complete the lateral formation control of wing plane formation.
(2) Tangents Control formed into columns
According to wing plane to the tangential distance of target erect-position, Tangents Control rule is called, the target of wing plane and leader is calculated
Speed difference, in addition the present speed of wing plane, and with carrying out clipping according to the flying quality of wing plane, the target velocity of wing plane is obtained, so
Afterwards as the input of the speed control loop of automatic pilot；
Specific control law algorithmic formula are as follows:
VF,c=VF,curr+ΔVF,x,c
(3) the height control formed into columns
The object height H of wing planeTThe input value H with control loop can be kept directly as the height of automatic pilotc,
That is:
Hc=HT
The iteration of formation flight navigation and control:
So far, step formation flight control is completed, next constantly updates tune after the navigation information of leader and wing plane
With corresponding controller, lasting formation flight can be completed.In addition, it is worth mentioning at this point that the target erect-position of wing plane is to connect
Receive what leader location information just calculated later, it is possible to the position for adjusting every frame wing plane in real time as needed, thus in sky
It is middle to change the formation formed into columns, realize the evolution in similar wild goose flight course；
The navigation and control of multi rack wing plane in formation flight:
Since wing plane only receives the location information of leader, so being incoherent between multi rack wing plane.Therefore, for multi rack
The case where wing plane, the navigation of every frame wing plane and control flow are as in the present embodiment.
The stability of formation control algorithm proves:
Since formation control keeps keeping and control, height with control, speed with the roll angle of automatic flight control system
It keeps being used as inner looping with control, so first proving the stability of inner looping.
The control structure figure of horizontal course inner looping is as shown in Figure 7, wherein is gained knowledge by flying power it is found that from aileron δa
To the transmission function of the simplification of angular velocity in roll p are as follows:
Wherein:
Wherein: IxIt is unmanned plane around the rotary inertia of the body longitudinal axis；U0Flying speed when flight is balanced for unmanned plane；S is
Wing area；B is length；For the roll guidance derivative of aileron；ClpFor damping in roll derivatives；
Assuming that proportional controller is used only, can be derived by from target angular velocity in roll φcClosed loop to roll angle φ passes
Delivery function are as follows:
It follows that its response frequency are as follows:
Damping are as follows:
Steady-state value are as follows:
φ=φc
So as long as choosing suitable controller gain KpAnd Kφ, horizontal heading system can be made to stablize, and meet expectation
Frequency and damping, and steady-state error be 0.
Next the stability of formation flight control external loop is proved.
By Fig. 8 formation flight control horizontal course external loop control structure Tu Ke get, it is assumed that be used only proportional controller,
Side velocity is that 0, side acceleration instruction value is smaller, and transmission function at this moment is approximated as:
That is:
Notice φcIt is the input of horizontal Heading control inner looping, so the external loop controller will not change inner looping
Stability, but the frequency and damping characteristic of system can be changed.
In addition, according to the simplified expression of external loop control law it can be found that target roll angle φcOpposite side velocity
Vy,cSingle order can be led, with respect to lateral position RF,ySecond order can be led, target velocity VcOpposite tangential distance RF,xSingle order can be led, therefore this
Inventing proposed formation navigation and control algolithm has preferable continuity, theoretically ensure that the light of wing plane flight path
Slip.
The flight simulation and flight test that three machines are formed into columns
(1) flight simulation
In order to verify the availability of the method for the present invention and device, three machine formation flights have been carried out to embodiment unmanned plane first
Simulating, verifying.Wherein, formation erect-position is arranged are as follows: No. 1 machine is set as leader, erect-position of No. 2 machines in formation is on a left side for No. 1 machine
10 meters of rear, the angle from the ground vector of No. 1 machine to the vector of No. 1 machine No. 2 machine of direction are -135 degree, and No. 3 machines are in formation
Erect-position 10 meters of the right back of No. 1 machine, to be directed toward the angle of the vector of No. 3 machines from the ground vector of No. 1 machine to No. 1 machine be 135
Degree.Simulated flight scheme are as follows: No. 1 machine first northwards flies (0 degree of course angle), then completes turning west-bound operation；No. 2 machines it is initial
In (- 50, -50) rice position of No. 1 machine, course heading and No. 1 machine are consistent for position；The initial position of No. 3 machines No. 1 machine (-
10,10) rice position, course angle are 90 degree；
The global position curve of three machine formation flying simulators is as shown in Figure 9；
The relative position curve of three machine formation flying simulators is as shown in Figure 10；
The rolling angular curve of three machine formation flying simulators is as shown in figure 11；
By simulation result as it can be seen that the flight path of 1,2, No. 3 machine is smooth, 2, No. 3 machines pass through under different original states
It has all been entered after about 20 seconds in scheduled formation erect-position, during subsequent turning, can be maintained at well predetermined
In erect-position, illustrate the formation control concept feasible.
(2) flight test
In order to further verify the practicability of the method for the present invention and device, carry out three machine formation flights test, using and fly
The same initial setting up of row emulation, in-flight leader flies by circuitous route, and two frame wing planes follow leader to fly by predetermined scheme；
Three machine formation flight testing grounds are as shown in figure 12；
The trajectory diagram that three machine formation flights test earth station shows is as shown in figure 13.
By results such as the data of flight simulation and flight test, curve and photos as it can be seen that according to the present invention be based on
The fixed-wing UAV Formation Flight method and apparatus of location information completes set formation flight task well.
Claims (4)
1. a kind of fixed-wing UAV Formation Flight device based on location information, it is characterised in that including a frame leader, multi rack
The location information of wing plane and ground control station GCS, leader are sent to ground control station GCS by downlink, and GCS is again leader
Location information is sent to each wing plane；Identical automatic pilot, the automatic pilot packet are equipped on leader and wing plane
GNSS containing global positioning system, Inertial Measurement Unit IMU, airspeed sensor, barometertic altimeter, processor and power supply system；Place
The core that device is automatic pilot is managed, for handling global positioning system GNSS, Inertial Measurement Unit IMU, airspeed sensor, gas
The metrical information of altimeter is pressed, resolves Flight Control Law, and issue control signal to steering engine and motor；Inertial Measurement Unit IMU
For measuring angle, the angular speed, acceleration information of unmanned plane, it is connect by SPI interface with processor；Global positioning system
GNSS is used to measure the global positioning coordinates of unmanned plane, is connect by UART interface with processor；Airspeed sensor is for measuring
Unmanned plane is connected by I2C bus with processor with respect to the speed of front air；Barometertic altimeter is for measuring locating for unmanned plane
The air pressure size of position is connected by I2C bus with processor；Power supply system power supply.
2. a kind of fixed-wing UAV Formation Flight device based on location information according to claim 1, feature exist
It is not more than 0.5 degree in the static roll angle and elevation measurement error of the Inertial Measurement Unit IMU, airspeed error is being flown
It is not more than 1m/s in envelope.
3. a kind of fixed-wing UAV Formation Flight device based on location information according to claim 1, feature exist
In the position error e of the global positioning system GNSSGNSSIt is required that calculation formula are as follows:
Wherein, RiniMinimum between the adjacent unmanned plane of any two frame in formation presets erect-position distance, fGNSSFor the position of leader
Renewal frequency, bj,ljRespectively number half length and half captain of the unmanned plane for being j, bi,liRespectively number the unmanned plane for being i
Half length and half captain, Vmax-VminFor the speed difference of two frame unmanned planes.
4. a kind of fixed-wing UAV Formation Flight side based on location information realized using device described in claim 1
Method, it is characterised in that steps are as follows:
Step 1: after its geo-location information is packaged into a piece of news together with the world unified time by leader, being sent by data-link
To GCS, GCS identifies the message by system identifier in text and message id；The geo-location information includes latitude, warp
Degree and height；
Step 2: after GCS detects that certain wing plane comes into formation flight mode, leader location message transmit to
The wing plane；
Step 3: when wing plane receives leader location message for the first time, former state of flight first being kept to be waited, second of reception
To after leader location message, the course angle of leader is calculated using time differencing method:
Wherein, Re=6371004m is the mean radius of the earth；WithRespectively the ground speed of leader it is geographical just
The component in north and due east direction；[Lat,Lon]prev[Lat, Lon]currRespectively previous step time tprevAnd current time
tcurrCorresponding latitude, longitude information；
Step 4: according to the angle σ of the target erect-position of preset wing plane and leaderLT, horizontal distance RTWith vertical range relationship HT, meter
Calculate the world coordinates of the target erect-position of the wing plane:
The position offset of the relatively long machine of target erect-position is calculated using the spin moment tactical deployment of troops first:
Then according to geometrical relationship, difference of latitude Δ lat and difference of longitude Δ from the current location of leader to target erect-position are solved
Lon:
Latitude of the wing plane target erect-position under global coordinates system, longitude and altitude are calculated using following formula are as follows:
Wherein, HcurrFor leader current time height；
Step 5: on the target erect-position of wing plane, according to the course angle information of leader, flight path axis system is established in the horizontal plane:
Using wing plane Target Station site as coordinate origin Ok, leader flying speed over the ground horizontal component as xkAxis positive direction, yk
Axis is in the horizontal plane perpendicular to xkAxis is directed toward right, zkAxis is perpendicular to OkxkykUnder plane is directed toward, flight path axis system O is establishedkxkykzk；
The angle of the flight path axis system and earth axes is χT, and have:
χT=χL
Step 5a: using component of the distance of following formula calculating wing plane to target erect-position in flight path axis system:
Step 5b: using to the difference method of time be calculated the ground speed of wing plane in earth axes geographical due north and
The component in due east directionWith
Latfollower,prev、Lonfollower,prevAnd Latfollower,curr、Lonfollower,currRespectively wing plane is in the previous step time
tfollower,prevWith current time tfollower,currCorresponding latitude, longitude information；
Component of the ground velocity of wing plane in flight path axis system is calculated using following coordinate transformation relation:
Obtain the current ground velocity size of wing plane are as follows:
Step 5c: its difference in height is calculated according to the difference of the object height of wing plane and present level:
ΔHF=Htarget-HF,curr
Step 6: lateral, tangential and three directions of height formation flights are next carried out according to navigation information and are controlled:
Step 6a: the lateral control of formation
According to the lateral distance R under the flight path axis system of wing plane to target erect-positionF,y, using following control law, wing plane is calculated
Target side velocity VF,y,c:
Wherein,The respectively proportional gain of lateral distance, integral gain and integral operator；
According to the target side velocity V of wing planeF,y,cWith the practical side velocity V under flight path axis systemF,yDifference, using following control
System rule, is calculated the target side acceleration a of wing planey,c:
Wherein,The respectively proportional gain of side velocity, integral gain；
According to the target side acceleration a of wing planey,cWith the crabbing Kinetic model for substrate of aircraft, the mesh of wing plane is calculated
Mark roll angle φc:
Wherein, g is acceleration of gravity；
The maximum allowable roll angle φ limited according to the flying quality of wing planec,max, to target roll angle φcCarry out output violent change:
By target roll angle φcThe input of roll angle control loop as automatic pilot eliminates wing plane to its target erect-position
Lateral displacement, to complete the lateral formation control of wing plane formation；
Step 6b: the Tangents Control of formation
According to the tangential distance R of wing plane to target erect-positionF,x, Tangents Control rule is called, the target speed of wing plane and leader is calculated
Spend poor Δ VF,x,c, in addition the present speed V of wing planeF,curr, obtain the target velocity V of wing planeF,c, then as automatic Pilot
The input of the speed control loop of instrument；
Specific control law algorithmic formula are as follows:
VF,c=VF,curr+ΔVF,x,c
Wherein,For the proportional gain of tangential distance；
Step 6c: the height control of formation
By the object height H of wing planeTThe input value H with control loop is kept directly as the height of automatic pilotc, it may be assumed that
Hc=HT。
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