CN110865651A - Fixed wing formation flight control system and control method under virtual long machine mode - Google Patents
Fixed wing formation flight control system and control method under virtual long machine mode Download PDFInfo
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- CN110865651A CN110865651A CN201911316701.5A CN201911316701A CN110865651A CN 110865651 A CN110865651 A CN 110865651A CN 201911316701 A CN201911316701 A CN 201911316701A CN 110865651 A CN110865651 A CN 110865651A
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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
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
Abstract
The invention discloses a fixed wing formation flight control system and a control method under a virtual long machine mode, wherein the control method comprises the following steps: the simulation module transmits the simulated virtual long machine to the Session Planner ground station module; the virtual long machine flies in the ground station module according to a preset expected track; the ground station module transmits the position information of the virtual long machine to the airborne receiving end data transmission module in real time through the ground end data transmission module, and the airborne receiving end data transmission module transmits the received information to the flight controller; the sensor module collects the attitude, speed and position information of the fixed-wing unmanned aerial vehicle in real time and transmits the collected information to the flight controller and the airborne receiving end data transmission module; the flight controller controls the fixed-wing unmanned aerial vehicles to fly according to a preset formation flying mode according to the received information; the airborne receiving end data transmission module transmits the received information to the ground station module for display through the ground end data transmission module. The invention effectively reduces the fault risk of formation flight and improves the overall robustness.
Description
Technical Field
The invention belongs to the technical field of positioning navigation and control, and particularly relates to a fixed wing formation flight control system and a control method under a virtual long machine mode.
Background
With the rapid development of microelectronic sensors, embedded processors and communication technologies, a multi-drone formation control system has become the subject of extensive research in thesis. The formation technology has very important engineering application value in the fields of scientific research, transportation, geological survey and national defense of unmanned combat in the future.
In recent years, researchers of multi-unmanned aerial vehicle formation control have proposed many different formation control algorithms and strategies, and relatively mature formation control methods include: 1) Leader-Follower; 2) based on a behavioral approach; 3) a virtual structure method. In the Leader-Follower mode, one of the planes in the formation acts as a captain and the other as a bureaucratic, each bureaucratic in the formation following a certain fixed deviation from the captain, thus maintaining the formation. The method has the advantages of simple principle and easy realization. The method has the disadvantages that the robustness and the stability of the formation are poor, the long machine directly controls the whole formation, and if the long machine fails in practical application, the whole formation is in an out-of-control state; the behavior-based method is a formation control method for simulating a biological reaction type behavior mechanism, has good flexibility and robustness, but has the defects of being incapable of accurately maintaining formation and being difficult to carry out stability analysis on a system by a mathematical method. The virtual structure method is that each airplane between formation uses information sharing to accurately keep formation, however, in practical application, data transmission is needed to support multipoint-to-multipoint networking mode, and at present, data transmission can hardly meet the requirement
Disclosure of Invention
The purpose of the invention is as follows: the invention provides a fixed wing formation flight control system and a fixed wing formation flight control method in a virtual tractor mode, which solve the problems of poor robustness and the like in a prolapsed wing aircraft mode in the prior art.
The technical scheme is as follows: the invention provides a fixed wing formation flight control system under a virtual long machine mode, which comprises: the system comprises a simulation module, a Mission Planner ground station module, a data transmission module, a fixed wing unmanned aerial vehicle, a flight controller and a sensor module; the data transmission module comprises a ground end data transmission module and an airborne receiving end data transmission module;
the simulation module simulates a virtual long machine and transmits the virtual long machine to the Session Planner ground station module; the virtual long machine flies on a Mission Planner ground station module according to an expected track preset on the Mission Planner ground station module; the airborne receiving end data transmission module, the flight controller and the sensor module are all arranged on the fixed wing unmanned aerial vehicle; the Mission Planner ground station module transmits the position information of the virtual long machine to the airborne receiving end data transmission module in real time through the ground end data transmission module, and the airborne receiving end data transmission module transmits the received position information of the virtual long machine to the flight controller; the sensor module collects attitude information, speed information and position information of the fixed-wing unmanned aerial vehicle in real time and transmits the collected information to the flight controller and the airborne receiving end data transmission module; the flight controller controls the fixed-wing unmanned aerial vehicles to fly according to a preset formation flying mode according to the received information; and the airborne receiving end data transmission module transmits the received attitude information, speed information and position information of the fixed wing unmanned aerial vehicle to a Mission Planner ground module station for display through the ground end data transmission module.
Furthermore, the ground end number transmission module and the Session Planner ground station communicate through USB.
Further, the simulation module accesses the virtual long machine to the session planer ground station module through a TCP protocol.
Further, the simulation module is a SITL simulation.
Furthermore, the ground end data transmission module and the airborne receiving end data transmission module both adopt P900 wireless transmission equipment.
Further, the sensor module comprises an IMU and a GPS; the IMU is used for collecting attitude information of the fixed-wing unmanned aerial vehicle, and the GPS is used for collecting position information and speed information of the fixed-wing unmanned aerial vehicle.
The control method of the fixed wing formation flight control system in the virtual long machine mode specifically comprises the following steps: simulating a virtual long machine, and setting the flight path of the virtual long machine and the flight mode of formation; and controlling the wing plane to fly along with the virtual long plane according to the real-time position of the virtual long plane and the real-time attitude, speed and position of the wing plane.
Has the advantages that: the invention has simple structure and easy realization, effectively reduces the fault risk of formation flight, and improves the integral robustness.
Drawings
FIG. 1 is a system diagram of the present invention;
FIG. 2 is a schematic diagram of the operation of SITL in accordance with the present invention.
Detailed Description
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention.
As shown in fig. 1, the present embodiment provides a formation flight control method in a virtual long machine mode; the method comprises a simulation module, a Mission Planner ground station module, a data transmission module, a fixed wing unmanned aerial vehicle, a flight controller and a sensor module.
As shown in fig. 2, the simulation module is a SITL simulation module, which runs at a PC end, and is compiled into an executable file that can run at the PC end by using flight control codes provided by ArduPilot, and sensor data of the simulated unmanned aerial vehicle comes from an aircraft dynamics model built in a flight control program. Simulation data of the SITL are accessed into a Session Planner ground station module through a TCP transmission protocol, and a virtual long machine is generated in the ground station.
The data transmission module comprises a ground end data transmission module of the ground station part and an airborne receiving end data transmission module. The ground end data transmission module is connected with the PC through a USB and is connected to the Session Planner ground station module. The ground end data transmission module can build a communication link with a plurality of airborne receiving end data transmission modules simultaneously, and the flight states of a plurality of unmanned aerial vehicles are updated to the ground station module to be displayed. Meanwhile, information can be transmitted back to each unmanned aerial vehicle node through a data transmission link, and data sharing is achieved.
The airborne receiving end data transmission module, the flight controller and the sensor module are all arranged on the fixed wing unmanned aerial vehicle; the sensor module comprises an IMU and a GPS; the IMU is used for acquiring attitude information of the fixed-wing unmanned aerial vehicle, and the GPS is used for acquiring position information and speed information of the fixed-wing unmanned aerial vehicle; the ground end data transmission module transmits the position information of the virtual long machine to the receiving end data transmission module in real time through the ground end data transmission module, and the receiving end data transmission module transmits the received position information of the virtual long machine to the flight controller; the sensor module collects attitude information, speed information and position information of the fixed-wing unmanned aerial vehicle in real time and transmits the collected information to the flight controller and the receiving end data transmission module; the flight controller controls the fixed-wing unmanned aerial vehicles to fly according to a preset formation flying mode according to the received information; and the receiving end data transmission module transmits the received attitude information, speed information and position information of the fixed wing unmanned aerial vehicle to a MissinPlaner ground station through the ground end data transmission module to be displayed.
In the embodiment, the ground end data transmission module and the airborne receiving end data transmission module both adopt P900 wireless transmission equipment, the P900 has 1W transmitting power, the communication distance can reach 60KM, and the unmanned aerial vehicle communication system is suitable for unmanned aerial vehicle communication; the fixed wing unmanned aerial vehicle adopts a target drone which changes from an oil-driven drone into a drone, and is arranged in a single-wing and front-pull type manner.
The Session Planner ground station module is used for monitoring and sending commands to the operator. An operator can plan a track for the virtual long plane through the ground station module, and simultaneously can monitor the flight state and position information of a wing plane (fixed wing unmanned plane) in real time. The ground station module can realize the uploading of the planning task and the returning of the telemetering data. After the wing plane receives the planned route of the ground station, the wing plane takes the planned route as an expectation, and combines with the navigation data of the wing plane to calculate the posture control method of the wing plane through the processing of a control algorithm.
The fixed wing unmanned aerial vehicle is mainly provided with a navigation sensor module, a flight controller, an airborne end data transmission module and the like.
As shown in fig. 2, the present invention is applied to a specific process when formation flying:
step 1: running an SITL simulation module at a PC end;
step 2: the method comprises the steps that SITL simulation data are accessed to a Session Planner ground station module running in a local machine through a TCP communication protocol, and a virtual long machine is generated in the ground station module;
and step 3: the ground end data transmission module is connected with the ground station module through a USB;
and 4, step 4: the wing plane machines in the formation are communicated with the ground end transmission module through the airborne end transmission module, are accessed to the ground station, acquire the actual position of the virtual long machine in real time, and carry out formation flying according to the instruction sent by the ground station and the self attitude, speed and position.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. The invention is not described in detail in order to avoid unnecessary repetition.
Claims (7)
1. Fixed wing formation flight control system under virtual long quick-witted mode, its characterized in that includes: the system comprises a simulation module, a MissionPlanner ground station module, a data transmission module, a fixed wing unmanned aerial vehicle, a flight controller and a sensor module; the data transmission module comprises a ground end data transmission module and an airborne receiving end data transmission module;
the simulation module simulates a virtual long machine and transmits the virtual long machine to the Session Planner ground station module; the virtual long machine flies on a Mission Planner ground station module according to an expected track preset on the Mission Planner ground station module; the airborne receiving end data transmission module, the flight controller and the sensor module are all arranged on the fixed wing unmanned aerial vehicle; the Mission Planner ground station module transmits the position information of the virtual long machine to the airborne receiving end data transmission module in real time through the ground end data transmission module, and the airborne receiving end data transmission module transmits the received position information of the virtual long machine to the flight controller; the sensor module collects attitude information, speed information and position information of the fixed-wing unmanned aerial vehicle in real time and transmits the collected information to the flight controller and the airborne receiving end data transmission module; the flight controller controls the fixed-wing unmanned aerial vehicles to fly according to a preset formation flying mode according to the received information; and the airborne receiving end data transmission module transmits the received attitude information, speed information and position information of the fixed wing unmanned aerial vehicle to a Mission Planner ground module station for display through the ground end data transmission module.
2. The fixed-wing formation flight control system in virtual farm mode of claim 1, wherein the ground end data transfer module communicates with a Mission planer ground station via USB.
3. The fixed-wing formation flight control system in virtual farm mode of claim 1, wherein the simulation module accesses the virtual farm to the session Planner ground station module via TCP protocol.
4. The system of claim 1, wherein the simulation module is a SITL simulation.
5. The fixed-wing formation flight control system in the virtual long-machine mode according to claim 1, wherein the ground-side data transmission module and the airborne receiving-side data transmission module both use P900 wireless transmission equipment.
6. The fixed-wing formation flight control system in virtual farm mode of claim 1, wherein the sensor module comprises an IMU and a GPS; the IMU is used for collecting attitude information of the fixed-wing unmanned aerial vehicle, and the GPS is used for collecting position information and speed information of the fixed-wing unmanned aerial vehicle.
7. The control method of the fixed-wing formation flight control system in the virtual long machine mode according to claim 1, characterized in that the method specifically comprises: simulating a virtual long machine, and setting the flight path of the virtual long machine and the flight mode of formation; and controlling the fixed wing unmanned aerial vehicle to fly along with the virtual long machine according to the real-time position of the virtual long machine and the real-time attitude, speed and position of the fixed wing unmanned aerial vehicle.
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| US11809176B2 (en) | 2020-12-16 | 2023-11-07 | Rockwell Collins, Inc. | Formation management and guidance system and method for automated formation flight |
| CN117270574A (en) * | 2023-11-20 | 2023-12-22 | 中国空气动力研究与发展中心计算空气动力研究所 | Fixed wing unmanned aerial vehicle flight formation test method based on virtual target |
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Application publication date: 20200306 |