CN111045450A - Double-formation team formation process guidance method for fixed-wing unmanned aerial vehicle - Google Patents

Double-formation team formation process guidance method for fixed-wing unmanned aerial vehicle Download PDF

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CN111045450A
CN111045450A CN201911266974.3A CN201911266974A CN111045450A CN 111045450 A CN111045450 A CN 111045450A CN 201911266974 A CN201911266974 A CN 201911266974A CN 111045450 A CN111045450 A CN 111045450A
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CN111045450B (en
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杨艺
姚雪莲
贝绍轶
张兰春
杨银忠
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Jiangsu University of Technology
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    • G—PHYSICS
    • 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
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Abstract

The invention discloses a fixed wing unmanned aerial vehicle double-machine formation team forming process guidance method, which comprises the following steps: collecting position and speed information of a captain plane and a bureaucratic plane to construct a relative distance function; if the relative distance function is positive, acquiring the information of the heights and the daily speeds of the wing machines and the information of the course angles of the wing machines, and designing a rapid tracking guidance command by the wing machines; if the relative distance function is negative, collecting the course angle and the lateral acceleration information of the fans and the wing machines so as to calculate the deviation range of the flight direction and the lateral acceleration of the fans and the wing machines; if the deviation range exceeds a preset range, acquiring the lateral acceleration and the roll angle information of a wing plane, and adjusting a guidance instruction according to the design course of the wing plane; if the deviation range is in the preset range, acquiring the speed and acceleration information of the long plane and the three-dimensional position information of the long plane and the wing plane, and approaching a guidance command at the tail end of the wing plane design according to the relative position of the formation predetermined by the long plane and the wing plane.

Description

Double-formation team formation process guidance method for fixed-wing unmanned aerial vehicle
Technical Field
The invention relates to the technical field of automatic control, in particular to a double-formation and formation process guidance method for fixed-wing unmanned aerial vehicles.
Background
The key of the fixed-wing unmanned aerial vehicle for realizing double-machine formation flying is to complete formation safely, accurately and quickly. In the formation process, the wing plane flies from any place to the place near the relative fixed position of the long plane and keeps the formation flying with the relative speed difference of the long plane within a small range. In the whole formation process, the wing aircrafts need to continuously adjust the flight route according to the state information of the long aircrafts, such as the flight position, the speed, the air route and the like, so that the fixed-wing unmanned aerial vehicle is difficult to realize the safe formation of the double formation from any state.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the art described above. Therefore, the invention aims to provide a fixed-wing unmanned aerial vehicle double-machine formation team forming process guidance method, which can quickly complete the safe team formation of double-machine formation from any state within the performance allowable range of the fixed-wing unmanned aerial vehicle.
In order to achieve the above object, the method for guiding the double formation process of the fixed-wing unmanned aerial vehicles in the embodiment of the invention comprises the following steps: collecting the position and speed information of the fixed wings and the wing wings, and constructing a relative distance function according to the position and speed information; if the relative distance function is positive, acquiring information of the altitude and the direction of the day of the long plane and the wing plane, and information of the course angle of the wing plane, so as to design a fast tracking guidance command with forward acceleration protection for the wing plane; if the relative distance function is negative, collecting the course angle and the lateral acceleration information of the wing aircraft and the long aircraft to calculate the deviation range of the flight direction and the lateral acceleration of the wing aircraft and the long aircraft; if the deviation range exceeds a preset range, acquiring the lateral acceleration and the roll angle information of the wing plane, and designing a course adjustment guidance instruction with forward acceleration compensation and lateral angular velocity protection for the wing plane; if the deviation range is within a predetermined range, acquiring information of the speed and acceleration of the farm aircraft and information of the three-dimensional positions of the farm aircraft and the wing aircraft, and predicting the position at which the wing aircraft is expected to arrive at the next moment according to the relative positions of the formation predefined by the farm aircraft and the wing aircraft, so as to design an end approach guidance command with forward and lateral acceleration protection for the wing aircraft.
According to the method for guiding the process of formation of the double-machine formation of the fixed-wing unmanned aerial vehicle, the process of formation of the double-machine formation is divided into three stages according to the position relation of the captain machines and the wing machines by acquiring the relative position, the course and the speed information of the captain machines and the wing machines, and then a corresponding guidance instruction with acceleration protection is generated corresponding to each stage to control the wing machines to quickly and safely fly to a predetermined formation position, so that the fixed-wing unmanned aerial vehicle can be ensured to quickly complete the safe formation of the double-machine formation from any state within a performance allowable range.
In addition, the fixed-wing unmanned aerial vehicle double-machine formation process guidance method provided by the embodiment of the invention can also have the following additional technical characteristics:
specifically, the relative distance function is:
Figure BDA0002313129000000021
wherein the parameter k adjusts the nearest distance, Lat, of the unmanned aerial vehicle in the course adjustment stage according to the flight performance of different unmanned aerial vehicleszLatitude coordinate of longeron, LonzIs the longitude coordinate of the long plane, LatlLatitude coordinate of bureaucratic organization, LonlLongitude coordinate of a wing plane, VzFor the flight speed of the aircraft, VlAs wing aircraft flight speed.
Specifically, a combined inequality set of relative heading angle and lateral acceleration states is constructed to calculate the deviation range according to the heading angle and lateral acceleration information of the long plane and the wing plane.
Specifically, the set of joint inequalities is:
Figure BDA0002313129000000022
wherein the content of the first and second substances,
Figure BDA0002313129000000023
Figure BDA0002313129000000024
is the course angle of the long machine,
Figure BDA0002313129000000025
course angle of a wing plane, AyzIs the lateral acceleration of the long machine, AylAs lateral acceleration of a wing plane.
In particular, according to the relative distance D of the formation, predetermined by said fans and said bureaucratic fanseAnd azimuth angle
Figure BDA0002313129000000026
The position at which said bureaucratic aircraft is expected to arrive at the next moment is predicted.
Specifically, the triaxial acceleration command (Ax, Ay, Az) of the wing plane coordinate system in the fast tracking phase is:
forward acceleration:
Figure BDA0002313129000000031
lateral acceleration:
Figure BDA0002313129000000032
the acceleration in the direction of the sky:
Figure BDA0002313129000000033
wherein, Sat represents a saturation function,
Figure BDA0002313129000000034
Figure BDA0002313129000000035
KV、KD、KV、
Figure BDA0002313129000000036
KHare all guidance instruction parameters.
Specifically, the three-dimensional acceleration guidance instruction (Ax, Ay, Az) in the coordinate system of the wing plane body at the course adjustment phase is as follows:
forward acceleration:
Figure BDA0002313129000000037
where Dz (x, y) represents the dead zone function, i.e.:
Figure BDA0002313129000000038
lateral acceleration:
Figure BDA0002313129000000039
wherein when | Φ | > arctan (Ay/9.8), Ay is 0
The acceleration in the direction of the sky:
Figure BDA0002313129000000041
wherein k isv、ka、
Figure BDA0002313129000000042
kay、
Figure BDA0002313129000000043
Are all guidance instruction parameters.
Specifically, the position information expected to arrive at the next moment of the bureaucratic plane is [ Lat ]e(t+Δt)，Lone(t+Δt)，He(t+Δt)]：
Figure BDA0002313129000000044
Figure BDA0002313129000000045
Figure BDA0002313129000000046
Wherein D iss＝De+∫VzΔt，
Figure BDA0002313129000000047
Specifically, the three-dimensional acceleration guidance command (Ax, Ay, Az) in the coordinate system of the terminal resubmission-phase wing plane body is:
forward acceleration:
Figure BDA0002313129000000048
lateral acceleration:
Figure BDA0002313129000000049
wherein when | Φ ->arctan (Ay/9.8),
Figure BDA00023131290000000410
the acceleration in the direction of the sky:
Figure BDA00023131290000000411
wherein the content of the first and second substances,
Figure BDA00023131290000000412
kx、kAx、kvy、ky、kAy、kvzare all guidance instruction parameters.
Drawings
Fig. 1 is a flowchart of a guidance method for a double-machine formation and team formation process of fixed-wing uavs according to an embodiment of the present invention;
fig. 2 is a schematic diagram of fast tracking guidance of a guidance method for a double-machine formation and team formation process of fixed-wing uavs according to an embodiment of the present invention;
FIG. 3 is a schematic view of course adjustment guidance of a fixed-wing unmanned aerial vehicle dual-formation team formation process guidance method according to an embodiment of the invention;
fig. 4 is a schematic terminal approach guidance diagram of a guidance method for a double-machine formation and team formation process of fixed-wing uavs according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, the method for guiding the twin formation process of the fixed-wing uavs in the embodiment of the present invention includes the following steps:
and S1, collecting the position and speed information of the fixed planes and the wing planes, and constructing a relative distance function according to the position and speed information.
In an embodiment of the present invention, the persistent and wing aircraft can obtain their own position and speed information in real time through their own control system, and in addition, the persistent and wing aircraft can also obtain other flight status information through their own control system, for example, flight status information such as altitude, acceleration and course angle can also be obtained, and the persistent aircraft can transmit their own flight status information to the wing aircraft control system through the communication system.
The position information of the fixed or wing-plane may include longitude and latitude coordinates of the position where the fixed or wing-plane is located, for example, the longitude and latitude coordinates of the fixed or wing-plane may be respectively set as (Lat)z，Lonz)，(Latl，Lonl) The flying speeds can be respectively set to Vz，VlWing plane control system based on tractorThe relative distance function constructed with the position and speed information of the wing plane is:
Figure BDA0002313129000000051
the parameter k can adjust the nearest distance of the unmanned aerial vehicle in the course adjustment stage according to the flight performance of different unmanned aerial vehicles.
S2, if the relative distance function is positive, collecting the information of the altitude and the direction acceleration of the captain and the wing plane, and the information of the course angle of the wing plane, designing a fast tracking guidance command with forward speed protection for the wing plane.
Specifically, the relative distance function D can be determinedfIf it is greater than 0, if the relative distance function DfGreater than 0, this represents a relative distance function DfTo be positive, i.e. to characterize the position of the long and wing aircraft at the current flight speed, rapid tracking guidance is required. The changable and the bureaucratic can obtain the height information H of the respective current time through the control systemz，HlAnd speed of day information
Figure BDA0002313129000000061
And course angle information of wing plane
Figure BDA0002313129000000062
Further, as shown in fig. 2, a wing plane control system can be based on the altitude information H of the farm and wing planesz，HlAnd speed of day information
Figure BDA0002313129000000063
And course angle information of wing plane
Figure BDA0002313129000000064
Designing a three-axis acceleration guidance instruction (Ax, Ay, Az) of a coordinate system of a wing plane body in a fast tracking phase,
forward acceleration:
Figure BDA0002313129000000065
lateral acceleration
Figure BDA0002313129000000066
Acceleration in the direction of the sky
Figure BDA0002313129000000067
Wherein, KV、KD、KV、
Figure BDA0002313129000000068
KHAll the parameters are guidance instruction parameters, Sat represents a saturation function, saturation amplitude limiting is carried out on a forward acceleration instruction, the situation that the acceleration instruction causes the unmanned aerial vehicle to close an engine is avoided,
Figure BDA0002313129000000069
Figure BDA00023131290000000610
by quickly tracking the guidance command, the assistant plane can reach the vicinity of the leader plane as soon as possible.
S3, if the relative distance function is negative, collecting the heading angle and lateral acceleration information of the franchise and the bureaucratic to calculate the deviation range of the flight direction and the lateral acceleration of the franchise and the bureaucratic.
In particular, if the relative distance function DfGreater than 0, this represents a relative distance function DfIf the direction of the long aircraft is negative, the control system of the long aircraft can transmit the course angle information of the long aircraft
Figure BDA0002313129000000071
And lateral acceleration information AyzA wing plane control system capable of obtaining course angle information of the wing plane
Figure BDA0002313129000000072
And lateral acceleration information Ayl。
Further, the wing plane control system can be used for collecting course angle information
Figure BDA0002313129000000073
Lateral acceleration information Ayz，AylConstructing a combined inequality group of relative course angle and lateral acceleration states:
Figure BDA0002313129000000074
wherein the content of the first and second substances,
Figure BDA0002313129000000075
Figure BDA0002313129000000076
the deviation ranges of the flight direction and the lateral acceleration of the long and wing planes can be calculated by means of the set of inequalities described above.
And S4, if the deviation range exceeds the preset range, acquiring the lateral acceleration and the roll angle information of the wing plane, and designing a course adjustment guidance command with forward acceleration compensation and lateral angular velocity protection for the wing plane.
Specifically, a deviation range is calculated according to the set of joint inequalities, and if the deviation range exceeds a predetermined range, the wing plane control system can acquire the lateral acceleration information Ay of the wing planelAnd roll angle information Φ.
Further, as shown in fig. 3, according to the lateral acceleration information Ay of a wing planelAnd roll angle information phi, a three-axis acceleration guidance instruction (Ax, Ay, Az) of a wing plane body coordinate system in a design course adjustment stage, forward acceleration:
Figure BDA0002313129000000077
wherein Dz (x, y) represents a dead zone function, i.e.
Figure BDA0002313129000000078
Lateral acceleration:
Figure BDA0002313129000000081
wherein when | Φ | > arctan (Ay/9.8), Ay is 0
The acceleration in the direction of the sky:
Figure BDA0002313129000000082
wherein k isv、ka、
Figure BDA0002313129000000083
kay、
Figure BDA0002313129000000084
Are all guidance instruction parameters.
Figure BDA0002313129000000085
And k isay*Dz[(Ay-Ayl),5]Designed for compensation between channels, | phi->and when the area is (Ay/9.8), Ay is 0, which is a protection measure for the lateral acceleration command. The pilot command is adjusted by the course to enable the superior plane and the assistant plane to keep the preset formation flying without deviating from the course.
S5, if the deviation range is in the preset range, collecting the speed and acceleration information of the grand plane and the three-dimensional position information of the grand plane and the wing plane, and predicting the expected position of the wing plane at the next moment according to the relative position of the formation predefined by the grand plane and the wing plane, so as to design the terminal guidance command with forward and lateral acceleration protection for the wing plane.
Specifically, if the deviation range is within a predetermined range, the long machine can set the three-axis acceleration (Ax) of the machine system of the long machine to be within the predetermined rangez，Ayz，Azz) And three-dimensional position information [ Lat ] of the current time (t) of the mobile terminalz(t)，Lonz(t)，Hz(t)]To a bureaucratic control system. Assuming that the next moment is (t + Δ t), as shown in fig. 4, the relative distance D of the formation according to the longplane and bureaucratic requirementseAnd azimuth angle
Figure BDA0002313129000000086
The position information which can predict the arrival of a wing plane at the next moment is [ Lat ]e(t+Δt)，Lone(t+Δt)，He(t+Δt)]，
Figure BDA0002313129000000087
Figure BDA0002313129000000088
Figure BDA0002313129000000089
Wherein D iss＝De+∫VzΔt，
Figure BDA00023131290000000810
Furthermore, the three-axis acceleration information (Ax) of the machine system of the long machine can be obtainedz，Ayz，Azz) And three-dimensional position information (Lat) of a wing plane at the current momentl，Lonl，Hl) The terminal approaching guidance command with forward and lateral acceleration protection of the contralateral wing design is (Ax, Ay, Az):
forward acceleration:
Figure BDA0002313129000000091
lateral acceleration:
Figure BDA0002313129000000092
and when | Φ |>arctan (Ay/9.8),
Figure BDA0002313129000000093
the acceleration in the direction of the sky:
Figure BDA0002313129000000094
wherein the content of the first and second substances,
Figure BDA0002313129000000095
kvx、kx、kAx、kvy、ky、kAy、kvzare all guidance instruction parameters. Saturation function Sat kaf*|Ayl-Ay|，[-3,3]The compensation between the different channels can be achieved,
Figure BDA0002313129000000096
can be used to carry out gradual protection on the lateral acceleration, and finally the wing plane can be safely guided to the expected formation position through a tail end progressive guidance command.
According to the method for guiding the process of formation of the double-machine formation of the fixed-wing unmanned aerial vehicle, the process of formation of the double-machine formation is divided into three stages according to the position relation of the captain machines and the wing machines by acquiring the relative position, the course and the speed information of the captain machines and the wing machines, and then a corresponding guidance instruction with acceleration protection is generated corresponding to each stage to control the wing machines to quickly and safely fly to a predetermined formation position, so that the fixed-wing unmanned aerial vehicle can be ensured to quickly complete the safe formation of the double-machine formation from any state within a performance allowable range.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (9)

1. A fixed wing unmanned aerial vehicle double-machine formation team forming process guidance method is characterized by comprising the following steps:
collecting the position and speed information of the fixed wings and the wing wings, and constructing a relative distance function according to the position and speed information;
if the relative distance function is positive, acquiring information of the altitude and the direction of the day of the long plane and the wing plane, and information of the course angle of the wing plane, so as to design a fast tracking guidance command with forward acceleration protection for the wing plane;
if the relative distance function is negative, collecting the course angle and the lateral acceleration information of the wing aircraft and the long aircraft to calculate the deviation range of the flight direction and the lateral acceleration of the wing aircraft and the long aircraft;
if the deviation range exceeds a preset range, acquiring the lateral acceleration and the roll angle information of the wing plane, and designing a course adjustment guidance instruction with forward acceleration compensation and lateral angular velocity protection for the wing plane;
if the deviation range is within a predetermined range, acquiring information of the speed and acceleration of the farm aircraft and information of the three-dimensional positions of the farm aircraft and the wing aircraft, and predicting the position at which the wing aircraft is expected to arrive at the next moment according to the relative positions of the formation predefined by the farm aircraft and the wing aircraft, so as to design an end approach guidance command with forward and lateral acceleration protection for the wing aircraft.
2. The fixed-wing unmanned aerial vehicle dual-formation team formation process guidance method according to claim 1, wherein the relative distance function is:
Figure FDA0002313128990000011
wherein the parameter k adjusts the nearest distance, Lat, of the unmanned aerial vehicle in the course adjustment stage according to the flight performance of different unmanned aerial vehicleszLatitude coordinate of longeron, LonzIs the longitude coordinate of the long plane, LatlLatitude coordinate of bureaucratic organization, LonlLongitude coordinate of a wing plane, VzFor the flight speed of the aircraft, VlAs wing aircraft flight speed.
3. The fixed-wing unmanned aerial vehicle dual-fleet formation process guidance method as claimed in claim 2, wherein a set of joint inequalities of relative heading angle and lateral acceleration state is constructed to calculate the deviation range according to heading angle and lateral acceleration information of the long plane and the wing plane.
4. The fixed-wing unmanned aerial vehicle dual-formation team formation process guidance method according to claim 3, wherein the joint inequality group is:
Figure FDA0002313128990000021
wherein the content of the first and second substances,
Figure FDA0002313128990000022
Figure FDA0002313128990000023
Figure FDA0002313128990000024
is the course angle of the long machine,
Figure FDA0002313128990000025
as the course angle of a wing plane,Ayzis the lateral acceleration of the long machine, AylAs lateral acceleration of a wing plane.
5. The method for guiding the process of formation process of double formation of fixed-wing drones as claimed in claim 4, wherein the relative distance D of the formation predetermined by said fans and said wings is determined by the relative distance D of said formationeAnd azimuth angle
Figure FDA0002313128990000026
The position at which said bureaucratic aircraft is expected to arrive at the next moment is predicted.
6. The fixed-wing unmanned aerial vehicle dual-formation team process guidance method as claimed in claim 5, wherein the three-axis acceleration commands (Ax, Ay, Az) of the wing aircraft body coordinate system in the fast tracking phase are:
forward acceleration:
Figure FDA0002313128990000027
lateral acceleration:
Figure FDA0002313128990000028
the acceleration in the direction of the sky:
Figure FDA0002313128990000029
wherein, Sat represents a saturation function,
Figure FDA00023131289900000210
Figure FDA00023131289900000211
KV、KD、KV、
Figure FDA00023131289900000212
KHare all guidance instruction parameters.
7. The fixed-wing unmanned aerial vehicle dual-formation team formation process guidance method as claimed in claim 6, wherein the three-dimensional acceleration guidance instructions (Ax, Ay, Az) in the course adjustment phase wing aircraft coordinate system are:
forward acceleration:
Figure FDA0002313128990000031
where Dz (x, y) represents the dead zone function, i.e.:
Figure FDA0002313128990000032
lateral acceleration:
Figure FDA0002313128990000033
wherein when
Figure FDA0002313128990000034
When Ay is 0
The acceleration in the direction of the sky:
Figure FDA0002313128990000035
wherein k isv、ka、
Figure FDA0002313128990000036
kay、
Figure FDA0002313128990000037
Are all guidance instruction parameters.
8. According to claim 7The fixed-wing unmanned aerial vehicle double-airplane formation team formation process guidance method is characterized in that the expected arrival position information of the wing airplane at the next moment is [ Lat ]e(t+Δt)，Lone(t+Δt)，He(t+Δt)]：
Figure FDA0002313128990000038
Figure FDA0002313128990000039
Figure FDA00023131289900000310
Wherein D iss＝De+∫VzΔt，
Figure FDA00023131289900000311
9. The fixed-wing unmanned aerial vehicle dual-formation team formation process guidance method as claimed in claim 8, wherein the three-dimensional acceleration guidance commands (Ax, Ay, Az) under the terminal objective wing aircraft body coordinate system are:
forward acceleration:
Figure FDA0002313128990000041
lateral acceleration:
Figure FDA0002313128990000042
wherein when
Figure FDA0002313128990000043
When the temperature of the water is higher than the set temperature,
Figure FDA0002313128990000044
the acceleration in the direction of the sky:
Figure FDA0002313128990000045
wherein the content of the first and second substances,
Figure FDA0002313128990000046
kvx、kx、kAx、kvy、ky、kAy、kvzare all guidance instruction parameters.
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