CN111077910A - Unmanned aerial vehicle swarm anti-collision system, device and method based on ultraviolet light guidance - Google Patents
Unmanned aerial vehicle swarm anti-collision system, device and method based on ultraviolet light guidance Download PDFInfo
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Abstract
An unmanned aerial vehicle swarm anti-collision system, device and method based on ultraviolet light guidance comprises an information processing center which is in communication connection with a signal transmitter and a signal receiver, wherein the signal transmitter is composed of ultraviolet light LED light sources with two wavelengths and an intensity modulator, and the signal receiver is composed of optical filters, photoelectric converters, amplifiers and photoelectric signal processors which correspond to the ultraviolet light LED light sources with the two wavelengths; the ultraviolet light MIMO device is installed on the unmanned aerial vehicle, and the ultraviolet light LED light source transmission ultraviolet light of two kinds of different wavelength in the ultraviolet light MIMO device receives the ultraviolet light that the ultraviolet light LED light source sent and receives the number of different wavelength ultraviolet light and judges the unmanned aerial vehicle and locate direction and early warning grade district according to the light filter of equidirectional not to make suitable anticollision instruction. The unmanned aerial vehicle swarm anti-collision system can achieve anti-collision work without depending on external positioning devices such as a GPS and the like when unmanned aerial vehicle swarm works, and is strong in flexibility and high in intelligence; the ultraviolet MIMO device is portable and easy to carry, can work all weather, and realizes secret communication.
Description
Technical Field
The invention belongs to the technical field of photoelectric information, and particularly relates to an ultraviolet light-guided unmanned aerial vehicle swarm anti-collision system, device and method.
Background
With the rapid development of the unmanned aerial vehicle industry and the continuous innovation of the industrial technology thereof, the unmanned aerial vehicle is widely used in a plurality of fields such as aerial photography, aerial survey, routing inspection, agriculture, logistics, security and the like. Unmanned aerial vehicle has played more and more important effect in fields such as military affairs, civilian use, science and technology gradually because its flexibility is high, and mobility is good, and reaction rate is fast, and operating requirement is low. With the coming of the related policies of low-airspace opening, unmanned aerial vehicle management and control and the like in the state and the gradual maturity of a multi-agent system in recent years, the unmanned aerial vehicle industry and the market will be further developed.
No matter civil stage performance, large-scale movable aerial photography or military aerial investigation and bee colony battle, as long as the unmanned aerial vehicle joint operation, the processes of flight path planning, formation aggregation, formation keeping, formation changing and the like exist. No matter which process is in, collision danger of high or low exists between the unmanned aerial vehicles, and the flight safety of each unmanned aerial vehicle is ensured firstly when the task is completed, so that the inter-vehicle collision prevention problem of the swarm unmanned aerial vehicles cannot be ignored. The current methods for collision avoidance of unmanned aerial vehicles mainly include flying the unmanned aerial vehicle in a pre-designed collision-free route strictly based on GPS and recognizing and avoiding obstacles through visual, acoustic and infrared sensors and the like. However, there is a possibility of failure of GPS, and the vision, sound wave and infrared sensors are not suitable for working under low light conditions, and have short detection distance, so that it is urgent to find an anti-collision method which does not depend on external positioning facilities such as GPS and has strong environmental adaptability.
The 'solar blind' ultraviolet light of 200nm-280nm is absorbed by ozone molecules in the atmosphere, so that the wireless ultraviolet light scattering communication of a low-altitude airspace has almost no background noise, all-weather communication can be realized, the ultraviolet light signal is not influenced by a radio interference signal, and meanwhile, remote ultraviolet interference is difficult to implement, and the ultraviolet light scattering communication system is suitable for concealed communication inside unmanned aerial vehicles in formation. Therefore, the anti-collision method based on the solar blind ultraviolet guidance can meet the requirements, and is suitable for more occasions due to the characteristics that the MIMO device is portable and easy to carry, can carry out all-weather non-direct-view communication, has low background noise and can carry out secret communication.
Disclosure of Invention
The invention aims to provide an ultraviolet light guide unmanned aerial vehicle swarm anti-collision system, device and method, which solve the problems that the existing inter-organic anti-collision method excessively depends on external positioning facilities, the application condition is harsh, and the detection distance is limited.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows: the utility model provides a prevent collision system based on ultraviolet light guide unmanned aerial vehicle bee colony, includes information processing center communication connection signal transmitter and signal receiver, and signal transmitter comprises the ultraviolet light LED light source and the intensity modulator of two kinds of wavelength, and signal receiver comprises light filter, photoelectric converter, amplifier and the photoelectric signal processor of two kinds of ultraviolet light LED light source wavelength that correspond, and microprocessor module in the information processing center installs inside unmanned aerial vehicle.
Further, an ultraviolet LED light source on the signal transmitter is lightened to emit ultraviolet light into an atmosphere channel, so that the task of signal transmission is completed;
an optical filter corresponding to an ultraviolet LED light source in the signal receiver receives an ultraviolet light signal, converts the ultraviolet light signal into an electric signal through a photoelectric converter, amplifies the electric signal through an amplifier, and then transmits the electric signal into an optical electric signal processor for processing and analysis;
the photoelectric signal processor transmits the processing result to the information processing center, the microprocessor module in the information processing center integrates information transmitted from all directions, an anti-collision instruction is made, the information processing center issues a flight control module for the unmanned aerial vehicle, and the course and the speed of the unmanned aerial vehicle are adjusted.
Furthermore, the ultraviolet light LED light source is modulated by the intensity modulator, so that the farthest transmission distances of the ultraviolet light with two wavelengths in the ultraviolet light LED light source respectively reach the preset boundary value of the early warning area.
Further, the model of the microprocessor module is STM32F 407.
Further, the boundary values of the early warning areas can be set to be 10m and 80m respectively, and the three-dimensional space around each unmanned aerial vehicle is divided into three early warning grade areas.
An ultraviolet MIMO device for guiding unmanned aerial vehicle swarm anti-collision based on ultraviolet light is spherical, a unidirectional transceiving structure is arranged on the outer wall of the ultraviolet MIMO device and comprises an ultraviolet LED light source and an optical filter, and the unidirectional transceiving structure can adjust the emission elevation angle of the ultraviolet LED light source, the aperture angle of light beams, the power and the parameters of the optical filter; an intensity modulator, a photoelectric converter, an amplifier and a photoelectric signal processor are arranged in the ultraviolet MIMO device; ultraviolet ray MIMO device comprises upper and lower two halves, installs respectively in the top and the below of unmanned aerial vehicle fuselage.
Furthermore, the outer wall of the ultraviolet MIMO device takes one warp at intervals of 90 degrees, the upper and lower 45 degrees take one weft respectively, the warp and weft have 8 intersection points, a group of unidirectional transceiving structures are arranged at each intersection point, and the unidirectional transceiving structures in different directions in the ultraviolet MIMO device are marked with serial numbers.
An unmanned aerial vehicle swarm anti-collision method based on ultraviolet light guidance comprises the following steps:
the ultraviolet LED light sources with two wavelengths in the ultraviolet MIMO device can manually divide a three-dimensional space around the unmanned aerial vehicle into three collision early warning level areas, wherein the collision early warning level areas are 0-level early warning areas R >80m, 1-level early warning areas 10m < R < 80m, 2-level early warning areas R < 10m, the collision probability is higher when the level is higher, and R is the spherical radius with the mass center of the unmanned aerial vehicle as the spherical center;
use two unmanned aerial vehicle A, B as an example, the ultraviolet ray LED light source circulation of 8 different directions on the unmanned aerial vehicle A ultraviolet ray MIMO device is lighted, and unmanned aerial vehicle B judges oneself in unmanned aerial vehicle A's several grades of early warning areas according to the figure of the different wavelength ultraviolet ray LED light sources that signal receiver received:
if the signal receivers in all directions of the unmanned aerial vehicle B do not receive ultraviolet LED signals with any wavelength, the unmanned aerial vehicle B is in a 0-level early warning area of the unmanned aerial vehicle A, has no collision danger temporarily and can fly along the original course;
if a signal receiver of the unmanned aerial vehicle B in a certain direction receives an ultraviolet LED signal with a wavelength, the unmanned aerial vehicle B is in a level 1 early warning area of the unmanned aerial vehicle A, the distance between the two unmanned aerial vehicles is close, collision danger with a certain probability exists, and the step 3 is skipped;
if a signal receiver of the unmanned aerial vehicle B in a certain direction receives ultraviolet LED signals with two wavelengths, the unmanned aerial vehicle B is in a 2-level early warning area of the unmanned aerial vehicle A, the distance between the two unmanned aerial vehicles is too short, a large collision risk exists, and the step 4 is skipped;
issuing execution to a flight control module by an information processing center, reducing the flying speed of the unmanned aerial vehicle to be below 8m/s, and continuously paying attention to the ultraviolet light signal in the direction;
and 4, step 4: adjusting direction of flight
The information processing center issues execution to the flight control module, and the unmanned aerial vehicle B rapidly adjusts the flight direction according to the adjustment scheme at the moment.
Further, the adjustment scheme in step 4 is as follows:
case a: when receiving the ultraviolet LED signal of two kinds of wavelength of only a unmanned aerial vehicle: the flight direction is rapidly adjusted to be opposite to the direction of the signal receiver until only an ultraviolet LED signal with one wavelength can be received, and the flight direction is adjusted again according to the current position target position;
case B: when receiving the ultraviolet LED signal of two kinds of wavelength of many unmanned aerial vehicle, divide two kinds of situations:
case a: when the incoming directions of a plurality of unmanned aerial vehicles are not symmetrically offset, the flying direction is rapidly adjusted to be the opposite direction of the direction synthesis direction of a plurality of signal receivers until only an ultraviolet LED signal with one wavelength can be received, and at the moment, the flying direction is adjusted again according to the current position and the target position;
case b: when the incoming direction symmetry of a plurality of unmanned aerial vehicles is offset, the flight direction is rapidly adjusted to be the opposite direction of the original flight direction until only an ultraviolet LED signal with one wavelength can be received, and the flight direction is adjusted again according to the current position and the position of the target aggregation point.
The invention has the beneficial effects that:
during the operation of unmanned aerial vehicle bee colony, no matter which process in formation is in gathering, separating, formation keeps and transform, as long as all carry on every unmanned aerial vehicle ultraviolet ray guide anticollision system, just can accomplish the anticollision work that does not rely on external positioner such as GPS, the flexibility is strong, intelligent height. Secondly, an ultraviolet light LED light source on the ultraviolet light MIMO device is simple in structure, easy to regulate and control and low in price; the ultraviolet light MIMO device is light and easy to carry, and the burden of the unmanned aerial vehicle cannot be increased. Finally, the ultraviolet background noise is low, the unmanned plane swarm can work in all weather, the organism safety of the unmanned plane swarm in various operation occasions can be greatly improved, and the secret communication can be realized due to the characteristic of the ultraviolet light, so that the system can be applied to wider scenes.
Drawings
Fig. 1 is a schematic diagram of a uv-based guided drone swarm collision avoidance system;
fig. 2 is a schematic diagram of an ultraviolet MIMO apparatus;
FIG. 3 is a schematic view of a pre-crash warning area;
fig. 4 is a schematic diagram of a direction adjustment scheme when only one warning signal of the unmanned aerial vehicle is received;
FIG. 5 is a schematic diagram of the direction adjustment scheme of multiple drones when coming to be asymmetrically offset;
fig. 6 is a schematic diagram of a direction adjustment scheme of multiple drones when coming direction symmetry counteracts.
In the figure, 1-an information processing center, 2-a signal transmitter, 3-a signal receiver, 4-a microprocessor module, 5-an ultraviolet light LED light source, 6-an intensity modulator, 7-an optical filter, 8-an optoelectronic converter, 9-an amplifier, 10-an optoelectronic signal processor, 11-a spherical MIMO device, 12-an unmanned aerial vehicle, 13-a unidirectional transceiving structure, 14-a flight control module and 15-ultraviolet light.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, an unmanned aerial vehicle swarm anti-collision system based on ultraviolet guidance is formed by a signal processing center 1 in communication connection with a signal transmitter 2 and a signal receiver 3, wherein the signal transmitter 2 is composed of a "solar blind" ultraviolet LED light source 5 and an intensity modulator 6 with two wavelengths, and the signal receiver 3 is composed of an optical filter 7, a photoelectric converter 8, an amplifier 9 and a photoelectric signal processor 10, wherein the optical filter 7 corresponds to the wavelengths of the two "solar blind" ultraviolet LED light sources. Microprocessor module 4 in information processing center 1 installs inside unmanned aerial vehicle 12, and microprocessor module 4's model is STM32F 407.
As shown in fig. 2, the outer wall of the ultraviolet MIMO device 11 takes one warp every 90 °, takes one weft every 45 °, and has 8 intersections, and a set of unidirectional transceiving structure 13 is disposed at each intersection, where the unidirectional transceiving structure includes two different wavelengths (λ;)1，λ2) The ultraviolet LED light source 5 and the filter 7 with the corresponding wavelength are adjusted to be suitable for the emitting elevation angle, the beam aperture angle, the power and the parameters of the filter 7 of the ultraviolet LED light source 5, so that the receiving light range of the filter 7 in each direction and the ultraviolet light 15 emitted by the ultraviolet LED light source 5 can just cover one eighth of the area responsible for the direction.
The ultraviolet LED light sources 5 on the signal transmitter 2 are lighted circularly in sequence, and the ultraviolet LED light sources 5 with the same serial number and different wavelengths are lighted to emit ultraviolet light 15 into an atmosphere channel at the same time, so that the task of signal transmission is completed.
The optical filter 7 corresponding to the two wavelength LED light sources in the signal receiver 3 receives the ultraviolet light 15 signal, converts the ultraviolet light 15 signal into an electric signal through the photoelectric converter 8, amplifies the electric signal through the amplifier 9, and then transmits the electric signal into the photoelectric signal processor 10 for processing and analysis.
The photoelectric signal processor 10 in each direction transmits the processing result to the information processing center 1, the microprocessor module 4 in the information processing center 1 integrates the information transmitted from each direction, a proper anti-collision instruction is made, the information processing center 1 transmits a flight control module 14 for the unmanned aerial vehicle, and the flight states of the unmanned aerial vehicle, such as course, speed and the like, are adjusted.
The ultraviolet LED light sources 5 with two wavelengths installed at the intersection point of the longitude and latitude lines on the surface of the ultraviolet MIMO device 11 are respectively modulated to appropriate intensities by the intensity modulator 6, so that the farthest transmission distances of the ultraviolet light with two wavelengths respectively reach preset early warning zone boundary values, namely 10m and 80m, and the three-dimensional space around each unmanned aerial vehicle 12 is divided into three early warning level zones, as shown in fig. 3.
An unmanned aerial vehicle swarm anti-collision method based on ultraviolet light guidance comprises the following steps:
the LED light sources 5 with two wavelengths in the ultraviolet MIMO device 11 can artificially divide the three-dimensional space around the unmanned aerial vehicle 12 into three collision early warning level areas, as shown in FIG. 3, which are respectively a 0-level early warning area (R >80m), a 1-level early warning area (10m < R < 80m), and a 2-level early warning area (R < 10m), wherein the higher the level is, the higher the collision probability is, and R is the sphere radius with the center of mass of the unmanned aerial vehicle as the sphere center.
take two unmanned aerial vehicles A, B as an example, the ultraviolet ray LED light source 5 of several directions is lighted on unmanned aerial vehicle A ultraviolet ray MIMO device 11 circulation, and unmanned aerial vehicle B judges oneself to be in unmanned aerial vehicle A's several levels of early warning districts according to the figure of the different wavelength ultraviolet ray LED signals that signal receiver 3 received:
if the signal receivers 3 in all directions of the unmanned aerial vehicle B do not receive ultraviolet LED signals with any wavelength, the unmanned aerial vehicle B is in a 0-level early warning area of the unmanned aerial vehicle A, has no collision danger temporarily and can fly along the original course;
if the signal receiver 3 of the unmanned aerial vehicle B in a certain direction receives an ultraviolet LED signal with one wavelength, the unmanned aerial vehicle B is in a level 1 early warning area of the unmanned aerial vehicle A, the distance between the two unmanned aerial vehicles is close, collision danger with certain probability exists, and the step 3 is skipped;
if the signal receiver 3 of the unmanned aerial vehicle B in a certain direction receives ultraviolet LED signals with two wavelengths, the unmanned aerial vehicle B is in a 2-level early warning area of the unmanned aerial vehicle A, the distance between the two unmanned aerial vehicles is too close, a large collision risk exists, and the step 4 is skipped;
the information processing center 1 issues execution to the flight control module 14, the flying speed of the unmanned aerial vehicle is reduced to below 8m/s, and the ultraviolet light signal in the direction is continuously concerned.
the information processing center 1 issues execution to the flight control module 14, and at this time, the unmanned aerial vehicle B rapidly adjusts the flight direction according to the adjustment scheme.
In an actual scene, the distance limits of all the early warning areas of each unmanned aerial vehicle are the same, the influence of some uncontrollable factors on the ultraviolet light propagation distance is ignored, the situation that A is in a certain-level early warning area of B can be understood, and B is also in a certain-level early warning area of A, so that when collision danger exists, the two unmanned aerial vehicles simultaneously adjust the flight direction.
The specific adjustment scheme is as follows:
case a: when only receiving the ultraviolet LED signal of two kinds of wavelength of an unmanned aerial vehicle, adjust the flight direction to the opposite direction of this signal receiver 3 direction rapidly, until can only receive the ultraviolet LED signal of a wavelength, adjust the flight direction again according to current position target position this moment.
For example, when the signal receiver 3 in the direction of the drone B ② receives the ultraviolet LED signals with two wavelengths, the drone B quickly adjusts the flight direction to the opposite direction ⑧ of ② as shown in fig. 4.
Case B: when receiving the ultraviolet LED signal of two kinds of wavelength of many unmanned aerial vehicle, divide two kinds of situations:
case a: when the incoming directions of a plurality of unmanned aerial vehicles are not symmetrically offset, the flight direction is rapidly adjusted to be the opposite direction of the direction synthesis direction of the signal receivers 3 until only an ultraviolet LED signal with one wavelength can be received, and the flight direction is adjusted again according to the current position and the target position.
For example, when the signal receivers 3 in the directions of the unmanned aerial vehicles B ②, ④, and ⑦ receive ultraviolet LED signals with two wavelengths, B quickly adjusts the flight direction to the opposite direction of the combined direction of ②, ④, and ⑦ as shown in fig. 5.
Case b: when the incoming direction symmetry of a plurality of unmanned aerial vehicles is offset, the flight direction is rapidly adjusted to be the opposite direction of the original flight direction until only an ultraviolet LED signal with one wavelength can be received, and the flight direction is adjusted again according to the current position and the position of the target aggregation point.
For example, the signal receivers 3 in the directions of the unmanned aerial vehicles B ①, ③, ⑤ and ⑦ all receive ultraviolet LED signals with two wavelengths, and these directions are just offset, so that the unmanned aerial vehicle B rapidly adjusts the flight direction to the opposite direction of the original heading direction as shown in fig. 6.
In addition, the collision prevention schemes of various collision modes are analyzed and a collision prevention scheme library is established so as to directly call the appropriate collision prevention scheme when the same situation is met subsequently.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that this is by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.
Claims (9)
1. The utility model provides a prevent collision system based on ultraviolet light guide unmanned aerial vehicle bee colony, its characterized in that, includes information processing center communication connection signal transmitter and signal receiver, and signal transmitter comprises the ultraviolet LED light source and the intensity modulator of two kinds of wavelength, and signal receiver comprises the light filter, photoelectric converter, amplifier and the photoelectric signal processor that correspond two kinds of ultraviolet LED light source wavelength, and microprocessor module among the information processing center installs inside unmanned aerial vehicle.
2. The UV-light based guided drone swarm collision avoidance system of claim 1,
an ultraviolet LED light source on the signal transmitter is lightened to transmit ultraviolet light into an atmospheric channel to complete the task of signal transmission;
an optical filter corresponding to an ultraviolet LED light source in the signal receiver receives an ultraviolet light signal, converts the ultraviolet light signal into an electric signal through a photoelectric converter, amplifies the electric signal through an amplifier, and then transmits the electric signal into an optical electric signal processor for processing and analysis;
the photoelectric signal processor transmits the processing result to the information processing center, the microprocessor module in the information processing center integrates information transmitted from all directions, an anti-collision instruction is made, the information processing center issues a flight control module for the unmanned aerial vehicle, and the course and the speed of the unmanned aerial vehicle are adjusted.
3. The UV-light-based guided unmanned aerial vehicle swarm anti-collision system according to claim 1, wherein the UV LED light source is modulated by the intensity modulator, so that the farthest transmission distances of the UV lights with two wavelengths in the UV LED light source respectively reach a preset early warning area boundary value.
4. The ultraviolet light-based guided drone swarm collision avoidance system of claim 1, wherein the microprocessor module is model number STM32F 407.
5. The UV-light-based guided drone swarm collision avoidance system according to claim 3, wherein the early warning zone boundary values are set to 10m and 80m respectively, and the three-dimensional space around each drone is divided into three early warning level zones.
6. The ultraviolet light MIMO device for guiding unmanned aerial vehicle swarm collision avoidance based on ultraviolet light according to claim 1, wherein the ultraviolet light MIMO device is spherical, a unidirectional transceiving structure is disposed on an outer wall of the ultraviolet light MIMO device, the unidirectional transceiving structure comprises an ultraviolet light LED light source and an optical filter, and the unidirectional transceiving structure can adjust an emission elevation angle, a beam aperture angle, power and parameters of the optical filter of the ultraviolet light LED light source; an intensity modulator, a photoelectric converter, an amplifier and a photoelectric signal processor are arranged in the ultraviolet MIMO device; ultraviolet ray MIMO device comprises upper and lower two halves, installs respectively in the top and the below of unmanned aerial vehicle fuselage.
7. The ultraviolet light MIMO device for guiding unmanned aerial vehicle swarm collision avoidance based on ultraviolet light as claimed in claim 6, wherein the outer wall of the ultraviolet light MIMO device takes one warp every 90 degrees, takes one weft every 45 degrees, the warp and weft have 8 intersection points, a set of unidirectional transceiving structures is placed at each intersection point, and the unidirectional transceiving structures in different directions in the ultraviolet light MIMO device are marked with serial numbers.
8. An unmanned aerial vehicle swarm anti-collision method based on ultraviolet light guidance is characterized by comprising the following steps:
step 1, dividing a collision early warning grade area:
the ultraviolet LED light sources with two wavelengths in the ultraviolet MIMO device can manually divide a three-dimensional space around the unmanned aerial vehicle into three collision early warning level areas, wherein the collision early warning level areas are 0-level early warning areas R >80m, 1-level early warning areas 10m < R < 80m, 2-level early warning areas R < 10m, the collision probability is higher when the level is higher, and R is the spherical radius with the mass center of the unmanned aerial vehicle as the spherical center;
step 2, judging the collision early warning area:
use two unmanned aerial vehicle A, B as an example, the ultraviolet ray LED light source circulation of 8 different directions on the unmanned aerial vehicle A ultraviolet ray MIMO device is lighted, and unmanned aerial vehicle B judges oneself in unmanned aerial vehicle A's several grades of early warning areas according to the figure of the different wavelength ultraviolet ray LED light sources that signal receiver received:
if the signal receivers in all directions of the unmanned aerial vehicle B do not receive ultraviolet LED signals with any wavelength, the unmanned aerial vehicle B is in a 0-level early warning area of the unmanned aerial vehicle A, has no collision danger temporarily and can fly along the original course;
if a signal receiver of the unmanned aerial vehicle B in a certain direction receives an ultraviolet LED signal with a wavelength, the unmanned aerial vehicle B is in a level 1 early warning area of the unmanned aerial vehicle A, the distance between the two unmanned aerial vehicles is close, collision danger with a certain probability exists, and the step 3 is skipped;
if a signal receiver of the unmanned aerial vehicle B in a certain direction receives ultraviolet LED signals with two wavelengths, the unmanned aerial vehicle B is in a 2-level early warning area of the unmanned aerial vehicle A, the distance between the two unmanned aerial vehicles is too short, a large collision risk exists, and the step 4 is skipped;
step 3, adjusting the flying speed:
issuing execution to a flight control module by an information processing center, reducing the flying speed of the unmanned aerial vehicle to be below 8m/s, and continuously paying attention to the ultraviolet light signal in the direction;
and 4, step 4: adjusting direction of flight
The information processing center issues execution to the flight control module, and the unmanned aerial vehicle B rapidly adjusts the flight direction according to the adjustment scheme at the moment.
9. The method for guiding unmanned aerial vehicle swarm collision avoidance based on ultraviolet light according to claim 7, wherein the adjustment scheme in step 4 is as follows:
case a: when receiving the ultraviolet LED signal of two kinds of wavelength of only a unmanned aerial vehicle: the flight direction is rapidly adjusted to be opposite to the direction of the signal receiver until only an ultraviolet LED signal with one wavelength can be received, and the flight direction is adjusted again according to the current position target position;
case B: when receiving the ultraviolet LED signal of two kinds of wavelength of many unmanned aerial vehicle, divide two kinds of situations:
case a: when the incoming directions of a plurality of unmanned aerial vehicles are not symmetrically offset, the flying direction is rapidly adjusted to be the opposite direction of the direction synthesis direction of a plurality of signal receivers until only an ultraviolet LED signal with one wavelength can be received, and at the moment, the flying direction is adjusted again according to the current position and the target position;
case b: when the incoming direction symmetry of a plurality of unmanned aerial vehicles is offset, the flight direction is rapidly adjusted to be the opposite direction of the original flight direction until only an ultraviolet LED signal with one wavelength can be received, and the flight direction is adjusted again according to the current position and the position of the target aggregation point.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111736628A (en) * | 2020-06-29 | 2020-10-02 | 西安理工大学 | Optimal persistent formation generation method for wireless ultraviolet MIMO cooperative unmanned aerial vehicle |
| CN111880556A (en) * | 2020-07-02 | 2020-11-03 | 西安理工大学 | Wireless ultraviolet light-based anti-collision system and method in unmanned aerial vehicle cluster |
| CN114339946A (en) * | 2021-12-16 | 2022-04-12 | 西安理工大学 | Wireless ultraviolet light assisted unmanned aerial vehicle covert data acquisition method |
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