CN112015198A - Control method and system for synchronous surrounding of unmanned aerial vehicle formation - Google Patents
Control method and system for synchronous surrounding of unmanned aerial vehicle formation Download PDFInfo
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Abstract
The invention discloses a control method and a system for synchronous surrounding of unmanned aerial vehicle formation, wherein a ground station in the embodiment of the invention establishes communication with each unmanned aerial vehicle in the formation, and the ground station sends formation synchronous surrounding information of each unmanned aerial vehicle in the formation, which is obtained by calculation, under a set global coordinate system to the corresponding unmanned aerial vehicle; each unmanned aerial vehicle in the formation receives formation synchronous surrounding information under a set global coordinate system, calculates position information of the unmanned aerial vehicle in the set global coordinate system, and calculates surrounding flight control information according to the position information and the formation synchronous surrounding information. Therefore, the formation synchronous surrounding information under the set global coordinate system is only transmitted through the communication between the ground station and each unmanned aerial vehicle in the formation to realize the control of synchronous surrounding flight, the data volume is less, and the global coordinate system is set, each unmanned aerial vehicle in the formation calculates the surrounding flight control information, can be non-planar surrounding control information, so that the formation synchronous surrounding of the unmanned aerial vehicle on any normal vector plane can be realized.
Description
Technical Field
The invention relates to the technical field of computers, in particular to a control method and a control system for unmanned aerial vehicle formation synchronous surrounding.
Background
Along with the development of unmanned aerial vehicle technique, unmanned aerial vehicle control system controls the formation flight of a plurality of unmanned aerial vehicles and develops maturity gradually, and the unmanned aerial vehicle formation performance becomes a neotype performance form gradually, has the environmental protection, does not receive place restriction and repeatedly usable's advantage. When a plurality of unmanned aerial vehicles are performing formation performance, by unmanned aerial vehicle control system, control a plurality of unmanned aerial vehicles simultaneously for a plurality of unmanned aerial vehicles rotate or encircle the transform according to certain formation.
At present, when an unmanned aerial vehicle control system controls unmanned aerial vehicle formation synchronous surrounding, a commonly adopted method is as follows: after communication connection is established between the ground station and each unmanned aerial vehicle in the formation, the ground station sends the formation synchronous surrounding information to each unmanned aerial vehicle in the formation, and the unmanned aerial vehicles in the formation fly according to the calculated flight required data values after calculating the respective flight required data values according to the received formation synchronous surrounding information. Here, the formation synchronization surround information is different when different control methods are adopted, for example, for different drones, the ground station may transmit the calculated time coordinate-based waypoint or track function as the formation synchronization surround information; or only sending circle center coordinate values to be encircled by each unmanned aerial vehicle as formation synchronous encircling information, and calculating to obtain an angular speed expected value and an attitude angle expected value according to a received flight point or flight path function based on the time coordinate by different subsequent unmanned aerial vehicles to fly; or different unmanned aerial vehicles obtain angular velocity according to the linear velocity set by the unmanned aerial vehicles and the received circle center coordinate value, and fly in the horizontal plane.
If the calculated flight point or flight path function based on the time coordinate is sent as formation synchronous surrounding information, the data volume is large, the calculation is complex, high requirements are put on the calculation efficiency of the ground station and the communication between the ground station and each unmanned aerial vehicle in the formation, and once errors occur, the control on the synchronous surrounding of the formation of the unmanned aerial vehicles is influenced; if circle center coordinate values to be encircled by each unmanned aerial vehicle are sent as formation synchronous encircling information, formation synchronous encircling of the unmanned aerial vehicles in the horizontal plane can be realized only, and flexibility of formation synchronous encircling of the unmanned aerial vehicles is greatly limited.
Disclosure of Invention
In view of this, the embodiment of the present invention provides a method for controlling formation synchronous surrounding of unmanned aerial vehicles, which can achieve formation synchronous surrounding of unmanned aerial vehicles on any normal vector plane on the basis of reducing communication data amount between a ground station and each unmanned aerial vehicle in the formation.
The embodiment of the invention also provides a control system for the formation synchronous surrounding of the unmanned aerial vehicles, and the system can realize the formation synchronous surrounding of the unmanned aerial vehicles on any normal vector plane on the basis of reducing the communication data volume between the ground station and each unmanned aerial vehicle in the formation.
The embodiment of the invention is realized as follows:
a control method for unmanned aerial vehicle formation synchronous surrounding comprises the following steps:
each unmanned aerial vehicle in the formation receives formation synchronous surrounding information under a set global coordinate system;
each unmanned aerial vehicle calculates the position information of the unmanned aerial vehicle in a set global coordinate system;
and each unmanned aerial vehicle calculates to obtain surrounding flight control information according to the position information and the formation synchronous surrounding information.
Before each drone in the formation receives formation synchronization surround information under a set global coordinate system, the method further comprises:
each unmanned aerial vehicle is in communication connection with the ground station;
and each unmanned aerial vehicle receives the set global coordinate system information from the ground station.
Each unmanned aerial vehicle in the formation receives formation synchronous surrounding information under a set global coordinate system, and the formation synchronous surrounding information comprises the following steps:
surrounding correlation time values, surrounding circle center coordinate values, surrounding plane normal vectors and unmanned aerial vehicle angular velocity parameter values;
the calculating the surrounding flight control information comprises: a desired surround position and a desired speed.
The calculation of the surround position expected value comprises the following steps:
calculating to obtain a surrounding radius value and a unit vector of an initial orientation vector based on the position information and the surrounding circle center coordinate value;
calculating to obtain a surrounding orientation vector at any time in surrounding correlation time according to the unit vector of the initial orientation vector;
obtaining an encircling position expected value according to the encircling azimuth vector, the encircling radius value and the encircling circle center coordinate value at any moment;
the calculation of the expected speed value comprises the following steps:
obtaining a tangential vector of the surrounding track according to the surrounding azimuth vector and the surrounding plane normal vector at any moment;
and obtaining a speed expected value at any moment in surrounding relevant time according to the tangential vector of the surrounding track, the surrounding radius value and the angular speed value of the unmanned aerial vehicle at any moment, wherein the angular speed value of the unmanned aerial vehicle at any moment is obtained by calculation according to the angular speed parameter value of the unmanned aerial vehicle and a set relation function between the angular speed of the unmanned aerial vehicle and the time.
After obtaining the expected speed value at any time, the method further includes:
setting a first weight value and a second weight value, wherein the sum of the first weight value and the second weight value is 1, and taking the sum of the product value of the expected speed value and the first weight value and the product value of the difference value between the expected surrounding position value and the second weight value as the modified expected speed value.
A control method for unmanned aerial vehicle formation synchronous surrounding comprises the following steps:
the ground station calculates formation synchronous surrounding information of each unmanned aerial vehicle in the formation under a set global coordinate system;
and the ground station sends the calculated formation synchronous surrounding information of each unmanned aerial vehicle under the set global coordinate system to the corresponding unmanned aerial vehicle.
Before the ground station calculates the formation synchronous surrounding information of each unmanned aerial vehicle in the formation under the set global coordinate system, the method further comprises the following steps:
the ground station and each unmanned aerial vehicle are in communication connection;
and the ground station transmits the set global coordinate system information to each unmanned aerial vehicle.
The formation synchronous surrounding information of each unmanned aerial vehicle in the ground station calculation formation under the set global coordinate system comprises:
the unmanned aerial vehicle angular velocity value is determined based on a relation function of the angular velocity value of each unmanned aerial vehicle and time and a relation function of the sweeping angle value of each unmanned aerial vehicle and time.
A control system for synchronized looping of drones in formation, the system comprising: a ground station and a plurality of drones in a formation, wherein,
the ground station is used for establishing communication with each unmanned aerial vehicle in the formation, and sending the formation synchronous surrounding information of each unmanned aerial vehicle in the formation under the set global coordinate system, which is obtained through calculation, to the corresponding unmanned aerial vehicle;
each unmanned aerial vehicle in the formation is used for establishing communication with a ground station and receiving formation synchronous surrounding information under a set global coordinate system; calculating the position information of the user in a set global coordinate system; and calculating to obtain surrounding flight control information according to the position information and the formation synchronous surrounding information.
A control device for unmanned aerial vehicle formation synchronous surrounding comprises:
a memory; and
a processor coupled to the memory, the processor configured to execute any of the above-described methods of controlling drone formation synchronous wrapping based on instructions stored in the memory.
A computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements the control method for formation synchronous wrapping of drones as described in any one of the above.
As can be seen from the above, the ground station in the embodiment of the present invention establishes communication with each unmanned aerial vehicle in the formation, and the ground station sends the formation synchronous surrounding information of each unmanned aerial vehicle in the formation, which is obtained through calculation, in the set global coordinate system to the corresponding unmanned aerial vehicle; each unmanned aerial vehicle in the formation receives formation synchronous surrounding information under a set global coordinate system, calculates position information of the unmanned aerial vehicle in the set global coordinate system, and calculates surrounding flight control information according to the position information and the formation synchronous surrounding information. Therefore, the formation synchronous surrounding information under the set global coordinate system is only transmitted through the communication between the ground station and each unmanned aerial vehicle in the formation to realize the control of synchronous surrounding flight, the data volume is less, and the global coordinate system is set, each unmanned aerial vehicle in the formation calculates the surrounding flight control information, can be non-planar surrounding control information, so that the formation synchronous surrounding of the unmanned aerial vehicle on any normal vector plane can be realized.
Drawings
Fig. 1 is a flowchart of an example of a control method for formation synchronous wrapping of unmanned aerial vehicles according to an embodiment of the present invention;
fig. 2 is a flowchart of a second example of a control method for formation synchronous wrapping of unmanned aerial vehicles according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a control system for unmanned aerial vehicle formation synchronous wrapping according to an embodiment of the present invention;
fig. 4 is a flowchart of a control interaction process for formation synchronous wrapping of unmanned aerial vehicles according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and examples.
With the scheme in the background art, there are actually two specific methods: a time track control method and a circle center fixed point control method. Wherein the content of the first and second substances,
according to the time track control method, after a ground station calculates and obtains a waypoint or track function of each unmanned aerial vehicle based on a time coordinate, the corresponding waypoint or track function based on the time coordinate is sent to each unmanned aerial vehicle according to the serial number of the unmanned aerial vehicle, each unmanned aerial vehicle obtains a corresponding position expected value according to the received waypoint or track function based on the time coordinate, and after an acceleration expected value and an attitude angle expected value are further obtained according to the position expected value and a current position value, the unmanned aerial vehicle flies based on the acceleration expected value and the attitude angle expected value.
The circle center fixed point control method includes the steps that after the ground station determines the surrounding circle center position information of each unmanned aerial vehicle, the corresponding surrounding circle center position information is sent to each unmanned aerial vehicle according to the number of the unmanned aerial vehicle, each unmanned aerial vehicle obtains a surrounding radius according to the received surrounding circle center position information and the current position value, an angular velocity value is obtained according to the surrounding radius and a preset linear velocity value, and clockwise flight or anticlockwise flight is conducted on the basis of the obtained angular velocity value.
However, there are disadvantages to using both of the above approaches: the time trajectory control method needs the ground station to obtain the position information of each unmanned aerial vehicle before the unmanned aerial vehicle surrounds in order to calculate the time coordinate-based waypoint or track function of each unmanned aerial vehicle, and once the communication between the ground station and the unmanned aerial vehicle fails, the waypoint or track function corresponding to each unmanned aerial vehicle cannot be generated, and the synchronous surrounding flight of multiple unmanned aerial vehicles cannot be completed. Especially when unmanned aerial vehicle quantity is more, put forward higher requirement to the computational efficiency of ground satellite station, greatly influenced unmanned aerial vehicle formation synchronous encirclement's real-time. In addition, every unmanned aerial vehicle corresponds different waypoints or track function based on time coordinate respectively, and data volume is big when the transmission, in case communication between ground station and the unmanned aerial vehicle goes wrong or the data of transmission appears wrong, then can lead to many unmanned aerial vehicles's out of control, influences many unmanned aerial vehicles's the integrality of synchronous surrounding flight, arouses chain reaction such as collision each other between the unmanned aerial vehicle even, greatly influences ground personnel property safety. The circle center fixed point control method can only realize formation synchronous surrounding flight of a plurality of unmanned aerial vehicles in the horizontal plane, and cannot realize formation synchronous surrounding flight of the unmanned aerial vehicles in any normal vector plane, so that the flexibility of formation synchronous surrounding flight of the unmanned aerial vehicles is greatly limited. In addition, when controlling unmanned aerial vehicle to encircle the flight based on the angular velocity value of unmanned aerial vehicle that the linear velocity calculation that sets up in advance obtained, it is that each unmanned aerial vehicle independently calculates, can't guarantee the regularity when many unmanned aerial vehicles encircle the flight, has greatly influenced unmanned aerial vehicle and has encircleed the synchronism of flying.
Therefore, in order to overcome the above problems, in the embodiment of the present invention, the ground station establishes communication with each unmanned aerial vehicle in the formation, and the ground station sends the formation synchronous surrounding information of each unmanned aerial vehicle in the formation, which is obtained by calculation, under the set global coordinate system to the corresponding unmanned aerial vehicle; each unmanned aerial vehicle in the formation receives formation synchronous surrounding information under a set global coordinate system, calculates position information of the unmanned aerial vehicle in the set global coordinate system, and calculates surrounding flight control information according to the position information and the formation synchronous surrounding information.
Therefore, the communication between the ground station and each unmanned aerial vehicle in the formation only transmits the formation synchronous surrounding information under the set global coordinate system to realize the control of synchronous surrounding flight, the data volume calculated by the ground station is less, the transmitted data volume is less, multiple communication interaction between the ground station and each unmanned aerial vehicle in the formation is not needed, and the risk of the unmanned aerial vehicle out of control of the surrounding flight is reduced. Furthermore, due to the fact that a global coordinate system is set, surrounding flight control information can be non-planar surrounding control information when each unmanned aerial vehicle in the formation is calculated, and therefore the unmanned aerial vehicle formation synchronous surrounding of any normal vector plane can be achieved.
Fig. 1 is a flowchart of an example of a control method for synchronous circling of formation of unmanned aerial vehicles according to an embodiment of the present invention, which includes the following specific steps:
102, calculating the position information of each unmanned aerial vehicle in a set global coordinate system;
and 103, calculating by each unmanned aerial vehicle to obtain surrounding flight control information according to the position information and the formation synchronous surrounding information.
In the method, before each drone in the formation receives formation synchronization surround information under a set global coordinate system, the method further comprises: each unmanned aerial vehicle is in communication connection with the ground station; and each unmanned aerial vehicle receives the set global coordinate system information from the ground station.
Specifically, before performing the synchronous-surround flight performance, the formation sets a point in space as the origin of the global coordinate system, and the longitude, latitude and altitude coordinates of the origin are expressed as (lat)0,lon0,alt0) The x-axis square is in the north-plus direction, establishing a global north-east (NED) coordinate system. Of course, other types of global coordinate systems may be established, and are not limited herein. Before the unmanned aerial vehicles in the formation take off, the ground station can upload the global coordinate system information to all the unmanned aerial vehicles in the formation, and corresponding communication handshaking processes are carried out between the ground station and all the unmanned aerial vehicles in the formation, so that the communication connection is ensured to be successfully established.
In the method, the receiving, by each drone in the formation, formation synchronization surround information under a set global coordinate system includes:
surrounding correlation time values, surrounding circle center coordinate values, surrounding plane normal vectors and unmanned aerial vehicle angular velocity parameter values;
the calculating the surrounding flight control information comprises: a desired surround position and a desired speed.
Specifically, the surround correlation time value may include: a surround start time and a surround time.
The ground station needs to calculate and plan the formation synchronous surround information before sending it to each drone in the formation, as described in detail below.
When the unmanned aerial vehicles in the formation form a certain pattern in the air and need to be integrally and synchronously surrounded, corresponding parameters are set according to performance requirements: surround start time t0Surround angle alpha, surround time T, setSurrounding circle center coordinate value (x) under local coordinate systemr,yr,zr) Surrounding the plane unit normal vector
At the beginning of the wrap, the angular velocity of the drones in the formation is w0(0 rad/s-0.01 rad/s), when the surrounding is finished, the angular speed of the unmanned aerial vehicle is wT(0rad/s—0.01rad/s)。
When the unmanned aerial vehicle in the formation is being encircleed and is flying for guaranteeing, the great sudden change of gesture prevents to appear in the unmanned aerial vehicle flight process by the smooth nature of speed variation, according to the parameter that above-mentioned set up, plans unmanned aerial vehicle's angle and unmanned aerial vehicle's angular velocity of encircleing. The change relation of the swept angle with time during the flight of the unmanned aerial vehicle is assumed as follows: θ (t) ═ k0+k1(t-t0)+k2(t-t0)2+k3(t-t0)3The time-varying relationship between the angular velocity w (t) of the unmanned aerial vehicle is w (t) ═ k1+2k2(t-t0)+3k3(t-t0)2. Obtaining an angular velocity parameter value k of the unmanned aerial vehicle according to the boundary conditions of the formulas (1) - (4)i(i＝0,1,2,3)。
θ(t0)＝0 (1)
θ(t0+T)＝α (2)
w(t0)＝w0 (3)
w(t0+T)＝wT (4)
After the above parameter setting is completed, the formation synchronous surrounding information is transmitted to each airplane in the formation by the ground station, specifically, the surrounding starting time t0Circle center coordinate value (x)r,yr,zr) Around the normal vector of the plane
And unmanned aerial vehicle angular velocity parameter value kiAnd (i is 0,1,2 and 3), uploading to all the unmanned aerial vehicles in the formation, and performing feedback confirmation on all the unmanned aerial vehicles in the formation.
Here, when the angular velocity parameter value of the unmanned aerial vehicle flight is planned, the two relation functions used are not limited to the third-order polynomial curve, but may also be a higher-order polynomial curve or other suitable planning curves, and the like, and are not limited here.
Here, the angular velocity parameter value of the unmanned aerial vehicle is sent, and the angular velocity value of the unmanned aerial vehicle is obtained through subsequent recalculation by the unmanned aerial vehicle according to the angular velocity parameter value, so that the data volume of communication can be saved. Of course, the angular velocity value of the drone may also be transmitted directly, so that subsequent drones do not perform any further calculations.
And for each unmanned aerial vehicle in the formation, receiving the formation synchronous surrounding information, and calculating a surrounding position expected value and a speed expected value.
With one of them unmanned aerial vehicle PiFor example, a corresponding surround track is generated. Obtaining longitude and latitude and altitude information according to a navigation module arranged in the unmanned aerial vehicle, and obtaining position information of the unmanned aerial vehicle under a set global coordinate system, namely position coordinates (x) by utilizing an equidistant azimuth projection algorithmi,yi,zi) Before the start of winding, the winding radius is obtained:
an initial orientation vector is also obtained:
further obtain the unit vector of the initial orientation vector
The orientation vector of the unmanned aerial vehicle on the circumference at any moment t is obtained by using a Rodrigues vector rotation algorithm as follows:
obtaining the surrounding position expectation of the unmanned aerial vehicle according to the orientation vector:
that is, the calculation of the surround position expectation value includes:
calculating to obtain a surrounding radius value and a unit vector of an initial orientation vector based on the position information and the surrounding circle center coordinate value;
calculating to obtain a surrounding orientation vector at any time in surrounding correlation time according to the unit vector of the initial orientation vector;
and obtaining an expected value of the surrounding position according to the surrounding azimuth vector, the surrounding radius value and the surrounding circle center coordinate value at any moment.
The calculated expected speed value is:
according to unit orientation vector
Sum unit normal vector
Obtaining a tangential vector of the surrounding trajectory of the drone
That is, the calculation of the desired speed value includes: obtaining a tangential vector of the surrounding track according to the surrounding azimuth vector and the surrounding plane normal vector at any moment;
and obtaining a speed expected value at any moment in surrounding relevant time according to the tangential vector of the surrounding track, the surrounding radius value and the angular speed value of the unmanned aerial vehicle at any moment, wherein the angular speed value of the unmanned aerial vehicle at any moment is obtained by calculation according to the angular speed parameter value of the unmanned aerial vehicle and a set relation function between the angular speed of the unmanned aerial vehicle and the time.
Therefore, only the angular velocity parameter value of the unmanned aerial vehicle is transmitted between the ground station and the unmanned aerial vehicle, and the two relation functions are not transmitted, so that the data transmission amount between communication is saved.
In the embodiment of the present invention, the obtained speed expected value may also be modified, including: setting a first weight value and a second weight value, wherein the sum of the first weight value and the second weight value is 1, and taking the sum of the product value of the expected speed value and the first weight value and the product value of the difference value between the expected surrounding position value and the second weight value as the modified expected speed value.
In the invention, after the surrounding flight control information comprising the surrounding position expected value and the speed expected value is obtained, the existing Proportional Integral Derivative (PID) algorithm can be adopted to obtain the acceleration expected value of the unmanned aerial vehicle, and further obtain the attitude expected value, and the unmanned aerial vehicle controls the motor rotating speed input set by the unmanned aerial vehicle according to the attitude expected value, thereby realizing the surrounding flight control of the unmanned aerial vehicle.
Fig. 2 is a flowchart of a second example of a control method for unmanned aerial vehicle formation synchronous wrap according to an embodiment of the present invention, which includes the following specific steps:
and step 202, the ground station sends the calculated formation synchronous surrounding information of each unmanned aerial vehicle under the set global coordinate system to the corresponding unmanned aerial vehicle.
In the method, before the ground station calculates the formation synchronous surrounding information of each drone in the formation under the set global coordinate system, the method further includes:
the ground station and each unmanned aerial vehicle are in communication connection;
and the ground station transmits the set global coordinate system information to each unmanned aerial vehicle.
In the method, the calculating, by the ground station, formation synchronization surrounding information of each unmanned aerial vehicle in the formation under a set global coordinate system includes:
the unmanned aerial vehicle angular velocity value is determined based on a relation function of the angular velocity value of each unmanned aerial vehicle and time and a relation function of the sweeping angle value of each unmanned aerial vehicle and time.
Fig. 3 is a schematic diagram of a control system for unmanned aerial vehicle formation synchronous wrapping provided in an embodiment of the present invention, including: a ground station and a plurality of drones in a formation, wherein,
the ground station is used for establishing communication with each unmanned aerial vehicle in the formation, and sending the formation synchronous surrounding information of each unmanned aerial vehicle in the formation under the set global coordinate system, which is obtained through calculation, to the corresponding unmanned aerial vehicle;
each unmanned aerial vehicle in the formation is used for establishing communication with a ground station and receiving formation synchronous surrounding information under a set global coordinate system; calculating the position information of the user in a set global coordinate system; and calculating to obtain surrounding flight control information according to the position information and the formation synchronous surrounding information.
Fig. 4 is a flowchart of a control interaction process for unmanned aerial vehicle formation synchronous wrap-around provided in an embodiment of the present invention, which specifically includes the following steps:
and step 410, controlling the motor rotating speed output of the unmanned aerial vehicle by a PID control method according to the position expected value and the speed expected value.
The embodiment of the invention also provides a control device for the formation synchronous surrounding of the unmanned aerial vehicles, which comprises:
a memory; and
a processor coupled to the memory, the processor configured to execute any of the above-described methods of controlling drone formation synchronous wrapping based on instructions stored in the memory.
The embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements any one of the above methods for controlling formation and synchronous surrounding of unmanned aerial vehicles.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (11)
1. A control method for synchronous surrounding of unmanned aerial vehicle formation is characterized by comprising the following steps:
each unmanned aerial vehicle in the formation receives formation synchronous surrounding information under a set global coordinate system;
each unmanned aerial vehicle calculates the position information of the unmanned aerial vehicle in a set global coordinate system;
and each unmanned aerial vehicle calculates to obtain surrounding flight control information according to the position information and the formation synchronous surrounding information.
2. The method of claim 1, wherein before each drone in the formation receives formation synchronization surround information under a set global coordinate system, the method further comprises:
each unmanned aerial vehicle is in communication connection with the ground station;
and each unmanned aerial vehicle receives the set global coordinate system information from the ground station.
3. The method of claim 1, wherein receiving, by each drone in the formation, formation synchronization surround information under a set global coordinate system comprises:
surrounding correlation time values, surrounding circle center coordinate values, surrounding plane normal vectors and unmanned aerial vehicle angular velocity parameter values;
the calculating the surrounding flight control information comprises: a desired surround position and a desired speed.
4. The method of claim 3, wherein the calculation of the desired values of the surround positions comprises:
calculating to obtain a surrounding radius value and a unit vector of an initial orientation vector based on the position information and the surrounding circle center coordinate value;
calculating to obtain a surrounding orientation vector at any time in surrounding correlation time according to the unit vector of the initial orientation vector;
obtaining an encircling position expected value according to the encircling azimuth vector, the encircling radius value and the encircling circle center coordinate value at any moment;
the calculation of the expected speed value comprises the following steps:
obtaining a tangential vector of the surrounding track according to the surrounding azimuth vector and the surrounding plane normal vector at any moment;
and obtaining a speed expected value at any moment in surrounding relevant time according to the tangential vector of the surrounding track, the surrounding radius value and the angular speed value of the unmanned aerial vehicle at any moment, wherein the angular speed value of the unmanned aerial vehicle at any moment is obtained by calculation according to the angular speed parameter value of the unmanned aerial vehicle and a set relation function between the angular speed of the unmanned aerial vehicle and the time.
5. The method of claim 4, wherein after obtaining the desired speed value at any time, further comprising:
setting a first weight value and a second weight value, wherein the sum of the first weight value and the second weight value is 1, and taking the sum of the product value of the expected speed value and the first weight value and the product value of the difference value between the expected surrounding position value and the second weight value as the modified expected speed value.
6. A control method for synchronous surrounding of unmanned aerial vehicle formation is characterized by comprising the following steps:
the ground station calculates formation synchronous surrounding information of each unmanned aerial vehicle in the formation under a set global coordinate system;
and the ground station sends the calculated formation synchronous surrounding information of each unmanned aerial vehicle under the set global coordinate system to the corresponding unmanned aerial vehicle.
7. The method of claim 6, wherein prior to the ground station computing the formation synchronization surround information for each drone in the formation under the set global coordinate system, the method further comprises:
the ground station and each unmanned aerial vehicle are in communication connection;
and the ground station transmits the set global coordinate system information to each unmanned aerial vehicle.
8. The method of claim 6, wherein the ground station calculating the formation synchronization surround information for each drone in the formation under a set global coordinate system comprises:
the unmanned aerial vehicle angular velocity value is determined based on a relation function of the angular velocity value of each unmanned aerial vehicle and time and a relation function of the sweeping angle value of each unmanned aerial vehicle and time.
9. A control system for synchronous surrounding of unmanned aerial vehicle formation is characterized in that the system comprises: a ground station and a plurality of drones in a formation, wherein,
the ground station is used for establishing communication with each unmanned aerial vehicle in the formation, and sending the formation synchronous surrounding information of each unmanned aerial vehicle in the formation under the set global coordinate system, which is obtained through calculation, to the corresponding unmanned aerial vehicle;
each unmanned aerial vehicle in the formation is used for establishing communication with a ground station and receiving formation synchronous surrounding information under a set global coordinate system; calculating the position information of the user in a set global coordinate system; and calculating to obtain surrounding flight control information according to the position information and the formation synchronous surrounding information.
10. The utility model provides a controlling means that unmanned aerial vehicle formation synchronous was encircleed which characterized in that includes:
a memory; and
a processor coupled to the memory, the processor configured to execute the method of controlling drone formation synchronous wrapping of any of claims 1-8 based on instructions stored in the memory.
11. A computer-readable storage medium, on which a computer program is stored, wherein the program, when executed by a processor, implements the method for controlling formation synchronous wrapping of drones according to any one of claims 1 to 8.
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