CN110262553B - Fixed-wing unmanned aerial vehicle formation flying method based on position information - Google Patents

Fixed-wing unmanned aerial vehicle formation flying method based on position information Download PDF

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CN110262553B
CN110262553B CN201910566779.6A CN201910566779A CN110262553B CN 110262553 B CN110262553 B CN 110262553B CN 201910566779 A CN201910566779 A CN 201910566779A CN 110262553 B CN110262553 B CN 110262553B
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wing plane
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CN110262553A (en
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王睿
周洲
王正平
丁昱心
陈明哲
邸伟承
孙蓬勃
童心雨
郑黎明
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Northwestern Polytechnical University
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    • G05—CONTROLLING; REGULATING
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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
    • 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 relates to a device and a method for automatically forming a formation of fixed-wing unmanned aerial vehicles based on position information, wherein the formation control aims at controlling each wing plane to a target station and has the same ground speed and direction as long planes. Firstly, a star-shaped one-to-many communication network is established, the position information of the lead aircraft is sent to a Ground Control Station (GCS) through a downlink, and the GCS sends the position information of the lead aircraft to various wing aircraft; secondly, solving a target position coordinate in real time by the wing plane according to the preset position information of the formation station and the tractor; thirdly, calculating and decomposing the wing plane according to the actual position and the target position information of the wing plane to obtain longitudinal and horizontal navigation information; then, calling a formation flight control algorithm to obtain the target attitude, speed and height of a wing plane; finally, a posture, speed and position control module of the automatic driving instrument of the wing plane is called to control the wing plane to the target position.

Description

Fixed-wing unmanned aerial vehicle formation flying method based on position information
Technical Field
The invention relates to the technical field of unmanned aerial vehicle formation flight control, in particular to a low-cost fixed-wing unmanned aerial vehicle automatic formation flight method and device based on position information.
Background
With the continuous development of aviation technology, automatic control technology and communication technology, unmanned aerial vehicles are increasingly widely applied in military and civil fields. One contradiction exists in practical use, and from the viewpoint of easiness in storage, transportation, taking off and landing, the unmanned aerial vehicle platform is expected to be lighter and smaller as well as better; from the task-performing point of view, it is desirable to have as much load as possible, which means that the drone platform needs to be as large as possible. One of the modes for solving the contradiction is to dispersedly install the load on a plurality of small unmanned aerial vehicles, and combine the small unmanned aerial vehicles in a cooperative working mode among the multiple unmanned aerial vehicles, so that the small unmanned aerial vehicles have the advantages of flexibility and convenience and the advantages of high load capacity of large unmanned aerial vehicles. However, a problem with this approach is that multiple cooperating drones are required to be able to automatically form a formation flight. By adopting a reasonable formation flying array, the eddy current of the front machine can be fully utilized, and the aerodynamic efficiency of the rear machine is improved, so that the voyage and the voyage time of the unmanned aerial vehicle group are improved.
In the field of formation flight of fixed-wing unmanned aerial vehicles, a distributed formation flight control method [ C ] of a thirty-th chinese control conference, china, a smoke table, 2011.) for fixed-wing unmanned aerial vehicles based on local relative state information describes a given formation geometric configuration by using a formation diagram based on a relative position as reference. According to the requirements of the formation map, a decentralized formation flight control strategy based on information consistency is provided. The control strategy of the unmanned aerial vehicle formation and formation control system consists of two parts, wherein one part is used for carrying out speed and course synchronization by utilizing relative speed and relative course information between the unmanned aerial vehicles, and the other part is used for carrying out formation and formation maintenance by utilizing relative position information between the unmanned aerial vehicles. However, the method needs to obtain the relative speed and the course information between the unmanned aerial vehicles, and the unmanned aerial vehicle is required to have the course control capability, that is, the unmanned aerial vehicle needs to have strong potential sensing and control capability, so that the practicability on the low-cost unmanned aerial vehicle is not strong.
The invention discloses a fixed-wing unmanned aerial vehicle formation guidance device and a cooperative tracking guidance method, which are disclosed in the document (Zhangmin, Huangkun, Xiayangzhen, Chengxin. a fixed-wing unmanned aerial vehicle formation guidance device and a cooperative tracking guidance method [ P ]. the invention of the patent of the people's republic of China, CN 107422748A, 2017.1201.), and belongs to the technical field of unmanned aerial vehicle flight control. The invention designs a guidance method for cooperatively tracking a ground target on the basis of designing an embedded computer device for unmanned aerial vehicle formation guidance, and firstly, a guidance method for automatically tracking the ground target by a Leader unmanned aerial vehicle is designed and stability analysis is carried out; secondly, designing a tracking guidance method for the automatic tracking Leader unmanned aerial vehicle of the Follower unmanned aerial vehicle and a cooperative guidance method for formation phase control, and carrying out stability analysis; finally, simulation verification is respectively carried out on the tracking problems of the static target, the uniform linear motion target and the variable speed motion target. The method can realize automatic cooperative tracking of various ground targets, and the tracking performance is obviously superior to that of a guidance method adopting a classical Lyapunov vector method under the same condition. However, the method needs to use the heading angle information of the unmanned aerial vehicle, and the tracking algorithm used is based on the guidance law of angular velocity and acceleration, which is quite different from the formation control method based on the position information provided by the invention.
The invention discloses a method and a device for controlling unmanned aerial vehicle formation based on an artificial potential field method (Zhang school, Nie respect, and the device [ P ] invented by the people's republic of China, CN 108459612A, 2018.08.28.) and relates to a method and a device for controlling unmanned aerial vehicle formation based on the artificial potential field method, wherein the ideal position of each unmanned aerial vehicle in the formation in a global NED coordinate system is determined by converting the formation coordinate system into the global NED coordinate system; determining the gravity applied to the unmanned aerial vehicle by the preset target position according to the preset target position of the unmanned aerial vehicle and the ideal position of the unmanned aerial vehicle; determining repulsion force applied to the unmanned aerial vehicle by the obstacle according to the speed vector of the unmanned aerial vehicle and the speed vector of the obstacle corresponding to the unmanned aerial vehicle; determining resultant force borne by the unmanned aerial vehicle according to the attractive force borne by the unmanned aerial vehicle and repulsive force exerted on the unmanned aerial vehicle by all obstacles; according to resultant force received by the unmanned aerial vehicle and flight state information of the unmanned aerial vehicle and surrounding wing aircrafts, the motion trend of the unmanned aerial vehicle is determined, so that the controller carries out flight control on the unmanned aerial vehicle formation according to a motion model of the unmanned aerial vehicle. However, the invention belongs to the field of multi-rotor unmanned aerial vehicles, the proposed method is difficult to be applied to fixed-wing unmanned aerial vehicles with incomplete kinematic constraint characteristics with positive speed limitation, and the proposed device has only basic functional description and does not relate to entities.
The invention discloses a large-scale fixed-wing unmanned aerial vehicle formation method (P), a patent of the invention of the people's republic of China, CN 109002056A, 2018.12.14), relates to the technical field of formation flight, and discloses a large-scale fixed-wing unmanned aerial vehicle formation method. The method comprises the following steps: step 1: selecting the radii of a starting circle of the flight path at the starting point and an ending circle of the target point, and selecting the directions of the starting circle and the ending circle; step 2: establishing a cost matrix of formation aggregation, and realizing target point distribution by adopting an iterative optimization algorithm of the matrix; and step 3: and selecting the uniform arrival time of all the aircrafts, and calculating the control speed of each aircraft. The unmanned aerial vehicle formation method comprises an air route planning algorithm, an aggregation algorithm and a formation maintenance automatic control pilot, and effectively realizes that a plurality of unmanned aerial vehicles reach required formation positions from randomly distributed positions according to optimal routes at the same time through a small amount of calculation and control of the aircrafts, and then the formation is kept flying. The method gives more description on how the unmanned aerial vehicles enter the formation, but the specific formation maintaining and controlling method and the implementing device thereof are not described.
The invention of a fixed wing unmanned aerial vehicle formation tracking guidance method [ P ] based on a ranging signal, a patent of the invention of the people's republic of China, CN 108227736A, 2018.06.29.) provides a fixed wing unmanned aerial vehicle formation tracking guidance method based on a ranging signal, which firstly designs a guidance model for a single unmanned aerial vehicle to automatically track a ground target, and secondly designs a phase and speed control cooperative guidance model for single neighbor formation and a phase and speed control cooperative guidance model for double neighbor formation respectively; and finally, selecting a corresponding guidance model as a guidance strategy of each unmanned aerial vehicle according to the tracking requirement of the ground static target. Different from other guidance methods, the method can realize automatic cooperative tracking of the ground static target by only using the distance sensor. The invention is highly dependent on the airborne range radar and the output signal thereof, and is also difficult to be applied to small-sized low-cost unmanned aerial vehicles.
Disclosure of Invention
Technical problem to be solved
In order to avoid the defects of the prior art, the invention provides a device and a method for forming a formation of fixed-wing unmanned aerial vehicles based on position information.
Technical scheme
A fixed wing unmanned aerial vehicle formation flying device based on position information is characterized by comprising a captain aircraft, a plurality of wing aircraft and a ground control station GCS, wherein the position information of the captain aircraft is sent to the ground control station GCS through a downlink, and the GCS sends the position information of the captain aircraft to each wing aircraft; the same automatic pilot is equipped on both the captain plane and the bureau plane, and the automatic pilot comprises a global positioning system GNSS, an inertial measurement unit IMU, an airspeed sensor, an air pressure altimeter, a processor and a power supply system; the processor is the core of the autopilot and is used for processing the measurement information of a global positioning system GNSS, an inertial measurement unit IMU, an airspeed sensor and a barometric altimeter, resolving a flight control law and sending control signals to a steering engine and a motor; the inertial measurement unit IMU is used for measuring the angle, the angular velocity and the acceleration information of the unmanned aerial vehicle and is connected with the processor through the SPI interface; the global positioning system GNSS is used for measuring global positioning coordinates of the unmanned aerial vehicle and is connected with the processor through the UART interface; the airspeed sensor is used for measuring the speed of the unmanned aerial vehicle relative to the air in front and is connected with the processor through an I2C bus; the air pressure altimeter is used for measuring the air pressure of the position where the unmanned aerial vehicle is located and is connected with the processor through an I2C bus; the power supply system supplies power.
And the measurement errors of the static rolling angle and the pitching angle of the inertial measurement unit IMU are not more than 0.5 degree, and the airspeed error is not more than 1m/s within the flight envelope range.
The positioning error e of the global positioning system GNSSGNSSThe required calculation formula is:
Figure BDA0002109837210000041
wherein R isiniFor the minimum preset station distance, f, between any two adjacent unmanned aerial vehicles in a formationGNSSFor the location update frequency of the longeron, bj,ljHalf span length and half machine length of the unmanned aerial vehicle numbered j, respectively, bi,liHalf span length and half machine length, V, of unmanned aerial vehicle numbered i, respectivelymax-VminIs the speed difference of two unmanned planes.
A fixed wing unmanned aerial vehicle formation flying method based on position information is characterized by comprising the following steps:
step 1: the leader packs the global position information and the world uniform time into a message and then sends the message to the GCS through a data chain, and the GCS identifies the message through the system ID and the message ID in the message; the global position information comprises latitude, longitude and altitude;
step 2: when the GCS detects that a certain wing plane has entered into formation flight mode, it packs the long plane position message to that wing plane;
and step 3: when a wing plane receives the position message of a long plane for the first time, the wing plane firstly keeps the original flight state for waiting, and after the position message of the long plane is received for the second time, the course angle of the long plane is calculated by using a time difference method:
Figure BDA0002109837210000051
Figure BDA0002109837210000052
wherein R ise6371004m, the average radius of the earth;
Figure BDA0002109837210000056
and
Figure BDA0002109837210000057
the components of the ground speed of the long plane in the north and east directions of the geography respectively; [ Lat, Lon ]]prevAnd [ Lat, Lon]currAre respectively asLast step time tprevAnd the current time tcurrCorresponding latitude and longitude information;
and 4, step 4: included angle sigma between target station and tractor of predefined wing planeLTHorizontal distance RTAnd the vertical distance relation HTThe global coordinates of the target station of this bureaucratic are calculated:
firstly, calculating the position offset of a target station relative to a long machine by adopting a rotation matrix method:
Figure BDA0002109837210000053
then according to the geometrical relationship, solving the latitude difference Deltat and longitude difference Dellon from the current position of the long machine to the target station position:
Figure BDA0002109837210000054
calculating the latitude, longitude and altitude of a target station of a bureaucratic in a global coordinate system by adopting the following formula:
Figure BDA0002109837210000055
wherein HcurrThe height of the long machine at the current moment is taken as the height of the long machine;
and 5: on the target station of a wing plane, a track coordinate system is established on the horizontal plane according to the course angle information of a leader:
with the locus of a target station of a wing plane as the origin of coordinates OkThe horizontal component of the ground flying speed of the long plane is taken as xkPositive direction of axis, ykThe axis being perpendicular to x in the horizontal planekAxis pointing to the right, zkAxis perpendicular to OkxkykThe plane points downwards and establishes a track coordinate system Okxkykzk(ii) a The included angle between the track coordinate system and the ground coordinate system is XTAnd has:
χT＝χL
step 5 a: calculating the component of the distance from the bureaucratic to the target station in the trajectory coordinate system using the formula:
Figure BDA0002109837210000061
Figure BDA0002109837210000062
Figure BDA0002109837210000063
and step 5 b: calculating the components of the speed of the wing plane to the ground in the directions of the geographical north and the east in the ground coordinate system by adopting a differential method to the time
Figure BDA0002109837210000064
And
Figure BDA0002109837210000065
Figure BDA0002109837210000066
Latfollower,prev、Lonfollower,prevand Latfollower,curr、Lonfollower,currRespectively as a bureaucratic machine at a time t of the previous stepfollower,prevAnd the current time tfollower,currCorresponding latitude and longitude information;
calculating the component of the ground speed of a wing plane in the track coordinate system by adopting the following coordinate conversion relation:
Figure BDA0002109837210000067
the current ground speed of the wing plane is:
Figure BDA0002109837210000068
and step 5 c: the difference in height is calculated from the difference between the target height and the current height of the wing plane:
ΔHF＝Htarget-HF,curr
step 6: and then carrying out formation flying control in three directions of lateral direction, tangential direction and height according to the navigation information:
step 6 a: lateral control of formation
Lateral distance R according to track coordinate system from wing plane to target stationF,yThe target lateral speed V of a wing plane is calculated by adopting the following control lawF,y,c：
Figure BDA0002109837210000071
Wherein the content of the first and second substances,
Figure BDA0002109837210000072
proportional gain, integral gain and integral operator of the lateral distance respectively;
target lateral speed V according to wing planeF,y,cActual lateral velocity V under track coordinate systemF,yThe difference is calculated to obtain the target lateral acceleration a of the wing plane by adopting the following control lawy,c：
Figure BDA0002109837210000073
Wherein the content of the first and second substances,
Figure BDA0002109837210000074
proportional gain and integral gain of the lateral speed are respectively;
target lateral acceleration a according to wing planey,cCalculating a target roll angle phi of the wing plane according to a relation formula of lateral flight dynamics of the planec：
Figure BDA0002109837210000075
Wherein g is the acceleration of gravity;
maximum permissible roll angle phi limited by the flight performance of wing aircraftc,maxFor target roll angle phicAnd (3) carrying out output amplitude limiting:
Figure BDA0002109837210000076
roll the target over an angle phicAs the input of the roll angle control circuit of the automatic pilot, the lateral displacement of the wing plane to its target station is eliminated, thus completing the lateral formation control of the wing plane formation;
step 6 b: tangential control of formation
According to the tangential distance R of wing plane to target stationF,xCalling tangential control law and calculating the target speed difference delta V of wing plane and long planeF,x,cPlus the current speed V of a wing planeF,currObtaining target speed V of a wing planeF,cThen, the speed control loop is used as the input of the speed control loop of the automatic pilot;
the specific control law algorithm formula is as follows:
Figure BDA0002109837210000081
VF,c＝VF,curr+ΔVF,x,c
wherein the content of the first and second substances,
Figure BDA0002109837210000082
proportional gain as tangential distance;
step 6 c: height control of formation
Target height H of bureaucratic planeTDirectly as input value H for the height maintenance and control loop of an autopilotcNamely:
Hc＝HT。
advantageous effects
The fixed-wing unmanned aerial vehicle formation flying device and method based on the position information provided by the invention verify the feasibility of the method and device provided by the invention by adopting flight simulation and three-airplane formation flying tests. The beneficial effects are as follows:
(1) on the basis of only depending on an autopilot and position information thereof, the automatic formation flying of the fixed-wing unmanned aerial vehicle is realized, and the method has the advantages of low hardware requirement and simple and easy realization of navigation and control methods;
(2) the navigation mode based on the rectangular coordinate system is adopted, the possible singular phenomenon after the wing plane approaches the target station position is avoided, and the provided formation navigation and control algorithm in the horizontal plane is theoretically proved that when the inner loop is stable, the outer loop is also stable, and the command of the outer loop is continuous and smooth.
Drawings
FIG. 1 is a schematic diagram of the present invention of the transmission of flight and position information for formation of fixed wing drones
FIG. 2 is a hardware schematic diagram of a fixed-wing drone formation flight control device of the present invention
FIG. 3 is a diagram showing the relationship between the size and the relative distance between two adjacent unmanned planes
FIG. 4 is a data structure of message packet of the long machine location information of the present invention
FIG. 5 is a control loop logic diagram of the present invention
Fig. 6 is an exploded view of the interrelationship and the coordinates of the long plane, the wing plane and their target positions according to the invention
FIG. 7 is a block diagram of a roll angle maintenance and control loop (inner loop) of a formation flight control system
FIG. 8 is a block diagram of a lateral hold and control loop (outer loop) of the formation flight control system
FIG. 9 is a global position graph of a 3-machine formation flight simulation
FIG. 10 is a graph of relative position for 3-machine formation flight simulation
FIG. 11 is a roll angle graph of a 3-machine formation flight simulation
FIG. 12 is a photograph of a 3-machine formation flight test site
FIG. 13 is a diagram of the trajectory displayed by the ground station for the flight test of the 3-plane fleet
Detailed Description
The invention will now be further described with reference to the following examples and drawings:
the invention provides a low-cost automatic formation flying method and device of fixed-wing unmanned aerial vehicles based on position information. The aim of formation control is to control each wing plane to a target station, with the same magnitude and direction of speed to the ground as the longplane. Firstly, a star-shaped one-to-many communication network is established, the position information of the lead aircraft is sent to a Ground Control Station (GCS) through a downlink, and the GCS sends the position information of the lead aircraft to various wing aircraft; secondly, solving a target position coordinate in real time by the wing plane according to the preset position information of the formation station and the tractor; thirdly, calculating and decomposing the wing plane according to the actual position and the target position information of the wing plane to obtain longitudinal and horizontal navigation information; then, calling a formation flight control algorithm to obtain the target attitude, speed and height of a wing plane; finally, a posture, speed and position control module of the automatic driving instrument of the wing plane is called to control the wing plane to the target position.
The machines of the farm type and the bureaucratic type are all equipped with automatic pilots, the hardware of each automatic pilot at least comprising: the system comprises a global positioning system (GNSS), an Inertial Measurement Unit (IMU), an airspeed sensor, a barometric altimeter, a central processing unit, an external equipment interface board (PCB), a power supply module and a wireless data transmission module. (wherein, the processor is the core of the automatic pilot, which is used for processing the measurement information of the sensor, resolving the flight control law and sending control signals to the steering engine and the motor; the PCB is responsible for connecting the processor with the external devices such as the flight parameter measurement sensor, the flight control actuator, etc.; the IMU is used for measuring the angle, the angular velocity and the acceleration information of the unmanned aerial vehicle and is connected with the PCB through the SPI interface; the GNSS is used for measuring the global positioning coordinate of the unmanned aerial vehicle and is connected with the PCB through the first UART interface; the data transmission radio station is responsible for the bidirectional transmission between the information and the command control command between the unmanned aerial vehicle and the ground control station and is connected with the PCB through the second UART interface; the airspeed meter is used for measuring the speed of the unmanned aerial vehicle relative to the front air and is connected with the PCB through the I2C bus; the barometer is used for measuring the air pressure of the position where the unmanned aerial vehicle is located and is connected with the PCB through the I2C bus; the remote control receiver is used for receiving the flight control command of the manipulator, the PCB is connected with the bus through an S.Bus bus; the motor is used for driving the propeller to generate power required by the flight of the unmanned aerial vehicle, and the power is directly controlled by the electronic speed regulator; the steering engine is used for driving a flight control surface to generate the aerodynamic force and moment required by the flight control of the unmanned aerial vehicle; the electronic speed regulator and the steering engine are directly controlled after digital signals output by the processor are converted into PWM analog signals; the power supply system is responsible for supplying power to the automatic pilot and the electronic speed regulator; and the electronic speed regulator supplies power to the steering engine after being subjected to voltage reduction by the BEC.
In order to avoid collision caused by navigation errors, the positioning error of the GNSS must be smaller than 1/2, which is the difference between the minimum preset station distance between any two adjacent drones in the formation and the maximum value of the half-spread length and the half-machine length of the two drones; in addition, because the fixed-wing unmanned aerial vehicle has a larger forward flight speed, and the positioning information of the GNSS is discretely sampled and issued, the distance traveled by two unmanned aerial vehicles in one sampling period is also deducted when the positioning error of the GNSS is calculated in order to eliminate the influence of sampling asynchronization; in addition, since the data received by the wing plane is one beat slower than the actual position of the long plane and the data transmission delay, the actual minimum positioning frequency at least needs to be 1 less than the position updating frequency of the long plane;
the flight control law of the autopilot at least needs to have the functions of roll angle control, pitch angle control, speed control and altitude control;
the wireless data transmission module has the functions of receiving and transmitting data and networking communication, each unmanned aerial vehicle in a formation uses a system ID in the data chain network as an identification code, and the receiving and transmitting frequency of the position information cannot be lower than the minimum positioning frequency of the GNSS;
the long machine packs the global positioning coordinate information (latitude, longitude and altitude) together with the universal time into a message and sends the message to the GCS through a data chain, and the GCS identifies the message through the system ID and the message ID in the message;
in order to reduce the load carried by the data chain, a leader location message is sent in packets to a certain leader only after the GCS has detected that this leader has entered formation flight mode;
when a wing plane receives the position message of a long plane for the first time, the wing plane firstly keeps the original flight state for waiting, and after the position message of the long plane is received for the second time, the course angle of the long plane is calculated by using a time difference method;
the global coordinate of the target station of a wing plane is calculated by the wing plane according to information of formation station (distance to the pilot plane, station angle, altitude difference) and position and course angle of the pilot plane preset in the airborne autopilot;
on the target station of a wing plane, according to the course angle information of a leader, a track coordinate system is established on the horizontal plane, the displacement from the wing plane to the target station and the ground speed vector of the wing plane are resolved in the coordinate system, and the navigation calculation of the relative relationship is completed;
then, formation flying control in three directions of lateral direction, tangential direction and height is carried out according to the navigation information;
calculating the target lateral speed of a wing plane by adopting a navigation control algorithm according to the lateral distance from the wing plane to the target station;
calculating the target lateral acceleration of the wing plane by adopting a lateral navigation control algorithm according to the difference between the target lateral speed and the actual lateral speed of the wing plane;
calculating a target roll angle of a wing plane according to a relational expression between the target lateral acceleration of the wing plane and the flight dynamics;
according to the flight performance limit of the wing plane, the target roll angle is output and limited, and then the target roll angle is used as the input of a roll angle control loop of an automatic pilot, so that the lateral position control of a wing plane formation is completed;
according to the tangential distance from a wing machine to a target station, a tangential navigation control algorithm is adopted to calculate and obtain the target speed difference between the wing machine and a director, the current speed of the wing machine is added, the amplitude limit is carried out according to the flight performance of the wing machine, and the target speed of the wing machine is obtained and then is used as the input of a speed control loop of an automatic pilot;
according to the vertical height difference from a wing plane to a target station plus the current height of the wing plane, carrying out amplitude limiting according to the flight performance of the wing plane to obtain the target height of the wing plane, and then taking the target height as the input of a height control loop of an automatic pilot;
thus, the one-step formation flight control is completed, and the continuous formation flight can be completed by calling the corresponding controller after continuously updating the navigation information of the fans and the wing fans. In addition, the target station position of a wing plane is calculated after receiving the position information of a leader, so that the position of each wing plane can be adjusted in real time as required, thereby changing the formation of a formation;
according to the adopted control law, it can be proved that when the inner loop of the lateral course controller is stable, the outer loop is also stable, the target roll angle is first-order conductible relative to the lateral speed, second-order conductible relative to the lateral position, and the target speed is first-order conductible relative to the tangential distance, so that the formation navigation and control algorithm provided by the invention has better stability and continuity, and theoretically ensures the smoothness of the flight trajectory of the wing aircraft.
The formation flight control logic relationship is shown in fig. 1. Firstly, the position information of the long plane is sent to the GCS through a downlink, and the GCS sends the position information of the long plane to each bureaucratic plane; secondly, solving a target position in real time by the wing plane according to the position information of the formation station and the tractor preset by the airborne automatic pilot; then, the wing plane calculates and decomposes the actual position and the target position information to obtain a longitudinal navigation control instruction and a horizontal navigation control instruction; finally, a position, attitude and speed control module of the automatic pilot of the wing plane is called to control the wing plane to a target position.
Without loss of generality, taking 1 captain plane and 2 bureaucratic planes as examples, a specific implementation process of the method and the device for formation flight of fixed-wing unmanned aerial vehicles based on position information, which are provided by the invention, is described as follows:
an embodiment unmanned aerial vehicle:
without loss of generality, the formation flying method and the formation flying device are adopted to carry out formation flying control on three unmanned aerial vehicles with the same model. The general parameters of each unmanned aerial vehicle are as follows:
and (3) wingspan length: 1.8m
Machine length: 1.3m
Takeoff weight: 4kg of
Cruising flight speed: 18m/s
Minimum flying speed: 8m/s
Maximum flying speed: 28m/s
Control surface: aileron, elevator, rudder
Limiting the maximum roll angle: 35 degree
And (3) designing software and hardware of the automatic formation device:
(1) basic composition
Both the juvenders and the bureaucratic planes are equipped with the same autopilot, and a typical autopilot suitable for the flight control of a formation of fixed-wing drones is shown in fig. 2, whose basic hardware comprises: the system comprises a global positioning system (GNSS), an Inertial Measurement Unit (IMU), an airspeed sensor, an air pressure altimeter, a microprocessor, a power supply system, a wireless data transmission radio station (air terminal), an external equipment interface board, various cables for connecting equipment and the like; in order to constitute an automatic flight control system, various cables for connecting equipment, a Ground Control Station (GCS), a wireless data transmission station (ground end), and the like are also required;
(2) hardware performance
In order to ensure the computing capability, the main frequency of a microprocessor is required to be higher than 150MHz, at least 256KB of random memory is required, in order to ensure the compatibility of hardware, an external device interface comprises UART, I2C, SPI and the like, PWM driving is adopted for an electronic speed regulator and a steering engine, and in order to ensure manual intervention control in an emergency state, an S.bus remote controller receiver interface is reserved.
In order to ensure safe and good attitude control capability, the measurement errors of the static rolling angle and the pitching angle of the IMU are not more than 0.5 degree, and the airspeed error is not more than 1m/s within the flight envelope range.
As shown in FIG. 3, GNSS fixes avoid two-machine collision caused by navigation errorBit error eGNSSMust be less than the minimum preset station distance R between any two adjacent unmanned aerial vehicles in a formation ini1/2 of the difference between the maximum of the half extended length b and the half extended length l of the two planes, and taking into account that the positioning information of the GNSS is discretely sampled, the distance traveled by the two drones in one sampling period is also deducted, and since the data received by the plane is slower by one beat than the actual position of the plane and the data transmission delay, the actual minimum positioning frequency at least needs to be 1 less than the position updating frequency of the plane, so the positioning error e of the GNSS isGNSSThe required calculation formula is:
Figure BDA0002109837210000141
the general GNSS position update frequency is 5Hz, so for the embodiment drone, when given the preset station distance R of the wing plane and the grand planeiniWhen the maximum speed difference between the two GNSS devices is 10m, the positioning error e of the GNSS device is requiredGNSS<1.6 m; the optimal situation is that the speed difference between the two machines is zero, and the positioning error e of the GNSS is requiredGNSS<4.1m。
(3) Data link
The wireless data transmission module has the functions of receiving and transmitting data and networking communication, each unmanned aerial vehicle in a formation uses a system ID in the data chain network as an identification code, and the receiving and transmitting frequency of the position information cannot be lower than the minimum positioning frequency of the GNSS; for the convenience of identification, the system ID of the long machine is generally defined as 1;
the leader packages the global position information and Universal Time (UTC) into a message packet (the data format is shown in FIG. 4, the text content is [ t, Lat, Lon, H ]), and sends the message packet to the GCS through a data link, and the GCS unpacks the message packet and identifies the message through the system ID and the message ID in the message;
in order to reduce the load carried by the data chain, the slat plane location message is sent packetized again to a slat plane only after the GCS has detected that this slat plane has entered the formation flight mode;
(4) single aircraft control law
The controller of the autopilot consists of a plurality of control loops. The logical relationship of the individual control loops is shown in fig. 5. The function of the control loop is implemented by the flight control law.
The roll angle control loop may employ the following flight control laws:
Figure BDA0002109837210000142
qc＝Kθ(θc-θ)
wherein, Kq、KqI、KθRespectively a pitch angle velocity proportional gain, a pitch angle velocity integral gain, a pitch angle proportional gain, qcRespectively the pitch angle speed of the unmanned aerial vehicle and the command value thereof, thetacRespectively the pitch angle of the unmanned aerial vehicle and the command value delta thereofeIs the elevator deflection angle of the unmanned aerial vehicle;
the pitch angle control loop employs the following flight control laws:
Figure BDA0002109837210000151
qc＝Kθ(θc-θ)
wherein, Kq、KqI、KθRespectively a pitch angle velocity proportional gain, a pitch angle velocity integral gain, a pitch angle proportional gain, qcRespectively the pitch angle speed of the unmanned aerial vehicle and the command value thereof, thetacRespectively the pitch angle of the unmanned aerial vehicle and the command value delta thereofeIs the elevator deflection angle of the unmanned aerial vehicle;
the speed control loop employs the following flight control laws:
Figure BDA0002109837210000152
wherein, KV、KVIProportional gain of speed, integral gain of speed, V, V, respectively, for the dronecRespectively the speed of the drone and its command value, deltatThe throttle opening degree of the unmanned aerial vehicle;
the altitude control loop adopts the following flight control law;
Figure BDA0002109837210000153
wherein, KH、KHIRespectively, altitude proportional gain, altitude integral gain, H, H of the dronecRespectively the height of the unmanned aerial vehicle and the instruction value thereof;
navigation algorithm for formation flight:
the navigational relationship of formation flight is shown in FIG. 6;
in formation flight, the growers are represented by L, the bureaucratic machines are represented by F, and the target positions of the bureaucratic machines are represented by T;
(1) initialization
To complete the formation, it is first necessary to preset its target station in the flight control system of the wing plane: angle of deflection sigma of a given wing plane with respect to the ground speed of a long planeLTHorizontal distance RTVertical distance HTWherein: sigmaLTCounterclockwise is positive, HTUpward is positive;
(2) calculating the ground speed of the computer
When a flight control system of a wing plane receives a position message packet of a leader for the first time, the flight control system firstly keeps the original flight state to wait, and after receiving the position message of the leader for the second time, the flight control system firstly calculates the ground speed vector of the leader according to the information of the message packet: adopting a time difference method according to the time t of the last stepprevAnd the current time tcurrCorresponding latitude and longitude information: [ Lat, Lon ]]prevAnd [ Lat, Lon]currCalculating the ground speed V of the host computerLComponent (b):
Figure BDA0002109837210000161
wherein: re6371004m, the average radius of the earth;
Figure BDA0002109837210000162
and
Figure BDA0002109837210000163
the components of the ground speed of the long aircraft in the geodetic north and east directions, respectively.
Next, the ground speed V of the long plane can be calculatedLVector and north angle χLComprises the following steps:
Figure BDA0002109837210000164
for unified calculation convenience, the Chi is processedLThe value range of (a) is reduced to (-pi, pi)]When pointing to north, it is 0, and counterclockwise is positive.
(3) Calculating global coordinates of a target site
According to the relation of the included angle, the horizontal distance and the vertical distance between the target station of a preset wing plane and a long plane: sigmaLT、RT、 HTFirstly, calculating the position offset of the target station relative to the long machine by adopting a rotation matrix method:
Figure BDA0002109837210000165
then according to the geometrical relation, solving the latitude difference delta lat and longitude difference delta lon (the unit is radian) from the current position of the long crane to the target station position:
Figure BDA0002109837210000166
wherein: latcurrThe latitude (radian) of the long machine at the current moment is taken as the unit;
the latitude, longitude and altitude of the bureaucratic target station in the global coordinate system (e.g. WGS84 coordinates) can then be found as:
Figure BDA0002109837210000171
Loncurrlongitude of the long machine at the current time, HcurrThe height of the long machine at the current moment is taken as the height of the long machine;
(4) calculating the distance from a wing plane to a target station
Firstly, a position information packet [ t, Lat, Lon, H ] is obtained according to the measurement of an airborne GNSS system of a wing plane]FThen, the difference in latitude and longitude of the distance from the bureaucratic to the target station in the global coordinate system is calculated:
Figure BDA0002109837210000172
then calculating the difference delta x of the north direction distance of the director of the bureaucratic plane to the target station position of the bureau coordinate systemFTAnd east distance difference DeltayFT：
Figure BDA0002109837210000173
And the distance R of a wing plane to its target stationF：
Figure BDA0002109837210000174
(5) Establishing a track coordinate system of a long machine
As shown in fig. 6, at the target station of a bureaucratic plane, a track coordinate system is established on the horizontal plane according to the heading angle information of the pilot plane. The specific method comprises the following steps:
with the locus of a target station of a wing plane as the origin of coordinates OkThe horizontal component of the ground flying speed of the long plane is taken as xkPositive direction of axis, ykThe axis being perpendicular to x in the horizontal planekAxis pointing to the right, zkAxis perpendicular to OkxkykThe plane points downwards and establishes a track coordinate system Okxkykzk；
As can be seen from FIG. 6, the angle between the track coordinate system and the ground coordinate system is χTAnd has:
χT＝χL
(6) distance between bureaucratic plane and target station in track coordinate system
Because the ground coordinate system rotates by an angle xTThe track coordinate system of the leader can be obtained later, so the component of the distance from the wing plane to the target station in the track coordinate system can be calculated by adopting the following formula:
Figure BDA0002109837210000181
(7) depreciation of ground speed of wing aircraft in track coordinate system
Similar to the processing method of the longplane, the components of the groundspeed of the bureaucratic plane in the directions of geographical north and east in the ground coordinate system are calculated by adopting a difference method of time
Figure BDA0002109837210000182
And
Figure BDA0002109837210000183
Figure BDA0002109837210000184
the component of the ground speed of a wing in the track coordinate system can then be calculated with the following coordinate transformation relation:
Figure BDA0002109837210000185
the current groundspeed of a wing plane can then also be calculated as:
Figure BDA0002109837210000186
(8) target altitude difference of wing plane
Target station height H of wing planetargetI.e. its target altitude, the difference in altitude can be calculated from the difference between the target altitude of the wing plane and the current altitude:
ΔHF＝Htarget-HF,curr
navigation control algorithm for formation flight:
then, according to the navigation information and a decoupling control principle, formation control in the lateral direction, the tangential direction and the height direction is carried out;
(1) lateral control of formation
First of all, according to the lateral distance R of the wing plane to the track coordinate system of the target stationF,yThe target lateral speed V of a wing plane is calculated by adopting the following control lawF,y,c：
Figure BDA0002109837210000191
Then, according to the target lateral speed V of the wing planeF,y,cActual lateral velocity V under track coordinate systemF,yThe difference is calculated to obtain the target lateral acceleration a of the wing plane by adopting the following control lawy,c：
Figure BDA0002109837210000192
Then, according to the target lateral acceleration a of the wing planey,cCalculating a target roll angle phi of the wing plane according to a relation formula of lateral flight dynamics of the planec：
Figure BDA0002109837210000193
Then, the maximum allowable roll angle phi, as a function of the flight performance constraints of the wing planec,maxFor target roll angle phicAnd (3) carrying out output amplitude limiting:
Figure BDA0002109837210000194
then the target roll angle is used as the input of a roll angle control loop of the automatic pilot, so as to eliminate the lateral displacement of the wing aircraft to the target station position of the wing aircraft, thereby completing the lateral formation control of the wing aircraft formation.
(2) Tangential control of formation
Calling a tangential control law according to the tangential distance from a wing to a target station, calculating to obtain the target speed difference between the wing and a farm machine, adding the current speed of the wing, carrying out amplitude limiting according to the flight performance of the wing, and then taking the target speed of the wing as the input of a speed control loop of an autopilot;
the specific control law algorithm formula is as follows:
Figure BDA0002109837210000195
VF,c＝VF,curr+ΔVF,x,c
(3) height control of formation
Target height H of wing planeTCan be directly used as the input value H of the height keeping and control loop of the automatic pilotcNamely:
Hc＝HT
iteration of formation flight navigation and control:
thus, the one-step formation flight control is completed, and the continuous formation flight can be completed by calling the corresponding controller after continuously updating the navigation information of the fans and the wing fans. In addition, what is worth mentioning is that the target station position of a wing plane is calculated after receiving the position information of a captain, so that the position of each wing plane can be adjusted in real time as required, thereby changing the formation in the air and realizing formation transformation in the flight process of similar wild gooses;
navigation and control of multi-wing machines in formation flight:
the multiple wing machines are irrelevant because the wing machines only receive the position information of the long machine. In the case of bureaucratic machines, the navigation and control flow of each bureaucratic machine is therefore the same as in the present embodiment.
The stability of the formation control algorithm proves that:
since the formation control uses the roll angle maintenance and control, the speed maintenance and control, and the altitude maintenance and control of the automatic flight control system as the inner loop, the stability of the inner loop is first proved.
The control structure of the lateral inner loop is shown in FIG. 7, in which the aileron delta is known from the knowledge of the flight dynamicsaThe simplified transfer function to roll angular velocity p is:
Figure BDA0002109837210000201
wherein:
Figure BDA0002109837210000202
Figure BDA0002109837210000203
wherein: i isxThe moment of inertia of the unmanned aerial vehicle around the longitudinal axis of the body; u shape0The flying speed of the unmanned aerial vehicle during balanced flying is obtained; s is the wing area; b is spreading length;
Figure BDA0002109837210000204
a roll steering derivative for the aileron; clpRoll damping derivative;
assuming that only a proportional controller is used, the roll angular velocity from the target phi can be derivedcThe closed loop transfer function to roll angle φ is:
Figure BDA0002109837210000211
from this, the response frequency is:
Figure BDA0002109837210000212
the damping is as follows:
Figure BDA0002109837210000213
the steady state values are:
φ＝φc
therefore, only the proper controller gain K is selectedpAnd KφThe course system is always stabilized and the desired frequency and damping are met with a steady state error of 0.
The stability of the formation flight control outer loop is demonstrated next.
From the lateral outer loop control structure diagram of formation flight control of fig. 8, assuming that only a proportional controller is used, the lateral velocity is 0, and the lateral acceleration command value is small, the transfer function at this time is approximated as:
Figure BDA0002109837210000214
Figure BDA0002109837210000215
Figure BDA0002109837210000216
namely:
Figure BDA0002109837210000217
it is noted thatφcIs an input to the lateral course control inner loop, so the outer loop controller does not change the stability of the inner loop, but changes the frequency and damping characteristics of the system.
In addition, the target roll angle φ can be found from a simplified expression of the outer loop control lawcRelative lateral velocity Vy,cFirst order conductive, relative lateral position RF,ySecond order derivative, target speed VcRelative tangential distance RF,xThe formation navigation and control algorithm provided by the invention has better continuity, and theoretically ensures the smoothness of wing plane flight trajectories.
Flight simulation and flight test of three-machine formation
(1) Flight simulation
In order to verify the usability of the method and the device, the unmanned aerial vehicle of the embodiment is firstly subjected to three-airplane formation flight simulation verification. Wherein, the formation station is set as: the number 1 machine is set as a long machine, the standing position of the number 2 machine in the formation is 10 meters behind the left of the number 1 machine, the included angle from the ground speed vector of the number 1 machine to the vector of the number 1 machine pointing to the number 2 machine is-135 degrees, the standing position of the number 3 machine in the formation is 10 meters behind the right of the number 1 machine, and the included angle from the ground speed vector of the number 1 machine to the vector of the number 1 machine pointing to the number 3 machine is 135 degrees. The simulation flight scheme is as follows: the No. 1 aircraft firstly flies to the north (the heading angle is 0 degree), and then turns and flies to the west; the initial position of the No. 2 machine is at the position of (-50 ) meters of the No. 1 machine, and the course angle is consistent with that of the No. 1 machine; the initial position of the No. 3 machine is at the position of (-10,10) meters of the No. 1 machine, and the course angle is 90 degrees;
the global position curve of the flight simulation of the three-airplane formation is shown in FIG. 9;
the relative position curve of the flight simulation of the three-airplane formation is shown in FIG. 10;
the roll angle curve of the flight simulation of the three-airplane formation is shown in FIG. 11;
as can be seen from the simulation results, the flight trajectories of the machines 1, 2 and 3 are smooth, the machines 2 and 3 enter the predetermined formation station after about 20 seconds in different initial states, and can be well kept in the predetermined station during the subsequent turning process, which indicates that the formation control scheme is feasible.
(2) Flight test
In order to further verify the practicability of the method and the device, a three-airplane formation flight test is carried out, the initial setting which is the same as the flight simulation is adopted, the long airplane flies according to a circular route in the flight, and two wing airplanes fly along with the long airplane according to a preset scheme;
the three-airplane formation flight test site is shown in fig. 12;
the trajectory diagram displayed by the three-airplane formation flight test ground station is shown in fig. 13.
According to results such as data, curves and pictures of flight simulation and flight tests, the fixed-wing unmanned aerial vehicle formation flight method and device based on the position information well complete a set formation flight task.

Claims (1)

1. A fixed wing unmanned aerial vehicle formation flying method based on position information is characterized by comprising the following steps:
step 1: the leader packs the global position information and the world uniform time into a message and then sends the message to the GCS through a data chain, and the GCS identifies the message through the system ID and the message ID in the message; the global position information comprises latitude, longitude and altitude;
step 2: when the GCS detects that a certain wing plane has entered into formation flight mode, it packs the long plane position message to that wing plane;
and step 3: when a wing plane receives the position message of a long plane for the first time, the wing plane firstly keeps the original flight state for waiting, and after the position message of the long plane is received for the second time, the course angle of the long plane is calculated by using a time difference method:
Figure FDA0003329363430000011
Figure FDA0003329363430000012
wherein R ise6371004m, the average radius of the earth;
Figure FDA0003329363430000013
and
Figure FDA0003329363430000014
the components of the ground speed of the long plane in the north and east directions of the geography respectively; [ Lat, Lon ]]prevAnd [ Lat, Lon]currRespectively the time t of the previous stepprevAnd the current time tcurrCorresponding latitude and longitude information;
and 4, step 4: included angle sigma between target station and tractor of predefined wing planeLTHorizontal distance RTAnd the vertical distance relation HTThe global coordinates of the target station of this bureaucratic are calculated:
firstly, calculating the position offset of a target station relative to a long machine by adopting a rotation matrix method:
Figure FDA0003329363430000015
then according to the geometrical relationship, solving the latitude difference Deltat and longitude difference Dellon from the current position of the long machine to the target station position:
Figure FDA0003329363430000016
calculating the latitude, longitude and altitude of a target station of a bureaucratic in a global coordinate system by adopting the following formula:
Figure FDA0003329363430000021
wherein HcurrThe height of the long machine at the current moment is taken as the height of the long machine;
and 5: on the target station of a wing plane, a track coordinate system is established on the horizontal plane according to the course angle information of a leader:
with the locus of a target station of a wing plane as the origin of coordinates OkThe horizontal component of the ground flying speed of the long plane is taken as xkPositive direction of axis, ykThe axis being perpendicular to x in the horizontal planekAxis pointing to the right, zkAxis perpendicular to OkxkykThe plane points downwards and establishes a track coordinate system Okxkykzk(ii) a The included angle between the track coordinate system and the ground coordinate system is XTAnd has:
χT＝χL
step 5 a: calculating the component of the distance from the bureaucratic to the target station in the trajectory coordinate system using the formula:
Figure FDA0003329363430000022
Figure FDA0003329363430000023
Figure FDA0003329363430000024
and step 5 b: calculating the components of the speed of the wing plane to the ground in the directions of the geographical north and the east in the ground coordinate system by adopting a differential method to the time
Figure FDA0003329363430000025
And
Figure FDA0003329363430000026
Figure FDA0003329363430000027
Latfollower，prev、Lonfollower，prevand Latfollower,curr、Lonfollower,currRespectively as a bureaucratic machine at a time t of the previous stepfollower,prevAnd the current time tfollower,currCorresponding latitude and longitude information;
calculating the component of the ground speed of a wing plane in the track coordinate system by adopting the following coordinate conversion relation:
Figure FDA0003329363430000031
the current ground speed of the wing plane is:
Figure FDA0003329363430000032
and step 5 c: the difference in height is calculated from the difference between the target height and the current height of the wing plane:
ΔHF＝Htarget-HF,curr
step 6: and then carrying out formation flying control in three directions of lateral direction, tangential direction and height according to the navigation information:
step 6 a: lateral control of formation
Lateral distance R according to track coordinate system from wing plane to target stationF,yThe target lateral speed V of a wing plane is calculated by adopting the following control lawF,y,c：
Figure FDA0003329363430000033
Wherein the content of the first and second substances,
Figure FDA0003329363430000034
proportional gain, integral gain and integral operator of the lateral distance respectively;
target lateral speed V according to wing planeF,y,cActual lateral velocity V under track coordinate systemF，yThe difference between them, adoptCalculating the target lateral acceleration a of a wing plane according to a control lawy，c：
Figure FDA0003329363430000035
Wherein the content of the first and second substances,
Figure FDA0003329363430000036
proportional gain and integral gain of the lateral speed are respectively;
target lateral acceleration a according to wing planey,cCalculating a target roll angle phi of the wing plane according to a relation formula of lateral flight dynamics of the planec：
Figure FDA0003329363430000037
Wherein g is the acceleration of gravity;
maximum permissible roll angle phi limited by the flight performance of wing aircraftc,maxFor target roll angle phicAnd (3) carrying out output amplitude limiting:
Figure FDA0003329363430000038
roll the target over an angle phicAs the input of the roll angle control circuit of the automatic pilot, the lateral displacement of the wing plane to its target station is eliminated, thus completing the lateral formation control of the wing plane formation;
step 6 b: tangential control of formation
According to the tangential distance R of wing plane to target stationF,xCalling tangential control law and calculating the target speed difference delta V of wing plane and long planeF,x，cPlus the current speed V of a wing planeF，currObtaining target speed V of a wing planeF，cThen, the speed control loop is used as the input of the speed control loop of the automatic pilot;
the specific control law algorithm formula is as follows:
Figure FDA0003329363430000041
VF,c＝VF,curr+ΔVF，x，c
wherein the content of the first and second substances,
Figure FDA0003329363430000042
proportional gain as tangential distance;
step 6 c: height control of formation
Target height H of bureaucratic planeTDirectly as input value H for the height maintenance and control loop of an autopilotcNamely:
Hc＝HT。
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