CN112099531B - Distributed unmanned aerial vehicle formation form transformation method - Google Patents
Distributed unmanned aerial vehicle formation form transformation method Download PDFInfo
- Publication number
- CN112099531B CN112099531B CN202011116122.9A CN202011116122A CN112099531B CN 112099531 B CN112099531 B CN 112099531B CN 202011116122 A CN202011116122 A CN 202011116122A CN 112099531 B CN112099531 B CN 112099531B
- Authority
- CN
- China
- Prior art keywords
- formation
- unmanned aerial
- aerial vehicle
- aerial vehicles
- instruction
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses a distributed unmanned aerial vehicle formation form conversion method, which relates to the technical field of unmanned aerial vehicle flight, solves the problems of high communication overhead and low reliability of formation form conversion information transmission and the problem of distributed formation form synchronization, and enhances the safety of distributed formation form conversion, and the specific scheme is as follows: the method comprises the following steps: s1: presetting related instructions of all formation shapes on all unmanned aerial vehicles, and numbering in sequence according to the number of the formation shapes; s2: sending serial number signals of formation to be converted to all unmanned aerial vehicles through a control station; s3: all unmanned aerial vehicles receive the numbering signals in the S2, automatically generate a leader plane according to the own instructions of the unmanned aerial vehicles in the S1, and the rest unmanned aerial vehicles are wing planes; s4: the farm machines adjust the positions thereof according to the commands thereof, and all the wing machines adjust the positions thereof by combining the commands thereof on the basis of the farm machines. The invention adopts the idea of mapping the formation by the instruction number, and can greatly reduce the communication overhead brought by directly sending the formation matrix.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle flight, in particular to a method for changing formation of a distributed unmanned aerial vehicle formation.
Background
At present, unmanned aerial vehicle formation control systems mainly comprise two types: centralized formation control and distributed formation control. The centralized formation control system is provided with a formation control center on the ground or in the air, and the formation control center acquires the formation state information of all unmanned aerial vehicles, generates a guidance instruction of each unmanned aerial vehicle and periodically sends a corresponding guidance instruction to each unmanned aerial vehicle in the formation through a communication link. Different from a centralized formation control system, the distributed formation control system does not have a control center, and each unmanned aerial vehicle can independently generate a guidance instruction.
For centralized formation control, formation forms are often required to be changed according to task requirements in the flight process of unmanned aerial vehicle formation, and at present, formation change of unmanned aerial vehicle formation is usually carried out by broadcasting the position relation (called a formation matrix) of each unmanned aerial vehicle relative to a reference unmanned aerial vehicle (or called a leader) from a ground station to unmanned aerial vehicle formation. The prior method has the following problems: sending the formation matrix directly would bring a lot of communication overhead for the drone and the ground station. Meanwhile, due to fading characteristics of wireless communication channels, terrain factors and the like, the ground station often needs to repeatedly transmit the formation matrix for many times, which brings frequent communication interaction between the unmanned aerial vehicle and the ground station. However, due to the long distance between the unmanned aerial vehicle and the ground station and the limited transmission power of the airborne communication device, frequent and large-data-volume air-ground information interaction will reduce the reliability of the system.
Compared with the centralized type, the distributed unmanned aerial vehicle formation does not depend on a control center, better survivability is achieved, and the survival ability of the unmanned aerial vehicle formation can be effectively improved. Therefore, distributed unmanned aerial vehicle formation receives more and more extensive attention in the fields of military affairs, emergency rescue and the like. However, compared with centralized unmanned aerial vehicle formation, the related practical research of distributed unmanned aerial vehicle formation is still in a starting or even blank state.
In the formation transformation process of the unmanned aerial vehicle formation, in order to avoid collision between unmanned aerial vehicles in different formations, the unmanned aerial vehicles need to be coordinated to perform formation transformation consistently, namely, the formation is kept synchronous, and for the distributed unmanned aerial vehicle formation, the formation is synchronous due to the absence of a control center.
Disclosure of Invention
In order to solve the technical problems, the invention provides a distributed unmanned aerial vehicle formation form conversion method, and provides the distributed unmanned aerial vehicle formation form conversion method aiming at a distributed unmanned aerial vehicle formation scene, so that the problems of high communication overhead and low reliability of formation conversion information transmission and the problem of distributed formation synchronization are solved, the safety of distributed formation form conversion is enhanced, and the adaptability to communication equipment is improved.
The technical purpose of the invention is realized by the following technical scheme:
a distributed unmanned aerial vehicle formation queue shape transformation method comprises the following steps:
s1: presetting related instructions of all formation shapes on all unmanned aerial vehicles, and numbering in sequence according to the number of the formation shapes;
s2: sending serial number signals of formation to be converted to all unmanned aerial vehicles through a control station;
s3: all unmanned aerial vehicles receive the numbering signals in the S2, automatically generate a leader plane according to the own instructions of the unmanned aerial vehicles in the S1, and the rest unmanned aerial vehicles are wing planes;
s4: the long plane adjusts the position of the wing plane according to the command of the long plane, and all the wing planes adjust the position of the wing plane by combining the command of the long plane with the reference of the long plane.
As a preferred scheme, the number of all unmanned aerial vehicles is N, wherein the number of all unmanned aerial vehicles comprises 1 long machine and N-1 unmanned aerial vehicles; the number of formation is M, and for M =1, the mth formation is represented as a formation matrix
Wherein +>
Unmanned aerial vehicle n in mth formation 0 Long machine, centroid o point, ox axis pointing north direction, oy pointing east direction, oz pointing sun direction perpendicular to ground, and/or>
Representing the coordinates of the unmanned aerial vehicles in the formation in a coordinate system oxyz;each unmanned aerial vehicle locally stores M formation matrixes A m } m＝1,…,M 。
As a preferred scheme, each drone stores and maintains its own queue status table.
As a preferred scheme, the control station sends a queue number signal to the unmanned aerial vehicle and simultaneously sends a corresponding queue command counting signal.
As a preferred scheme, the unmanned aerial vehicle receiving the formation number signal updates the formation number and the formation instruction count of the unmanned aerial vehicle in the local formation state table according to the content of the instruction, and the unmanned aerial vehicle forwards the updated local formation state table to other unmanned aerial vehicles.
As an optimal scheme, after receiving the formation state table forwarded by other drones, the drone judges whether to update the local formation state table by comparing the formation instruction count.
As an optimal scheme, each unmanned aerial vehicle independently detects a local formation state table, if the formation numbers of all the unmanned aerial vehicles in the table are consistent, the unmanned aerial vehicle adjusts the position of the unmanned aerial vehicle according to the formation matrix corresponding to the numbers in the table to complete formation transformation, and otherwise, the position relation of the current formation is kept
In conclusion, the invention has the following beneficial effects:
1) By adopting the idea of mapping the formation by the instruction number, the communication overhead brought by directly sending the formation matrix can be greatly reduced;
2) By adopting the idea of multi-machine forwarding and redundancy backup, the reliability of transmission of the formation instruction in the formation can be effectively enhanced. Meanwhile, only a small amount of information such as formation numbers, instruction counts and the like is forwarded, so that no obvious communication overhead is brought;
3) The problem of synchronization of formation change instructions of the distributed unmanned aerial vehicle formation is effectively solved, and the safety of formation change is improved;
4) The unmanned aerial vehicle can adapt to various communication topologies, and can also complete the formation transformation function by sharing the link between the unmanned aerial vehicle and the unmanned aerial vehicle as long as the unmanned aerial vehicle receives the formation number signal.
Drawings
FIG. 1 is a schematic diagram of a system in an embodiment of the invention;
FIG. 2 is a schematic illustration of a reference frame in an embodiment of the present invention;
fig. 3 is a queue state diagram of drone n in an embodiment of the present invention.
Detailed Description
This specification does not intend to distinguish between components that differ in name but not function. In the following description, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to. "substantially" means within an acceptable error range, within which a person skilled in the art can solve the technical problem to substantially achieve the technical result.
The terms of orientation such as up, down, left, right and the like in the description are combined with the drawings to facilitate further description, so that the application is more convenient to understand and is not limited to the application.
The present invention will be described in further detail with reference to the accompanying drawings.
T1, a formation system of unmanned aerial vehicles is considered, the formation system of the unmanned aerial vehicles comprises N unmanned aerial vehicles, 1 optional unmanned aerial vehicle is a leader plane, the rest N-1 unmanned aerial vehicles are wing planes, the leader plane is only used as a reference of a formation form, a centralized control center is not provided, and a guidance instruction is not sent to each unmanned aerial vehicle. Taking N =3 as an example, a schematic diagram of the system is shown in fig. 1. Two arbitrary unmanned aerial vehicles all can communicate through local airborne communication equipment.
T2, M formation forms are preset, and the formation can fly according to the M formation forms in the whole flying process. For M =1, \ 8230;, M, M-th type of formation is represented as a matrix of formations
Wherein->
With the long machine of the mth formation as a reference system, as shown in fig. 2, assume that the unmanned aerial vehicle n of the mth formation 0 Is a long machine with a mass center of o point and ox axisPointing in the north direction, oy in the east direction, oz in the direction pointing in the sky perpendicular to the ground, and->
Representing the coordinates of the drones in the formation in the coordinate system oxyz, representing a wing plane n and a long plane n 0 Relative positional relationship therebetween. When n = n 0 When the temperature of the water is higher than the set temperature,
t3: each unmanned aerial vehicle locally stores M formation matrixes { A } m } m＝1,…,M 。
T4: each drone stores and maintains a queue state table, which is shown in fig. 3, taking drone n as an example. Mainly comprises three parts: (1) Numbering the unmanned aerial vehicles from 1 to N in the formation; (2) And (4) numbering the formation, numbering the M preset formations from 1 to M, and representing the current formation state of the unmanned aerial vehicle. In FIG. 3, P n (t) represents the current formation number of the unmanned aerial vehicle t in the local formation state table of the unmanned aerial vehicle n; (3) The queue instruction count indicates the number of times the queue is changed, e.g. the queue instruction count of the initial queue is 0, as in FIG. 3, Q n (t) represents the current queue form instruction count of drone t in the local queue form state table for drone n.
T5: when the formation needs to be changed, an operator broadcasts and sends a formation change instruction to the unmanned aerial vehicle formation through the ground station, and the instruction comprises the formation number to be changed and the corresponding formation instruction count. And each time 1 formation change is carried out, the formation instruction count sent by the ground station is increased.
T6: and the unmanned aerial vehicle receiving the formation number signal updates the formation number and the formation instruction count of the unmanned aerial vehicle in the local formation state table according to the content of the instruction. Meanwhile, the unmanned aerial vehicle forwards the updated local formation state table to other unmanned aerial vehicles.
And T7, after receiving the formation state tables forwarded by other unmanned aerial vehicles, the unmanned aerial vehicles judge whether to update the local formation state tables or not by comparing the formation instruction counts. For exampleUnmanned plane n 1 Receives the information from the unmanned plane n 2 For t =1, \ 8230, if N, in the table
Then make->
If/or>
Then remains pick>
And &>
And is not changed.
T8, each unmanned aerial vehicle independently detects a local formation state table, and if the formation numbers of all the unmanned aerial vehicles in the table are consistent, the unmanned aerial vehicle adjusts the position of the unmanned aerial vehicle according to the formation matrix corresponding to the numbers in the table to complete formation transformation; otherwise, the position relation of the current formation is kept.
Any unmanned aerial vehicle in the unmanned aerial vehicle formation in the T1 can be a long machine, wherein the long machine is only used as a reference of the formation, and is not a centralized control center.
Every unmanned aerial vehicle not only saves the relative coordinate between this unmanned aerial vehicle and the long machine in T2 and T3, stores the relative coordinate between other unmanned aerial vehicles and the long machine in the formation simultaneously.
Each unmanned aerial vehicle in T2 and T3 not only stores the formation matrix of the current formation locally, but also stores the formation matrices of all possible formations simultaneously.
In T4, each unmanned aerial vehicle stores and maintains a formation state table, and the table not only contains the current formation number and the formation instruction count of the unmanned aerial vehicle, but also contains the current formation numbers and the formation instruction counts of all other unmanned aerial vehicles.
And in T5, when the formation is required to be changed, an operator broadcasts and sends a formation change instruction to the unmanned aerial vehicle formation through the ground station, wherein the instruction comprises a formation number to be changed and a corresponding formation instruction count. The queue command count sent by the ground station is increased every time the queue is changed.
And the unmanned aerial vehicle receiving the formation number signal in the T6 updates the formation number and the formation instruction count of the unmanned aerial vehicle in the local formation state table according to the content of the instruction. Meanwhile, the unmanned aerial vehicle forwards the updated local formation state table to other unmanned aerial vehicles.
And after receiving the queue form state tables forwarded by other unmanned aerial vehicles, the unmanned aerial vehicle in T7 judges whether to update the local queue form state table or not by comparing the queue form instruction count.
Each unmanned aerial vehicle in the T8 independently detects a local formation state table, and if the formation numbers of all the unmanned aerial vehicles in the table are consistent, the unmanned aerial vehicle adjusts the position of the unmanned aerial vehicle according to the formation matrix corresponding to the number in the table, so that formation transformation is completed; otherwise, the relative position relation of the current formation is kept.
The main innovation points are as follows:
1) By adopting the idea of mapping the formation by number, each unmanned aerial vehicle prestores all possible formation matrixes, and only needs to send corresponding formation numbers when performing formation transformation, so that the communication overhead brought by directly sending the formation matrixes can be greatly reduced.
2) By adopting the idea of multi-machine forwarding and redundancy backup, each unmanned aerial vehicle not only sends the formation state information of the unmanned aerial vehicle, but also assists in sending the formation state information of other unmanned aerial vehicles received by the unmanned aerial vehicle, so that the reliability of formation instruction transmission in formation can be effectively enhanced. In addition, only a small amount of information such as the formation number and the instruction count is forwarded, and thus, no significant communication overhead is caused. Meanwhile, the method can adapt to various communication topologies, and can also complete the formation conversion function by only receiving the formation numbering signal by one unmanned aerial vehicle and sharing the instruction through the inter-machine link;
3) Whether each unmanned aerial vehicle formation serial number is unanimous in detecting local formation table, every unmanned aerial vehicle independent judgement whether carries out the formation transform, has effectively solved the synchronous problem of distributed unmanned aerial vehicle formation transform instruction, improves the security of formation transform.
In the above description, T1 to T8 are reference numerals for convenience of explanation, and do not limit the present invention further.
The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications of the present embodiment without inventive contribution as required after reading the present specification.
Claims (2)
1. A distributed unmanned aerial vehicle formation form transformation method is characterized by comprising the following steps:
s1: presetting related instructions of all formation shapes on all unmanned aerial vehicles, and numbering in sequence according to the number of the formation shapes;
s2: sending serial number signals of formation to be converted to all unmanned aerial vehicles through a control station;
s3: all unmanned aerial vehicles receive the numbering signals in the S2, automatically generate a leader plane according to the own instructions of the unmanned aerial vehicles in the S1, and the rest unmanned aerial vehicles are wing planes;
s4: the long plane adjusts the position of the long plane according to the instruction of the long plane, and all the wing planes adjust the position of the long plane by taking the long plane as a reference and combining the instruction of the long plane;
the number of all unmanned aerial vehicles is N, wherein the number of all unmanned aerial vehicles comprises 1 long machine and N-1 unmanned aerial vehicles; the number of formations is M, and for M =1, the mth formation is represented as a formation matrix
Wherein
Unmanned aerial vehicle n in mth formation 0 For long machine, centroid o, ox axis pointing north, oy pointing east, oz pointing vertical to the ground in the direction of the day, and/or>
Representing the coordinates of the unmanned aerial vehicles in the formation in a coordinate system oxyz; each unmanned aerial vehicle locally stores M formation matrixes A m } m＝1,…,M ；
Each unmanned aerial vehicle stores and maintains a formation state table of the unmanned aerial vehicle;
the control station sends out a formation number signal to the unmanned aerial vehicle and simultaneously sends out a corresponding formation instruction counting signal;
the unmanned aerial vehicle receiving the formation number signal updates the formation number and the formation instruction count of the unmanned aerial vehicle according to the content of the instruction, and the unmanned aerial vehicle forwards the updated local formation state table to other unmanned aerial vehicles;
after receiving the formation state table forwarded by other unmanned aerial vehicles, the unmanned aerial vehicles judge whether to update the local formation state table by comparing the formation instruction counts.
2. The method for converting formation of distributed unmanned aerial vehicles according to claim 1, wherein each unmanned aerial vehicle independently detects a local formation state table, and if the formation numbers of all unmanned aerial vehicles in the table are consistent, the unmanned aerial vehicle adjusts the position of the unmanned aerial vehicle according to the formation matrix corresponding to the numbers in the table to complete formation conversion, otherwise, the position relationship of the current formation is maintained.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011116122.9A CN112099531B (en) | 2020-10-19 | 2020-10-19 | Distributed unmanned aerial vehicle formation form transformation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011116122.9A CN112099531B (en) | 2020-10-19 | 2020-10-19 | Distributed unmanned aerial vehicle formation form transformation method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112099531A CN112099531A (en) | 2020-12-18 |
| CN112099531B true CN112099531B (en) | 2023-04-07 |
Family
ID=73786072
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011116122.9A Active CN112099531B (en) | 2020-10-19 | 2020-10-19 | Distributed unmanned aerial vehicle formation form transformation method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112099531B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113485427B (en) * | 2021-07-23 | 2023-03-28 | 中国科学院地理科学与资源研究所 | Networking method and system for unmanned aerial vehicle |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001040648A (en) * | 1999-08-03 | 2001-02-13 | Fudo Constr Co Ltd | Positioning and guiding system for soil improving machine using gps |
| CN105867419A (en) * | 2016-04-20 | 2016-08-17 | 合肥工业大学 | Unmanned aerial vehicle queuing management method and control system of unmanned aerial vehicle |
| CN107065922A (en) * | 2017-02-14 | 2017-08-18 | 中国科学院自动化研究所 | Multiple no-manned plane formation formation method based on formation storehouse |
| CN107092270A (en) * | 2016-08-06 | 2017-08-25 | 广州亿航智能技术有限公司 | Realize method, the apparatus and system of formation flight |
| CN108563240A (en) * | 2018-07-26 | 2018-09-21 | 电子科技大学 | A kind of formation of extensive miniature drone and control method |
| CN110058611A (en) * | 2019-05-13 | 2019-07-26 | 电子科技大学 | A kind of quadrotor formation flight control method based on distributed architecture |
| CN110398975A (en) * | 2019-09-04 | 2019-11-01 | 西北工业大学 | A kind of navigator's follower type multiple aircraft formation fault tolerant control method based on broadcast operation framework |
| CN110404257A (en) * | 2019-08-28 | 2019-11-05 | 网易（杭州）网络有限公司 | A kind of formation control method, device, computer equipment and storage medium |
| JP2020023283A (en) * | 2018-08-08 | 2020-02-13 | 日本電信電話株式会社 | Flight control device, method, and program |
| CN111708376A (en) * | 2020-06-17 | 2020-09-25 | 中国空气动力研究与发展中心 | Fixed-wing unmanned aerial vehicle formation control method with robustness on communication link |
-
2020
- 2020-10-19 CN CN202011116122.9A patent/CN112099531B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001040648A (en) * | 1999-08-03 | 2001-02-13 | Fudo Constr Co Ltd | Positioning and guiding system for soil improving machine using gps |
| CN105867419A (en) * | 2016-04-20 | 2016-08-17 | 合肥工业大学 | Unmanned aerial vehicle queuing management method and control system of unmanned aerial vehicle |
| CN107092270A (en) * | 2016-08-06 | 2017-08-25 | 广州亿航智能技术有限公司 | Realize method, the apparatus and system of formation flight |
| CN107065922A (en) * | 2017-02-14 | 2017-08-18 | 中国科学院自动化研究所 | Multiple no-manned plane formation formation method based on formation storehouse |
| CN108563240A (en) * | 2018-07-26 | 2018-09-21 | 电子科技大学 | A kind of formation of extensive miniature drone and control method |
| JP2020023283A (en) * | 2018-08-08 | 2020-02-13 | 日本電信電話株式会社 | Flight control device, method, and program |
| CN110058611A (en) * | 2019-05-13 | 2019-07-26 | 电子科技大学 | A kind of quadrotor formation flight control method based on distributed architecture |
| CN110404257A (en) * | 2019-08-28 | 2019-11-05 | 网易（杭州）网络有限公司 | A kind of formation control method, device, computer equipment and storage medium |
| CN110398975A (en) * | 2019-09-04 | 2019-11-01 | 西北工业大学 | A kind of navigator's follower type multiple aircraft formation fault tolerant control method based on broadcast operation framework |
| CN111708376A (en) * | 2020-06-17 | 2020-09-25 | 中国空气动力研究与发展中心 | Fixed-wing unmanned aerial vehicle formation control method with robustness on communication link |
Non-Patent Citations (5)
| Title |
|---|
| 一种基于局部感知的多机器人编队控制方法;蔡伟斌等;《华中科技大学学报(自然科学版)》;20111130;第33卷;324-327 * |
| 全向移动机器人编队分布式控制研究;柳林等;《机器人》;20070128(第01期);25-30 * |
| 基于相邻矩阵的多机器人编队容错控制;石桂芬等;《华中科技大学学报(自然科学版)》;20050330(第03期);43-46 * |
| 多导弹三维编队控制;马培蓓等;《航空学报》;20100825(第08期);166-172 * |
| 无线网络通信下多无人飞行器编队飞行控制;索良泽等;《电光与控制》;20180427(第09期);53-56+104 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112099531A (en) | 2020-12-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106970650B (en) | Multi-unmanned aerial vehicle communication control system and control method | |
| CN109799842B (en) | Multi-unmanned aerial vehicle sequence flight control method | |
| CN108762299B (en) | Unmanned aerial vehicle formation method and formation system | |
| US20210288714A1 (en) | Communication system and method for unmanned aerial vehicle | |
| CN108563240B (en) | Formation and control method of large-scale micro unmanned aerial vehicle | |
| CN104820431A (en) | Multi-unmanned-aerial-vehicle cluster to-the-ground observation system and formation control method | |
| CN107113053A (en) | For the Wave beam forming in unmanned carrier (UAV) network of broadband access and sensing | |
| CN112099531B (en) | Distributed unmanned aerial vehicle formation form transformation method | |
| Temel et al. | On the performance of flying ad hoc networks (FANETs) utilizing near space high altitude platforms (HAPs) | |
| US11829163B2 (en) | Unmanned aerial vehicle for fleet operation and fleet operation system | |
| KR20150021293A (en) | Wireless control system for unmanned aerial vehicle | |
| CN112346434A (en) | Distributed unmanned aerial vehicle formation state information sharing and communication fault detection method | |
| CN111694377B (en) | Unmanned aerial vehicle cluster ground control visual system and control method | |
| CN111833628B (en) | Control method of unmanned vehicle and related device | |
| CN112672323A (en) | Unmanned aerial vehicle networking flight system and unmanned aerial vehicle remote communication method applying same | |
| WO2019204997A1 (en) | Autonomous mobile platform, control end and autonomous mobile platform system | |
| KR20160128144A (en) | Air traffic Control System for Small Size UAV using Commercial Cellular Networks | |
| JP2024015094A (en) | Communication device | |
| CN210405665U (en) | Based on LTE broadband cluster private network communication device | |
| JP5507927B2 (en) | Mobile communication system | |
| CN112383872B (en) | Optimization method for broadcast transmission frequency of distributed unmanned aerial vehicle formation state information | |
| CN114599013A (en) | Unmanned heterogeneous platform communication system and communication method | |
| KR20210091419A (en) | Unmanned aerial vehicle for fleet operation and fleet operation system | |
| CN113966582A (en) | System and method for receiving and managing satellite signals for flying machines | |
| CN110365397A (en) | The TT&C system of load-carrying dirigible |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |