CN111596684A - Fixed-wing unmanned aerial vehicle dense formation and anti-collision obstacle avoidance semi-physical simulation system and method - Google Patents
Fixed-wing unmanned aerial vehicle dense formation and anti-collision obstacle avoidance semi-physical simulation system and method Download PDFInfo
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Abstract
The invention relates to a semi-physical simulation system and a semi-physical simulation method for intensive formation and collision and obstacle avoidance of fixed-wing unmanned aerial vehicles, wherein the system comprises an unmanned aerial vehicle platform, a simulation computer, a ground station computer, a three-dimensional situation computer, a serial port/network conversion module and a network switch, and can complete semi-physical simulation verification of an intensive formation control algorithm, an intensive formation design method, an autonomous avoidance collision avoidance algorithm, formation transformation and reconstruction algorithm of small-sized fixed-wing unmanned aerial vehicles.
Description
Technical Field
The invention belongs to the technical field of dense formation of unmanned aerial vehicles, and particularly relates to a system and a method for simulating a small-sized dense formation and an anti-collision obstacle avoidance semi-physical system of a fixed-wing unmanned aerial vehicle.
Background
Unmanned aerial vehicle formation flight carries out three-dimensional space arrangement according to certain structural style with many unmanned aerial vehicles that have autonomic function exactly, makes its formation that keeps stable at the flight in-process to can carry out dynamic adjustment according to external conditions and task demand. The dense formation of the unmanned aerial vehicles is a new formation flight mode, a plurality of unmanned aerial vehicles are arranged according to a certain formation, the distance between adjacent unmanned aerial vehicles is required not to exceed a certain range, and the formation is kept unchanged in the flight process. For large and medium-sized unmanned aerial vehicle formation, the influence of airflow disturbance in the dense formation of small-sized fixed-wing unmanned aerial vehicles is more obvious, and the airflow disturbance can cause important influence on the posture and relative position of the dense formation of the unmanned aerial vehicles, so that the formation of the dense formation of small-sized fixed-wing unmanned aerial vehicles is kept to be crucial. When unmanned aerial vehicle formation is carrying out the barrier and is avoidng, because there are many unmanned aerial vehicles to exist, must control unmanned aerial vehicle when the aircraft-room does not bump in formation, realize keeping away the barrier to the anticollision of barrier.
The existing algorithm verification of the dense formation and the collision avoidance of the fixed-wing unmanned aerial vehicle is mostly carried out in a digital simulation mode, a set of complete semi-physical simulation system is lacked, the real unmanned aerial vehicle is connected into a simulation closed loop, systematic verification is carried out on the dense formation control algorithm, the formation transformation and reconstruction algorithm, the influence of pneumatic coupling on the dense formation and the autonomous avoidance collision avoidance algorithm, which relate to the dense formation and the collision avoidance of the small-sized fixed-wing unmanned aerial vehicle, so that the feasibility and the reliability of each algorithm in the dense formation and the collision avoidance can be tested, and technical support is provided for the engineering realization of completing cooperative tasks by the dense formation flying.
Disclosure of Invention
Technical problem to be solved
In order to solve the problems of dense formation and anti-collision and obstacle-avoidance semi-physical simulation verification of the small-sized fixed-wing unmanned aerial vehicle, the invention provides a system and a method for dense formation and anti-collision and obstacle-avoidance semi-physical simulation of the small-sized fixed-wing unmanned aerial vehicle, and the system and the method are used for verifying a dense formation control algorithm, a formation transformation and reconstruction algorithm, the influence of pneumatic coupling on the dense formation, an autonomous avoidance and anti-collision algorithm and the like involved in the dense formation and the anti-collision and obstacle-avoidance of the small-sized fixed-wing unmanned aerial vehicle.
Technical scheme
A fixed-wing unmanned aerial vehicle intensive formation and anti-collision obstacle avoidance semi-physical simulation system is characterized by comprising an unmanned aerial vehicle platform, a simulation computer, a ground station computer, a three-dimensional situation computer, a serial port/network conversion module and a network switch; the unmanned aerial vehicle platform comprises an onboard computer, a steering engine and a battery, wherein intensive formation control algorithms, autonomous avoidance collision avoidance algorithms, single-machine basic pneumatic data and six-degree-of-freedom dynamic kinematics models of the unmanned aerial vehicle are independently operated in onboard computer hardware; the airborne computer receives model data output by the simulation computer through an RS232\ RS422 serial port, receives and responds to a control instruction sent by the ground station computer, runs an internal control algorithm and a model, calculates to generate a steering engine control instruction, sends the steering engine control instruction to a steering engine, and sends state parameters of the unmanned aerial vehicle to the ground station computer and the simulation computer through the RS232\ RS422 serial port; the steering engine consists of an electronic speed regulator and a brushless motor, the electronic speed regulator responds to a steering engine control command of the onboard computer and is used for driving the brushless motor, and the brushless motor receives and executes the control command of the electronic speed regulator and feeds back a command execution result; the ground station computer is provided with ground station control software, loads a dense formation form file of the small-sized fixed-wing unmanned aerial vehicle, transforms the dense formation form, loads a mission air route and loads an obstacle model, and sends the model file to the simulation computer and records and plays back the flight data of the dense formation of the unmanned aerial vehicle; the simulation computer runs the digital model, receives the unmanned aerial vehicle intensive formation form file sent by the ground station computer, runs the intensive formation form model, the form transformation reconstruction algorithm and the inter-formation distance measurement model, and sends the intensive formation form data to the onboard computer as the input of formation control; the simulation computer runs the obstacle ranging model, and transmits obstacle data to the onboard computer to be used as input of autonomous evasion collision avoidance control; the simulation computer operates a pneumatic coupling model, calculates the influence of pneumatic coupling in the intensive formation of the unmanned aerial vehicles on the unmanned aerial vehicles, and sends pneumatic coupling data to the onboard computer to be used as input for correcting basic pneumatic data of the single machine in the intensive formation; simulating a computer operation sensor model as the input of a six-degree-of-freedom dynamic kinematics model of the unmanned aerial vehicle; the three-dimensional situation computer is used for carrying out three-dimensional situation display on the dense formation of the small-sized fixed-wing unmanned aerial vehicles, carrying out three-dimensional scene display on the flight state information of all the unmanned aerial vehicles and displaying the obstacles detected in the flight process of the clustered unmanned aerial vehicles; the serial port/network conversion module converts flight parameter information transmitted by an onboard computer through a serial port RS 232/RS 422 into UDP data for transmission and sends the UDP data to a network switch, and the serial port/network conversion module converts the received information transmitted by the ground station computer and the simulation computer through the UDP data into data transmitted by the serial port RS 232/RS 422 and sends the data to the onboard computer, so that the serial port data and the network data are converted with each other; the network switch connects the airborne computer, the ground station computer, the simulation computer and the three-dimensional situation computer into a local area network, and the communication scheme adopts a local area network UDP communication scheme; the function that a ground station computer sends a command to a certain unmanned aerial vehicle platform independently is realized by UDP communication, and the function that the ground station computer \ an analog computer \ a three-dimensional situation computer and an onboard computer are communicated with each other is realized.
A semi-physical simulation method for dense formation and collision avoidance of fixed-wing unmanned aerial vehicles is characterized by comprising the following steps:
step 1: loading the number of intensive formations, an initial intensive formation file, a formation file after formation conversion, a task route and an obstacle model on a ground station computer, and sending the files to a simulation computer by the ground station computer;
step 2: the simulation computer receives an initial intensive formation shape of the unmanned aerial vehicles sent by the ground station computer and runs an intensive formation shape model; the simulation computer receives the formation transformation command and the formation file after the formation transformation, runs a formation transformation reconstruction algorithm, and generates a real-time formation in the formation transformation process; the method comprises the steps that a simulation computer runs a formation machine distance measurement model, and the unmanned aerial vehicle distance measurement data obtained in machine distance measurement are simulated; the simulation computer runs a pneumatic coupling model and calculates the influence of the distance between the unmanned aerial vehicles on the pneumatic coupling of the unmanned aerial vehicles; the simulation computer runs a barrier ranging model and calculates the relative position relation between the unmanned aerial vehicle and the barrier in the intensive formation mission air route; simulating a computer operation sensor model, and calculating information of an airborne sensor of the unmanned aerial vehicle; any unmanned aerial vehicle in the intensive formation of the unmanned aerial vehicles has a unique serial number, and the simulation computer sends the intensive formation form, the inter-machine distance measurement data, the pneumatic coupling data, the obstacle distance measurement data and the sensor data which are obtained through simulation calculation to an on-board computer in the unmanned aerial vehicle platform which is correspondingly numbered in the intensive formation form;
and step 3: the airborne computer receives the pneumatic coupling data sent by the simulation computer, the pneumatic coupling data is added into the single-machine basic pneumatic data model, and the pneumatic data is corrected to obtain the pneumatic data of the unmanned aerial vehicles in the intensive formation; the airborne computer operates a six-degree-of-freedom dynamic kinematics model of the unmanned aerial vehicle, receives intensive formation form, inter-machine distance measurement data and sensor data sent by the simulation computer, operates an intensive formation control algorithm, and calculates to obtain steering engine control quantity, attitude, speed and position of the unmanned aerial vehicle; the airborne computer receives the obstacle ranging data sent by the simulation computer, runs an autonomous avoidance collision avoidance algorithm, and calculates and obtains steering engine control quantity, posture, speed and position of the unmanned aerial vehicle formation in the collision avoidance process; the onboard computer sends the control quantity of the steering engine to the steering engine, and sends the attitude, the speed and the position to the simulation computer, the ground station computer and the three-dimensional situation computer;
and 4, step 4: a steering engine in the unmanned aerial vehicle platform executes steering engine control quantity sent by the onboard computer and feeds back the steering engine control quantity to the onboard computer;
and 5: after receiving the data of the onboard computer, the simulation computer operates an intensive formation model, calculates the formation retention condition in the intensive formation of the unmanned aerial vehicle, updates inter-machine distance measurement data, obstacle distance measurement data and sensor data of the intensive formation, sends the data to the onboard computer, and forms a simulation closed loop with the onboard computer;
step 6: the three-dimensional situation computer carries out three-dimensional display to the intensive formation of unmanned aerial vehicle, shows all unmanned aerial vehicle's gesture position in the formation, carries out three-dimensional display to the result that meets the barrier and carry out anticollision and keep away the barrier in the intensive formation.
Advantageous effects
The invention provides a small-sized fixed-wing unmanned aerial vehicle intensive formation and anti-collision obstacle avoidance semi-physical simulation system and method, which have the beneficial effects that:
(1) the small-sized fixed-wing unmanned aerial vehicle intensive formation and anti-collision obstacle avoidance semi-physical simulation system adopts a modular design mode, can complete semi-physical simulation verification of an intensive formation control algorithm, an intensive formation design method, an autonomous avoidance anti-collision algorithm, formation transformation and a reconstruction algorithm of the small-sized fixed-wing unmanned aerial vehicle, can verify a single algorithm, can also perform combined verification on the algorithms, serves as a demonstration verification platform of the unmanned aerial vehicle intensive formation, and can perform sufficient verification and optimization on development of a small-sized fixed-wing principle prototype of the intensive formation and ground tests.
(2) In the small-sized fixed-wing unmanned aerial vehicle intensive formation and anti-collision obstacle avoidance semi-physical simulation method, an airborne computer program and a six-degree-of-freedom dynamic kinematics model are operated inside an unmanned aerial vehicle platform, the six-degree-of-freedom dynamic kinematics model of the unmanned aerial vehicle is not required to be operated by a simulation computer, the operation is simple, the modular design is adopted, the number of unmanned aerial vehicle formations can be conveniently added, the simulation model is not required to be changed, and the airborne computer can also be directly used for physical flight without changing the airborne computer program.
(3) The semi-physical simulation system and method for the dense formation and the collision avoidance of the small fixed-wing unmanned aerial vehicle have expansibility, can verify the performance of the dense formation of the unmanned aerial vehicle, realize various heterogeneous types and various formation forms, can perform formation transformation and obstacle avoidance in obstacle collision avoidance, and consider the influence of pneumatic coupling on the unmanned aerial vehicle in the dense formation of the fixed-wing unmanned aerial vehicle.
Drawings
Fig. 1 is a structural diagram of a small-sized fixed-wing unmanned aerial vehicle intensive formation and collision and obstacle avoidance semi-physical simulation system provided by the invention.
Fig. 2 is a flow chart of a small-sized fixed-wing unmanned aerial vehicle intensive formation and collision avoidance semi-physical simulation method provided by the invention.
Fig. 3 is a schematic view of loading a formation file in a "bureaucratic plane" formation mode of a small fixed-wing drone, according to an embodiment of the present invention.
Fig. 4 is a structural diagram of a dense formation control algorithm system of the small-sized fixed-wing unmanned aerial vehicles, which is established in the embodiment of the invention.
Fig. 5 is a block diagram of a collision avoidance simulation flow established in the embodiment of the present invention.
Fig. 6 is a schematic diagram of an algorithm interface of a compact formation and collision and obstacle avoidance semi-physical simulation system for small fixed-wing uavs established in the embodiment of the present invention.
Fig. 7 is a flowchart of the dense formation control of the small fixed-wing uavs established in the embodiment of the present invention.
Detailed Description
The invention will now be further described with reference to the following examples and drawings:
the embodiment provides a small-sized fixed-wing unmanned aerial vehicle intensive formation and anti-collision obstacle avoidance semi-physical simulation system and method, and the system comprises: the system comprises an unmanned aerial vehicle platform, an emulation computer, a ground station computer, a three-dimensional situation computer, a serial port/network conversion module and a network switch.
Further, the unmanned aerial vehicle platform contains on-board computer, steering wheel and battery.
Specifically, the onboard computer adopts an FC-L1P onboard computer produced by Neno corporation, and an intensive formation control algorithm, an autonomous avoidance collision avoidance algorithm, single-machine basic pneumatic data and an unmanned aerial vehicle six-degree-of-freedom dynamic kinematics model are independently operated in hardware of the onboard computer. The airborne computer receives model data output by the simulation computer through an RS232\ RS422 serial port, receives and responds to a control instruction sent by the ground station computer, runs an internal control algorithm and a model, calculates to generate a steering engine control instruction, sends the steering engine control instruction to a steering engine, and sends unmanned aerial vehicle state parameters such as attitude tracks and the like to the ground station computer and the simulation computer through the RS232\ RS422 serial port.
Specifically, the steering engine is composed of an electronic speed regulator and a brushless motor, the motor is an X6212S motor produced by Langyu corporation, the electronic speed regulator is a good Fei Fu n-40A-OPTO electronic speed regulator, the electronic speed regulator responds to a steering engine control command of an onboard computer and is used for driving the brushless motor, and the brushless motor receives and executes the control command of the electronic speed regulator and feeds back a command execution result.
Specifically, the battery adopts TATTU power battery, provides stable voltage for airborne computer, steering wheel, maintains the normal work of unmanned aerial vehicle platform airborne equipment.
Furthermore, the ground station computer is provided with ground station control software, can load the files of the dense formation shapes of the small-sized fixed-wing unmanned aerial vehicles, can change the dense formation shapes, can load mission routes, and can load obstacle models, and sends the model files to the simulation computer, and can record and play back the flight data of the dense formation of the unmanned aerial vehicles.
Furthermore, the simulation computer mainly runs a digital model, receives an unmanned aerial vehicle intensive formation form file sent by the ground station computer, runs an intensive formation form model, a form transformation reconstruction algorithm and an inter-formation machine distance measurement model, and sends intensive formation form data to the onboard computer as the input of formation control; the simulation computer runs the obstacle ranging model, and transmits obstacle data to the onboard computer to be used as input of autonomous evasion collision avoidance control; the simulation computer operates a pneumatic coupling model, calculates the influence of pneumatic coupling in the intensive formation of the unmanned aerial vehicles on the unmanned aerial vehicles, and sends pneumatic coupling data to the onboard computer to be used as input for correcting basic pneumatic data of the single machine in the intensive formation; and (3) simulating a computer operation sensor model as the input of a six-degree-of-freedom dynamic kinematics model of the unmanned aerial vehicle.
Furthermore, the three-dimensional situation computer carries out three-dimensional situation display to the intensive formation figure of small-size fixed wing unmanned aerial vehicle to flight status information such as the gesture of whole unmanned aerial vehicle, flight path carries out three-dimensional scene and shows, shows the barrier that cluster unmanned aerial vehicle flight in-process detected, reinforcing user's visual experience.
Specifically, the ground station computer, the simulation computer and the three-dimensional situation display computer all adopt Windows10 control systems.
Further, the flight parameter information transmitted by the airborne computer through the serial port RS232\ RS422 is converted into UDP data through the serial port \ network conversion module, transmitted and sent to the network switch; the ground station computer and the simulation computer convert information transmitted by UDP data into data transmitted by a serial port RS 232/RS 422 through a serial port/network conversion module, transmit and send the data to the onboard computer, and realize the mutual conversion of the serial port data and the network data.
Furthermore, the network switch mainly carries out communication of a semi-physical simulation system, and connects the airborne computer, the ground station computer, the simulation computer and the three-dimensional situation computer into a local area network, and the communication scheme adopts a local area network UDP communication scheme. The function that a ground station computer sends a command to a certain unmanned aerial vehicle platform independently is realized by UDP communication, and the function that the ground station computer \ an analog computer \ a three-dimensional situation computer and an onboard computer are communicated with each other is realized.
The method for simulating the dense formation and the collision avoidance semi-physical object of the small-sized fixed-wing unmanned aerial vehicle comprises the following steps:
the method comprises the following steps: the ground station computer loads the number of intensive formations, an initial intensive formation file, a formation file after formation transformation, a task route and an obstacle model, and sends the files to the simulation computer.
Specifically, the intensive formation mode of the small fixed-wing unmanned aerial vehicles adopts a formation mode of "bureaucratic plane", the ground station computer loads the intensive formation shape file of the small fixed-wing unmanned aerial vehicles as shown in fig. 3, the ground station computer can edit the formation shapes through any tool, the interfaces of all the formation shapes are unified, and the formation shape change is convenient.
Step two: the simulation computer receives an initial intensive formation shape of the unmanned aerial vehicles sent by the ground station computer and runs an intensive formation shape model; the simulation computer receives the formation transformation command and the formation file after the formation transformation, runs a formation transformation reconstruction algorithm, and generates a real-time formation in the formation transformation process; the method comprises the steps that a simulation computer runs a formation machine distance measurement model, and the unmanned aerial vehicle distance measurement data obtained in machine distance measurement are simulated; the simulation computer runs a pneumatic coupling model and calculates the influence of the distance between the unmanned aerial vehicles on the pneumatic coupling of the unmanned aerial vehicles; the simulation computer runs a barrier ranging model and calculates the relative position relation between the unmanned aerial vehicle and the barrier in the intensive formation mission air route; and (3) simulating a computer operation sensor model, and calculating information of airborne sensors such as unmanned aerial vehicle inertial navigation, satellite navigation and dynamic and static pressure sensors. Any unmanned aerial vehicle in the dense formation of the unmanned aerial vehicles has a unique serial number, and the simulation computer sends the dense formation form, the inter-machine distance measurement data, the pneumatic coupling data, the obstacle distance measurement data and the sensor data which are obtained through simulation calculation to an on-board computer in the unmanned aerial vehicle platform with the corresponding serial number in the dense formation form.
Specifically, the simulation computer receives the dense formation of unmanned aerial vehicles sent by the ground station computer and the relative position (x) of each wing plane relative to the grand planen,yn,zn) And recording the relative position of each unmanned aerial vehicle in the dense formation model as an input for keeping.
Specifically, the simulation computer receives the distance between the dense formation machines of the small-sized fixed-wing unmanned aerial vehicles, runs the pneumatic coupling model and calculates
Obtaining aerodynamic coupling effects of drones in formation, where Cin＝f(xin,yin,zin)，ΔCnIndicating that the nth drone is affected by pneumatic coupling in the dense formation, m indicating the number of drones in the dense formation, (x)in,yin,zin) Indicates the distance between the ith unmanned aerial vehicle and the nth unmanned aerial vehicle, CinIndicating the aerodynamic coupling effect of the ith drone on the nth drone.
Specifically, the simulation computer receives an intensive formation file sent by the ground station computer, the unmanned aerial vehicle is regarded as a particle, and the onboard computer performs potential function control based on the distance between the machines. And the simulation computer receives the formation transformation control command sent by the ground station computer and the dense formation file after formation transformation, runs a formation transformation reconstruction algorithm, and generates the relative motion track of each unmanned aerial vehicle in real-time formation transformation.
Specifically, in the reconstruction algorithm of the dense formation formations of the small-sized fixed-wing unmanned aerial vehicles, the time delta T is required for changing from one formation to another formation, and every delta T time passes according to the
T0＜t＜T0+ Δ T controls the speed of the drone, where the control time interval in the formation change is Δ T, T0For the start time, u, in formation change0Is the unmanned aerial vehicle speed input before the time of delta t, ui(t) is the unmanned aerial vehicle speed input after the time delta t,
is the actual speed input of the drone,
T0＜t＜T0+ Δ T, f (T) is the buffer function in the formation transform. Under the action of the control input, the expected distance between the unmanned aerial vehicles is kept in the dense formation of the unmanned aerial vehicles, and the reconstruction in the formation transformation process is realized.
Specifically, two positioning modes are adopted for intensive formation of small fixed-wing unmanned aerial vehicles and collision avoidance, two positioning modes, namely satellite navigation and laser radar ranging, are adopted by a leader to determine the absolute position of the intensive formation of small fixed-wing unmanned aerial vehicles in space and the distance between the leader and an obstacle, and a laser radar positioning mode is adopted by a wing to determine the relative position relationship between the wing and the leader or between the wing and the wing. In the simulation computer, the position of the long aircraft is determined by a flight path loaded by a task in the absolute position of the long aircraft in the space, a barrier ranging model is determined by performance parameters of a laser radar, when the laser radar identifies a barrier, the small fixed-wing unmanned aerial vehicles are densely formed to carry out an anti-collision and barrier-avoiding strategy, and the distance between the long aircraft and the barrier is calculated in real time; the inter-aircraft ranging model resolves relevant unmanned aerial vehicle information detected by the unmanned aerial vehicle laser radar in real time and resolves the relative position relation between the unmanned aerial vehicle information and the long aircraft. The obstacle model adopts a conventional infinite height cylindrical model, the space geometric position of the obstacle is set to be (x, y), the radius of the obstacle is set to be R, the ground station computer edits and inputs obstacle information, then the obstacle information is sent to the simulation computer, each model is converted according to the motion state of the model and the obstacle information to obtain obstacle avoidance sensor information, and the obstacle avoidance algorithm carries out operation according to the sensor information.
Step three: the airborne computer receives the pneumatic coupling data sent by the simulation computer, the pneumatic coupling data is added into the single-machine basic pneumatic data model, and the pneumatic data is corrected to obtain the pneumatic data of the unmanned aerial vehicles in the intensive formation; the airborne computer operates a six-degree-of-freedom dynamic kinematics model of the unmanned aerial vehicle, receives intensive formation form, inter-machine distance measurement data and sensor data sent by the simulation computer, operates an intensive formation control algorithm, and calculates to obtain information such as steering engine control quantity, attitude, speed and position of the unmanned aerial vehicle; and the airborne computer receives the obstacle ranging data sent by the simulation computer, runs an autonomous avoidance collision avoidance algorithm, and calculates to obtain information such as steering engine control quantity, attitude, speed and position of the unmanned aerial vehicle formation in the collision avoidance process. The onboard computer sends the control quantity of the steering engine to the steering engine, and sends the flight state information such as attitude, speed, position and the like to the simulation computer, the ground station computer and the three-dimensional situation computer.
Specifically, the motion of a single unmanned aerial vehicle in space in the dense formation of the small-sized fixed-wing unmanned aerial vehicles is described by six degrees of freedom, namely the motion of the center of mass of the unmanned aerial vehicle along three axial directions and the rotation of the unmanned aerial vehicle around three axes, wherein each degree of freedom comprises a kinetic equation and a kinematic equation.
Specifically, the aerodynamic model of the unmanned aerial vehicle consists of a lift force model, a resistance model, a lateral force model, a pitching moment model, a yawing moment model and a rolling moment model, and is based on
And
obtaining wherein L, D, Y, Mm、Ml、MnLift, drag, lateral force, pitching moment, rolling moment, yawing moment of the unmanned aerial vehicle, CL、CD、CY、Cm、Cl、CnThe lift coefficient, the drag coefficient, the lateral force coefficient, the pitching moment coefficient, the rolling moment coefficient and the yawing moment coefficient of the unmanned aerial vehicle are adopted, and rho, V, S, b and c are air density, flight speed, reference area, wing span length and wing average aerodynamic chord length.
Specifically, calculating the aerodynamic parameter C ═ C of the small-sized fixed-wing unmanned aerial vehicles in the intensive formation0+ Δ C, wherein C0Representing single-machine basic pneumatic data, comprising CL、CD、CY、Cm、Cl、CnAnd deltaC represents the aerodynamic coupling influence of the unmanned aerial vehicle in the intensive formation, and comprises deltaCL、ΔCD、ΔCY、ΔCm、ΔCl、ΔCnAnd the simulation computer sends the pneumatic coupling data to the airborne computer of the unmanned aerial vehicle in the step two.
Specifically, a potential function method is adopted for both a small-sized fixed-wing unmanned aerial vehicle intensive formation control algorithm and an autonomous avoidance anti-collision algorithm, a formation control scheme is designed on the basis of the theory of potential functions, intensive formation can be gathered in an area with a specified shape by selecting a target potential function and an inter-aircraft potential function, so that an area formation with a general shape is formed, meanwhile, the inter-aircraft collision condition is prevented in the formation process, and after the formation detects an obstacle, the formation autonomously avoids the obstacle, and the formation is prevented from colliding with the obstacle.
Specifically, in order to make all the drone individuals in the formation tend to the respective target areas, a set of inequalities is defined as a global objective function: f. ofG(Δpi)＝[fG1(Δpio1),fG2(Δpio2),...fGM(ΔpioM)]TThe target function is used for defining an area as a desired area, wherein the position coordinate of the ith unmanned aerial vehicle is represented by piDenotes, Δ piol＝pi-pol，polIs the reference point coordinates of the ith region, where l is 1, 2. Defining the potential energy function of the ith unmanned aerial vehicle as:
wherein k islIf the number is positive and real, the potential energy function of the global objective function of the ith unmanned aerial vehicle is related to delta piolThe partial derivatives of (d) can be written as:
when p isiToward the boundary of the target region, fGl(Δpiol) Go to zero when piWhen in the target area, fGl(Δpiol) And continues to be zero. When p isiWhen the unmanned aerial vehicle is outside the target area, the unmanned aerial vehicle i is controlled to move towards the direction of negative gradient of potential energy, namely, the direction of negative gradient is-delta ξiWhen the unmanned aerial vehicle i is attracted by the target area, the unmanned aerial vehicle i moves towards the direction of reducing the potential energy, namely, towards the direction of the target area, when the unmanned aerial vehicle i is closer to the target area, the potential energy is smaller, the speed is smaller, and when the unmanned aerial vehicle i enters the target area, the potential energy is zero, and the speed is reduced to zero.
In particular, in order to maintain all the individuals of the unmanned aerial vehicles in the formation between each otherMinimum distance and avoid collision, set the objective function as: gLij(Δpij)＝r2-||Δpij||20 or less, wherein Δ pij＝pi-pjAnd r is the safe distance to be kept between the unmanned aerial vehicles, and the safe distances between all the unmanned aerial vehicles are consistent. The potential energy function in the unmanned aerial vehicle intensive formation is as follows:
wherein k isijFor positive real number, N is the number of the unmanned aerial vehicle dense formation, and the potential energy function is related to delta pijPartial derivatives of (a):
when Δ pijR, the potential energy is positive, and the unmanned aerial vehicle i is controlled to move towards the negative gradient direction of the potential energy, namely, the negative gradient direction is minus deltaiThe unmanned aerial vehicle i and the unmanned aerial vehicle j repel each other, when the distance between the unmanned aerial vehicle i and the unmanned aerial vehicle j is increased to r, the potential energy is reduced to zero, the repelling speed is zero, and the purpose of keeping the distance from collision is achieved between the unmanned aerial vehicle i and the unmanned aerial vehicle j.
Specifically, when an unmanned aerial vehicle dense formation control algorithm is operated, the control speed vector of an unmanned aerial vehicle i in the dense formation is known as follows: v. ofg＝vo-Δξi-ΔiWherein v isoIs the velocity of the target area, - Δ ξiFor unmanned aerial vehicle to approach speed of target area, -DeltaiThe speed of collision avoidance between unmanned aerial vehicles. The unmanned plane single machine control algorithm utilizes a PID control method to design a flight control law, controls the attitude and the flight path of the unmanned plane, and solves an unmanned plane speed control instruction by adopting a potential function method. The structure of the unmanned aerial vehicle dense formation control system is shown in fig. 4.
Specifically, the autonomous avoidance collision avoidance algorithm for dense formation of small-sized fixed-wing unmanned aerial vehicles also adopts a potential function method, as shown in fig. 5, the distance between a target and an obstacle is obtained, the unmanned aerial vehicle movement speed is solved by the potential function method, and the purpose of avoiding the obstacle is achieved.
Step four: and the steering engine in the unmanned aerial vehicle platform executes the steering engine control quantity sent by the onboard computer and feeds back the steering engine control quantity to the onboard computer execution condition.
Step five: after the simulation computer obtains the data of the airborne computer, the intensive formation model is operated, the real-time formation maintenance condition in the intensive formation of the unmanned aerial vehicle is calculated, as shown in fig. 6 and 7, formation ranging data, obstacle ranging data, sensors and other data are updated and sent to the airborne computer, and a closed loop is formed between the data and the airborne computer.
Step six: the three-dimensional situation computer carries out three-dimensional display to the intensive formation of unmanned aerial vehicle, shows information such as the gesture position of all unmanned aerial vehicles in the formation, carries out three-dimensional display to the result that meets the barrier and carries out anticollision and obstacle avoidance in the intensive formation.
Claims (2)
1. A fixed-wing unmanned aerial vehicle intensive formation and anti-collision obstacle avoidance semi-physical simulation system is characterized by comprising an unmanned aerial vehicle platform, a simulation computer, a ground station computer, a three-dimensional situation computer, a serial port/network conversion module and a network switch; the unmanned aerial vehicle platform comprises an onboard computer, a steering engine and a battery, wherein intensive formation control algorithms, autonomous avoidance collision avoidance algorithms, single-machine basic pneumatic data and six-degree-of-freedom dynamic kinematics models of the unmanned aerial vehicle are independently operated in onboard computer hardware; the airborne computer receives model data output by the simulation computer through an RS232\ RS422 serial port, receives and responds to a control instruction sent by the ground station computer, runs an internal control algorithm and a model, calculates to generate a steering engine control instruction, sends the steering engine control instruction to a steering engine, and sends state parameters of the unmanned aerial vehicle to the ground station computer and the simulation computer through the RS232\ RS422 serial port; the steering engine consists of an electronic speed regulator and a brushless motor, the electronic speed regulator responds to a steering engine control command of the onboard computer and is used for driving the brushless motor, and the brushless motor receives and executes the control command of the electronic speed regulator and feeds back a command execution result; the ground station computer is provided with ground station control software, loads a dense formation form file of the small-sized fixed-wing unmanned aerial vehicle, transforms the dense formation form, loads a mission air route and loads an obstacle model, and sends the model file to the simulation computer and records and plays back the flight data of the dense formation of the unmanned aerial vehicle; the simulation computer runs the digital model, receives the unmanned aerial vehicle intensive formation form file sent by the ground station computer, runs the intensive formation form model, the form transformation reconstruction algorithm and the inter-formation distance measurement model, and sends the intensive formation form data to the onboard computer as the input of formation control; the simulation computer runs the obstacle ranging model, and transmits obstacle data to the onboard computer to be used as input of autonomous evasion collision avoidance control; the simulation computer operates a pneumatic coupling model, calculates the influence of pneumatic coupling in the intensive formation of the unmanned aerial vehicles on the unmanned aerial vehicles, and sends pneumatic coupling data to the onboard computer to be used as input for correcting basic pneumatic data of the single machine in the intensive formation; simulating a computer operation sensor model as the input of a six-degree-of-freedom dynamic kinematics model of the unmanned aerial vehicle; the three-dimensional situation computer is used for carrying out three-dimensional situation display on the dense formation of the small-sized fixed-wing unmanned aerial vehicles, carrying out three-dimensional scene display on the flight state information of all the unmanned aerial vehicles and displaying the obstacles detected in the flight process of the clustered unmanned aerial vehicles; the serial port/network conversion module converts flight parameter information transmitted by an onboard computer through a serial port RS 232/RS 422 into UDP data for transmission and sends the UDP data to a network switch, and the serial port/network conversion module converts the received information transmitted by the ground station computer and the simulation computer through the UDP data into data transmitted by the serial port RS 232/RS 422 and sends the data to the onboard computer, so that the serial port data and the network data are converted with each other; the network switch connects the airborne computer, the ground station computer, the simulation computer and the three-dimensional situation computer into a local area network, and the communication scheme adopts a local area network UDP communication scheme; the function that a ground station computer sends a command to a certain unmanned aerial vehicle platform independently is realized by UDP communication, and the function that the ground station computer \ an analog computer \ a three-dimensional situation computer and an onboard computer are communicated with each other is realized.
2. A semi-physical simulation method for dense formation and collision avoidance of fixed-wing unmanned aerial vehicles is characterized by comprising the following steps:
step 1: loading the number of intensive formations, an initial intensive formation file, a formation file after formation conversion, a task route and an obstacle model on a ground station computer, and sending the files to a simulation computer by the ground station computer;
step 2: the simulation computer receives an initial intensive formation shape of the unmanned aerial vehicles sent by the ground station computer and runs an intensive formation shape model; the simulation computer receives the formation transformation command and the formation file after the formation transformation, runs a formation transformation reconstruction algorithm, and generates a real-time formation in the formation transformation process; the method comprises the steps that a simulation computer runs a formation machine distance measurement model, and the unmanned aerial vehicle distance measurement data obtained in machine distance measurement are simulated; the simulation computer runs a pneumatic coupling model and calculates the influence of the distance between the unmanned aerial vehicles on the pneumatic coupling of the unmanned aerial vehicles; the simulation computer runs a barrier ranging model and calculates the relative position relation between the unmanned aerial vehicle and the barrier in the intensive formation mission air route; simulating a computer operation sensor model, and calculating information of an airborne sensor of the unmanned aerial vehicle; any unmanned aerial vehicle in the intensive formation of the unmanned aerial vehicles has a unique serial number, and the simulation computer sends the intensive formation form, the inter-machine distance measurement data, the pneumatic coupling data, the obstacle distance measurement data and the sensor data which are obtained through simulation calculation to an on-board computer in the unmanned aerial vehicle platform which is correspondingly numbered in the intensive formation form;
and step 3: the airborne computer receives the pneumatic coupling data sent by the simulation computer, the pneumatic coupling data is added into the single-machine basic pneumatic data model, and the pneumatic data is corrected to obtain the pneumatic data of the unmanned aerial vehicles in the intensive formation; the airborne computer operates a six-degree-of-freedom dynamic kinematics model of the unmanned aerial vehicle, receives intensive formation form, inter-machine distance measurement data and sensor data sent by the simulation computer, operates an intensive formation control algorithm, and calculates to obtain steering engine control quantity, attitude, speed and position of the unmanned aerial vehicle; the airborne computer receives the obstacle ranging data sent by the simulation computer, runs an autonomous avoidance collision avoidance algorithm, and calculates and obtains steering engine control quantity, posture, speed and position of the unmanned aerial vehicle formation in the collision avoidance process; the onboard computer sends the control quantity of the steering engine to the steering engine, and sends the attitude, the speed and the position to the simulation computer, the ground station computer and the three-dimensional situation computer;
and 4, step 4: a steering engine in the unmanned aerial vehicle platform executes steering engine control quantity sent by the onboard computer and feeds back the steering engine control quantity to the onboard computer;
and 5: after receiving the data of the onboard computer, the simulation computer operates an intensive formation model, calculates the formation retention condition in the intensive formation of the unmanned aerial vehicle, updates inter-machine distance measurement data, obstacle distance measurement data and sensor data of the intensive formation, sends the data to the onboard computer, and forms a simulation closed loop with the onboard computer;
step 6: the three-dimensional situation computer carries out three-dimensional display to the intensive formation of unmanned aerial vehicle, shows all unmanned aerial vehicle's gesture position in the formation, carries out three-dimensional display to the result that meets the barrier and carry out anticollision and keep away the barrier in the intensive formation.
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