CN112180985A - Small airborne cooperative control system supporting cluster control of multiple unmanned aerial vehicles - Google Patents
Small airborne cooperative control system supporting cluster control of multiple unmanned aerial vehicles Download PDFInfo
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Abstract
A small airborne cooperative control system supporting cluster control of multiple unmanned aerial vehicles comprises an upper-layer task planning module, a flight cooperative control module, a networking cooperative communication module and a power management module, wherein the upper-layer task planning module is used for realizing task planning. The flight cooperative control module runs a navigation control algorithm and a flight control algorithm through the current state information and flight path information of the unmanned aerial vehicle, and outputs a control instruction to a corresponding steering engine executing mechanism to realize the flight path control of the unmanned aerial vehicle. And meanwhile, receiving the task plan downloaded by the upper task planning module, generating and outputting a corresponding control command to the steering engine executing mechanism, and executing a corresponding task. The networking cooperative communication module adopts a multi-band multi-channel communication mode to realize communication among all unmanned aerial vehicles in the multi-unmanned aerial vehicle cluster and between the unmanned aerial vehicles and the ground station. The power management module provides power distribution and management. The method has the advantages of multi-task planning, high integration degree, dynamic networking, intelligent decision making and the like.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle systems, in particular to a small airborne cooperative control system supporting cluster control of multiple unmanned aerial vehicles.
Background
With the development of electronic information technology, the demand of future information war makes unmanned aerial vehicle system become the development key point of weapon equipment of each country today. The combat effectiveness that a single unmanned aerial vehicle platform can exert under the future informationization, networking battlefield environment will be very limited. The cooperation and cluster battle of a plurality of unmanned aerial vehicles become an important battle style in the future, which also puts forward higher requirements on an airborne cooperative control system of the unmanned aerial vehicles. Therefore, the improvement of the cooperation and autonomy degree of the small unmanned aerial vehicle is the development focus, and the development focus is also the foundation of the application expansion and the complex task execution of the small unmanned aerial vehicle system in the future.
Because the existing unmanned aerial vehicle flight mission planning mostly sets a flight line in advance on the ground, and the unmanned aerial vehicle enters a flight control system program to autonomously fly, the unmanned aerial vehicle flight mission planning method is suitable for single-machine non-cooperative flight and is not suitable for multi-unmanned aerial vehicle cooperative cluster control. When multiple unmanned aerial vehicles execute tasks together, the unmanned aerial vehicles need to communicate with each other, coordinate and avoid collisions and the like. The core of the airborne cooperative control system as an unmanned aerial vehicle system is a control center for realizing autonomous cooperative flight of the cluster unmanned aerial vehicle and completing complex tasks. Therefore, the research on the small unmanned aerial vehicle airborne cooperative control system with high integration level, online information processing, real-time mission planning, dynamic networking and cooperative decision has very important significance, and the small unmanned aerial vehicle airborne cooperative control system also becomes a new development trend of the small unmanned aerial vehicle airborne cooperative control system.
Disclosure of Invention
Aiming at the technical problem of multi-unmanned aerial vehicle cluster in the prior art, the invention provides a small airborne cooperative control system supporting multi-unmanned aerial vehicle cluster control. The small airborne cooperative control system is high in integration level, strong in reliability and good in stability, and has the functions of online information processing, distributed cooperative decision making, dynamic networking and formation flying.
The invention provides a small airborne cooperative control system supporting cluster control of multiple unmanned aerial vehicles.
The technical scheme of the invention is as follows:
a small airborne cooperative control system supporting cluster control of multiple drones, comprising:
the upper task planning module acquires the state information and track information of the current unmanned aerial vehicle, receives the position, state and distance information of the adjacent unmanned aerial vehicle, completes unmanned aerial vehicle air route task planning according to the self state information, track information and the relation state between the adjacent unmanned aerial vehicles of the current unmanned aerial vehicle, and controls the unmanned aerial vehicles to form a formation flight. The unmanned aerial vehicle is controlled to complete image tracking, pod control or aerial obstacle avoidance task planning by acquiring data acquired by current airborne sensors of the unmanned aerial vehicle in real time. And controlling and distributing the multi-unmanned aerial vehicle mission planning by receiving the relation state information between the adjacent unmanned aerial vehicles.
And the flight cooperative control module runs a navigation control algorithm and a flight control algorithm loaded on the flight cooperative control module through the current state information and track information of the unmanned aerial vehicle, outputs a control instruction to a corresponding steering engine executing mechanism, realizes the attitude and speed control of the unmanned aerial vehicle, realizes the control of the horizontal position, the height and the course, and realizes the track control of the unmanned aerial vehicle. And simultaneously, receiving the task plan downloaded by the upper task planning module, operating the navigation control algorithm and the flight control algorithm loaded on the module, outputting a control instruction to the corresponding steering engine executing mechanism, and executing the corresponding task.
The networking cooperative communication module adopts a multi-band multi-channel communication mode to realize communication among all unmanned aerial vehicles in the multi-unmanned aerial vehicle cluster and between the unmanned aerial vehicles and the ground station.
And the power supply management module is used for providing power supply distribution and management for the whole system.
Preferably, the upper layer task planning module is an embedded online real-time task cooperative control system based on an NVIDIA real-time processing chip, the upper layer task planning module performs data interactive communication with the flight cooperative control module to obtain state information and track information of the current unmanned aerial vehicle, meanwhile, data of current onboard sensors of the unmanned aerial vehicle are read and input to the NVIDIA real-time processing chip to perform data processing and fusion algorithm calculation, unmanned aerial vehicle task planning is performed in real time, a desired flight track of the unmanned aerial vehicle is calculated according to a task planning and decision algorithm and sent to the flight cooperative control module through a task downloading data interface, the flight cooperative control module receives the desired flight track and generates a corresponding control instruction to a corresponding steering engine executing mechanism, so that the unmanned aerial vehicle flies according to the desired flight track to realize task setting.
Preferably, the middle and upper layer mission planning module performs data communication with a networking communication module of the flight cooperative control module to obtain position and state information between adjacent unmanned aerial vehicles, and further performs cooperative decision control law calculation according to an airborne cluster cooperative control and decision algorithm, and simultaneously generates an expected flight path of the cluster unmanned aerial vehicle, and transmits the expected flight path to the flight cooperative control module of each adjacent unmanned aerial vehicle, and the flight cooperative control module of each adjacent unmanned aerial vehicle receives the corresponding expected flight path and generates a corresponding control command to a corresponding steering engine execution mechanism, so that each adjacent unmanned aerial vehicle flies according to the expected flight path, and task control flight of the cluster unmanned aerial vehicle is completed.
Preferably, the middle and upper layer mission planning module establishes data communication with the ground control station through a networking communication module of the networking cooperative communication module, displays and monitors data, receives the instruction control information of the ground station, generates an expected flight path of the cluster unmanned aerial vehicle according to the instruction control information of the ground station, and transmits the expected flight path to the flight cooperative control module of each adjacent unmanned aerial vehicle, and the flight cooperative control module of each adjacent unmanned aerial vehicle receives the corresponding expected flight path and generates a corresponding control command to the corresponding steering engine execution mechanism, so that each adjacent unmanned aerial vehicle flies according to the expected flight path, and completes mission flight of the cluster unmanned aerial vehicle under intervention of the ground station.
Preferably, the upper layer mission planning module integrates a multi-sensor interface, a multi-unmanned aerial vehicle networking communication interface and a mission downloading interface, supports various externally-connected airborne sensors through the multi-sensor interface, and comprises a camera, an unmanned aerial vehicle pod, a radar altimeter, a UWB sensor, an airspeed tube, an IMU (inertial measurement unit) and/or a magnetic compass, and acquires data of each airborne sensor in real time to perform data processing and fusion; through many unmanned aerial vehicle network deployment communication interface, receive other adjacent unmanned aerial vehicle position, state, distance information, calculate and handle the relation state between the adjacent unmanned aerial vehicle to with current unmanned aerial vehicle state, flight path information output download ground station and distribute the task information of collaborative flight control to adjacent unmanned aerial vehicle.
Preferably, the middle and upper layer task planning module realizes the air obstacle avoidance task planning by fusing with UWB data based on an image online processing technology.
Preferably, the networking cooperative communication module is a TDMA system, channel sharing is realized by adopting a TDMA mode, GPS time of each unmanned aerial vehicle in a multi-unmanned aerial vehicle cluster is taken as reference synchronization in the set same system period time, the TDMA system divides the time into periodic frames on a broadband wireless carrier, each frame is divided into a plurality of time slots, and each time slot is a communication channel and is allocated to one unmanned aerial vehicle no matter whether the frames or the time slots are mutually non-overlapping; the TDMA system enables each unmanned aerial vehicle to transmit signals to the ground station only according to the appointed time slot in each frame according to the set time slot allocation principle, and each unmanned aerial vehicle and the ground station can receive the signals of each unmanned aerial vehicle in the multi-unmanned aerial vehicle cluster in each time slot without mutual interference under the condition of timing and synchronization.
Preferably, the power management module integrates a plurality of power conversion circuits, meets a module power supply scheme of one-path input, multi-path output with different voltages and different powers, and provides power distribution and management for the whole system.
Preferably, the flight cooperative control module integrates the fusion of multi-sensor information to realize the estimation of the position, the attitude, the speed and the angular velocity of the unmanned aerial vehicle, the flight cooperative control module runs a single-machine control law to realize the control of the attitude, the speed, the horizontal position and the height of the unmanned aerial vehicle, and further realize the track tracking control of a single unmanned aerial vehicle; the flight cooperative control module integrates a cooperative data interface, reads key information such as positions, states and distances of adjacent unmanned aerial vehicles through the cooperative data interface, runs a cooperative control law, and achieves cluster control and cooperative formation flight of the unmanned aerial vehicles.
Preferably, the flight cooperative control module is provided with a main remote control signal link module and a backup remote control signal link module, the main remote control link module is used for receiving remote control signals on board, and the backup remote control signal link module is used for transmitting PWM signals and is used for unmanned aerial vehicle flyers, fault treatment, manual operation and the like. Especially in the unmanned aerial vehicle cluster flight control experiment, it can also realize the function of "one person controls multimachine", "one stops controlling multimachine", can reduce unmanned aerial vehicle flight hand, ground station quantity in the unmanned aerial vehicle cluster experiment, with equipment cost etc.. Different flight combination modes can be sent to the flight cooperative control module through the upper task planning module, and complex flight tasks are executed. The inputs of the flight control are the current state, the expected state and the coordinated state of the airplane, and the output is the control quantity of the control surface of the unmanned aerial vehicle.
Compared with the prior art, the invention has the following advantages:
the invention has the functions of on-line information processing, distributed cooperative decision, dynamic networking, formation flight power and the like, and has the advantages of plug and play, high integration, light weight, strong calculation performance and the like. Aiming at the complexity of a cluster control process of the unmanned aerial vehicles, the invention adopts a method of constructing an upper-layer task cooperative module, a flight cooperative control module, a networking cooperative communication module and a power management module, operates in different task module management modes according to different task functions, utilizes a CPU with high computing power and a GPU to perform parallel processing, accelerates certain specific data by utilizing an NPU, forms a cluster of the unmanned aerial vehicles and distributes the data through a dynamic networking mode, and finally realizes a set of small airborne cooperative control system by adopting a multilayer PCB design technology.
Drawings
FIG. 1 is a schematic diagram of a specific embodiment.
FIG. 2 is a schematic diagram of the topology framework of the present invention.
FIG. 3 is a functional diagram of an upper task planning module system in an embodiment of the present invention.
FIG. 4 is a functional diagram of a flight coordination control module system in accordance with an embodiment of the present invention.
Fig. 5 is a functional diagram of a networking cooperative communication module system in an embodiment of the present invention.
FIG. 6 is a functional diagram of a power management module system in an embodiment of the invention.
FIG. 7 is a flow chart of a software framework in an embodiment of the present invention.
Detailed description of the preferred embodiments
For the purpose of promoting a clear understanding of the objects, aspects and advantages of the embodiments of the invention, reference will now be made to the drawings and detailed description, wherein there are shown in the drawings and described in detail, various modifications of the embodiments described herein, and other embodiments of the invention will be apparent to those skilled in the art. The exemplary embodiments of the present invention and the description thereof are provided to explain the present invention and not to limit the present invention.
Fig. 1 is a schematic structure diagram in a concrete application example, a support many unmanned aerial vehicle cluster control's small-size machine carries cooperative control system, it adopts the mode of three-layer circuit board structure stromatolite, system hardware designs into the triplex, upper circuit board 1 promptly, middle level circuit board 2, lower floor's circuit board 3, the different functional module of every layer of circuit board management, mutual independence is not influenced, carry communication connection through layer and layer board again, each task function can communicate each other again, the volume of system can be reduced again to this kind of structural mode to the adaptation is transplanted at different small-size unmanned aerial vehicle fast.
As shown in fig. 1, in the small airborne cooperative control system supporting cluster control of multiple unmanned aerial vehicles provided in this embodiment, the external volume size is: 150mm 78mm 70mm, consider that in upper task planning module, the flight cooperative control module in CPU and GPU handle, discern image data, cluster control algorithm etc. complicated task, the consumption is big, the difficult heat dissipation of main control chip has added T type fin structurally, exports the heat through combining with unmanned aerial vehicle. As shown in fig. 1, a quick installation hole site is designed for quick installation and transplantation to different drones. To the great oily power unmanned aerial vehicle of vibration, through connecting self-control damper plate to small-size machine carries cooperative control system, then install on unmanned aerial vehicle.
Wherein upper circuit board 1 is based on the flight cooperative control module of two ARM treater designs, through fusing with the navigation data, realizes unmanned aerial vehicle's flight path flight control. The middle layer circuit board 2 is an upper layer task planning module based on NVIDIA high-performance real-time processing chip integrated design, and is an embedded online real-time task cooperative control system. The lower circuit board 3 includes various power circuit conversion and communication networking module circuit designs required by the system, wherein the power conversion circuit includes an input power supply and various output power circuits, and the voltage and power requirements required by each module are met.
Referring to fig. 2, a small airborne cooperative control system supporting cluster control of multiple unmanned aerial vehicles comprises an upper layer task planning module, a lower layer task planning module and a control module, wherein the upper layer task planning module is used for acquiring state information and track information of a current unmanned aerial vehicle, receiving position, state and distance information of adjacent unmanned aerial vehicles, completing unmanned aerial vehicle route task planning according to the state information and track information of the current unmanned aerial vehicle and the relation state between the adjacent unmanned aerial vehicles, and controlling the unmanned aerial vehicles to form a formation flight; the unmanned aerial vehicle is controlled to complete image tracking, pod control or aerial obstacle avoidance task planning by acquiring data acquired by each current airborne sensor of the unmanned aerial vehicle in real time; and controlling and distributing the multi-unmanned aerial vehicle mission planning by receiving the relation state information between the adjacent unmanned aerial vehicles. The unmanned aerial vehicle formation flying means that 2 or more unmanned aerial vehicles can change different formation shapes in real time to realize different formation flying.
The flight cooperative control module runs a navigation control algorithm and a flight control algorithm loaded on the flight cooperative control module through the current state information and track information of the unmanned aerial vehicle, and outputs a control instruction to a corresponding steering engine executing mechanism to realize the attitude and speed control of the unmanned aerial vehicle, realize the control of the horizontal position, the height and the course and realize the track control of the unmanned aerial vehicle; and simultaneously, receiving the task plan downloaded by the upper task planning module, operating the navigation control algorithm and the flight control algorithm loaded on the module, outputting a control instruction to the corresponding steering engine executing mechanism, and executing the corresponding task.
The networking cooperative communication module adopts a multi-band multi-channel communication mode to realize communication among all unmanned aerial vehicles in the multi-unmanned aerial vehicle cluster and between the unmanned aerial vehicles and the ground station.
And the power supply management module is used for providing power supply distribution and management for the whole system.
In terms of function implementation, the middle-layer circuit board 2 is the core of the whole airborne cooperative control system, firstly, the upper-layer task planning module of the middle-layer circuit board 2 performs data interactive communication with the flight cooperative control module of the upper-layer circuit board 1 to obtain the state information and flight path information of the current unmanned aerial vehicle, meanwhile, the data of each current airborne sensor of the unmanned aerial vehicle is read and input into the NVIDIA real-time processing chip to perform data processing and fusion algorithm calculation, the task planning of the unmanned aerial vehicle is performed in real time, the expected flight path and the expected flight state of the unmanned aerial vehicle are calculated according to the task planning and decision algorithm and are sent to the flight cooperative control module through a task downloading data interface, the flight cooperative control module receives the expected flight path and the expected flight state, and generates corresponding control instructions to the corresponding steering engine execution mechanism to enable the unmanned aerial vehicle to fly according to the expected flight path and, and realizing the setting task.
The upper-layer task planning module carries out data communication through a networking communication module of the flight cooperative control module, positions and state information between adjacent unmanned aerial vehicles can be obtained, further, cooperative decision control law calculation is carried out according to airborne cluster cooperative control and a decision algorithm, expected flight tracks and expected flight states of the cluster unmanned aerial vehicles are generated simultaneously, the expected flight tracks and the expected flight states are transmitted to the flight cooperative control modules of the adjacent unmanned aerial vehicles, the flight cooperative control modules of the adjacent unmanned aerial vehicles receive the corresponding expected flight tracks and the expected flight states, corresponding control instructions are generated to corresponding steering engine executing mechanisms, the adjacent unmanned aerial vehicles fly according to the expected flight tracks and the expected flight states, and task control flight of the cluster unmanned aerial vehicles is completed.
The upper layer task planning module establishes data communication between the networking communication module of the networking cooperative communication module and the ground control station, performs data display and monitoring, receives the finger control information of the ground station, generates the expected flight path of the cluster unmanned aerial vehicle according to the finger control information of the ground station, and transmits the expected flight path to the flight cooperative control module of each adjacent unmanned aerial vehicle, the flight cooperative control module of each adjacent unmanned aerial vehicle receives the corresponding expected flight path and the expected flight state, generates a corresponding control command to the corresponding steering engine executing mechanism, enables each adjacent unmanned aerial vehicle to fly according to the expected flight path and the expected flight state, and completes the task flight of the cluster unmanned aerial vehicle under the intervention of the ground station. The cooperative state of the unmanned aerial vehicle comprises state parameters, position information and distance information among the multiple machines, and is given by an upper layer task planning module.
The airborne sensor comprises an airborne accelerometer, a gyroscope, a magnetic compass, an air pressure altimeter, a GPS, an airspeed meter, a pod image and UWB. The state information and the track information comprise yaw angle, pitch angle, roll angle, flight speed, angular speed, height, position information of the unmanned aerial vehicles, position information between the adjacent unmanned aerial vehicles, relative distance between the adjacent unmanned aerial vehicles and the like. The current state of the unmanned aerial vehicle is given by the flight cooperative control module and comprises motion parameters such as speed, acceleration, position and attitude. The expected flight state (expected state) of the unmanned aerial vehicle comprises different forms according to different flight tasks, such as straight line flight and hovering flight.
The system block diagram of the upper layer task cooperation module is shown in fig. 3, and the system block diagram is composed of a high-performance embedded onboard processor, supports multi-core GPU speed-up and NPU neural network processing, supports sensor data interfaces such as an external camera, a pod and UWB, supports communication data interfaces among multiple unmanned aerial vehicles, and supports a downlink flight control instruction interface. The upper mission planning module integrates a multi-sensor interface, a multi-unmanned aerial vehicle networking communication interface and a mission downloading interface, supports various external airborne sensors through the multi-sensor interface, and comprises a camera, an unmanned aerial vehicle pod, a radar altimeter, a UWB sensor, an airspeed tube, an IMU and/or a magnetic compass. The upper-layer mission planning module mainly operates the complex mission planning algorithm implementation, the cluster control decision distribution, the multi-sensor data fusion processing and the like, and is used for planning unmanned aerial vehicle routes on line and controlling unmanned aerial vehicle formation flight. And the upper layer task planning module is used for fusing sensor equipment data such as a mounted pod, a camera and a UWB (ultra wide band), processing and fusing data, and controlling tasks such as unmanned aerial vehicle image tracking, pod control and aerial obstacle avoidance. Through many unmanned aerial vehicle network deployment communication interface, receive other adjacent unmanned aerial vehicle position, state, distance information, calculate and handle the relation state between the adjacent unmanned aerial vehicle to with current unmanned aerial vehicle state, track information output download ground station and distribute the task information of collaborative flight control to adjacent unmanned aerial vehicle, control distribution many unmanned aerial vehicle task planning. The upper task planning module is an intelligent decision brain of the airborne cooperative controller.
The flight cooperative control module has a system functional block diagram shown in fig. 4, which is a second functional module of the airborne cooperative controller, is different from the intelligent decision and task issue of the upper layer task cooperative module, is a task execution module, and mainly includes: 1. receiving an air route planning task, a tracking task, a cluster control task and the like downloaded by an upper task planning module; 2. unmanned aerial vehicle navigation data fusion processing and flight control processing functions; 3. controlling the output of the actuator of the steering engine; 4. remote control data link input; 5. and transmitting data with the ground station. The working process is as follows: the flight cooperative control module is also an independent flight controller, the remote controller data is input, the data of the airborne navigation sensor is fused, three Euler angles of pitching, rolling and yawing required by the unmanned aerial vehicle are calculated, a flight control algorithm is operated according to the state data of the unmanned aerial vehicle, the control law is calculated, the controlled variable is distributed, and the control of the attitude and the speed of the unmanned aerial vehicle is realized by outputting and controlling the motion of actuating mechanisms such as a steering engine, so that the control of the horizontal position and the height is realized. On this basis, realize unmanned aerial vehicle's track control, can accomplish simple path planning. Different flight combination modes can be given through the upper layer cooperative control module, and complex flight tasks are executed. The inputs of the flight control are the current state, the expected state and the cooperative state of the unmanned aerial vehicle, and the output is the control quantity of the steering engine of the unmanned aerial vehicle. The current state is given by a navigation module in the flight cooperative control module and comprises motion parameters such as speed, acceleration, position and attitude. The expected state of the unmanned aerial vehicle comprises different forms according to different flight tasks, such as straight line flight and hovering flight. The cooperative state of the unmanned aerial vehicles comprises state parameters, position information and distance information among the unmanned aerial vehicles, and is given by an upper-layer task planning module.
The networking cooperative communication module is a third functional module of the airborne cooperative controller, cooperation and cluster control among the unmanned aerial vehicles are realized, and data communication among the unmanned aerial vehicles is mainly transmitted by the networking cooperative communication module. The unmanned aerial vehicle flight control system needs powerful communication system support, especially complex tasks such as formation flight, need support communication between unmanned aerial vehicle and ground station (GCS), between unmanned aerial vehicle and the ground vision navigation system. The single frequency point-to-point communication mode cannot meet the multi-machine formation flying task. Therefore, the point-to-multipoint, networking and multiband communication mode is the basis for completing the multi-machine formation flying task. Frequency hopping communication is a communication system with continuous carrier frequency hopping developed in the last century, and is widely applied to the military field and the civil field due to the excellent anti-interference characteristic and high sensitivity of the communication system. The communication among a plurality of airplanes and between the airplanes and the ground station is realized by adopting a multi-band multi-channel communication mode. Communication needs the network deployment between the unmanned aerial vehicle, realizes can both realizing the information exchange between two adjacent unmanned aerial vehicles. In order to improve the efficiency, the channel sharing is realized by adopting a TDMA mode. The networking cooperative communication module is a TDMA system, channel sharing is realized by adopting a TDMA mode, GPS time of each unmanned aerial vehicle in a multi-unmanned aerial vehicle cluster is taken as reference synchronization in the set same system period time, the TDMA system divides the time into periodic frames on a broadband wireless carrier, each frame is divided into a plurality of time slots, and each time slot is a communication channel and is allocated to one unmanned aerial vehicle no matter whether the frames or the time slots are mutually non-overlapping; the TDMA system enables each unmanned aerial vehicle to transmit signals to the ground station only according to the appointed time slot in each frame according to the set time slot allocation principle, and each unmanned aerial vehicle and the ground station can receive the signals of each unmanned aerial vehicle in the multi-unmanned aerial vehicle cluster in each time slot without mutual interference under the condition of timing and synchronization. On the basis of hardware, a communication protocol control module is realized, channel resources are managed, and transparent data transmission of a task layer is guaranteed. Data transmission between networking cooperative communication modules is shown in fig. 5. The TDMA scheme is a time division multiple access technique, and N users share the same carrier frequency channel by allocating each user with a non-overlapping time slot.
Referring to fig. 6, a system functional diagram of a power management module is shown. The power management module is used for providing power distribution and state management of the cooperative control system. The power supply is the power supply of the whole airborne cooperative control system, and the stability of the power supply determines the safety of the whole control system. The airborne cooperative control system has higher requirement on the performance of the power supply than the price, and in the design of the power supply circuit, the electrical parameters, the electromagnetic compatibility design, the safety design and the like are fully considered besides the parameters of the power supply. The power management module integrates various power conversion circuits, meets the power supply scheme of modules with different input, multi-path output and different voltages and different powers, and provides power distribution and management for the whole system. In an airborne cooperative control system, different voltages of 12V, 5V, 3.3V, 1.9V and the like are needed according to different modules and devices, and the external input adopts 4-12S lithium batteries for power supply, so that different voltage conversion circuits are needed.
The increase of the expansion task of the airborne cooperative controller improves the system function, but increases the hardware detection difficulty. If the serial port line is broken, the communication of a certain module is interrupted. Furthermore, a system state monitoring module is added in the small airborne cooperative control system supporting cluster control of multiple unmanned aerial vehicles, the communication interface states of all the constituent modules (an upper layer task planning module, a flight cooperative control module and a networking cooperative communication module) are monitored in real time, and the voltage and the current of a battery in a power supply management module are monitored, the electric quantity of the battery is estimated, the flying time can be shortened and the like. Its system block diagram is shown in fig. 6;
the upper layer task cooperative module adopts a high-performance embedded processing chip, integrates a multi-sensor interface, and connects the flight cooperative control module with the networking cooperative communication module in a PCB onboard wiring communication mode, so that the unreliability caused by the existing wired splicing module mode is reduced, and the stability of the system is improved.
The main task flow of the upper layer task cooperation module utilizes the high efficiency of multitask and parallel processing of the embedded operating system and adopts a multitask and multithread management mode to design software tasks. And the upper layer task cooperation module carries out multithread parallel processing on the task of each module, and integrally runs two core tasks to process the output data of other thread tasks, so that the integral planning of unmanned aerial vehicle cluster control is obtained, the current unmanned aerial vehicle is guided to execute the task, and the cooperative control key information is given to other unmanned aerial vehicles. As shown in fig. 7, in the first task, data communication is performed with the flight cooperative control module in real time, and position and attitude data of the current unmanned aerial vehicle are acquired; acquiring data of auxiliary sensors such as an unmanned aerial vehicle pod, a camera and a UWB in real time, and processing and fusing the data; the third task is used for receiving key data information such as positions, states and distances of other adjacent unmanned aerial vehicles and calculating the relationship state between the adjacent unmanned aerial vehicles at the processing position; fourthly, outputting the current unmanned aerial vehicle state and track information to download a ground station and distributing key information of cooperative flight control to adjacent unmanned aerial vehicles; fifthly, based on image on-line processing, fusing with UWB data to realize an air obstacle avoidance task; a sixth task, based on the position and state data of the cluster unmanned aerial vehicle, performing online real-time flight path planning on the unmanned aerial vehicle, and controlling cluster mission flight of the unmanned aerial vehicle; a seventh task, based on the state and distance data information of the multiple unmanned aerial vehicles, fusing the data with the data of the multiple sensors, and performing cluster control and accurate formation flight experiments of the multiple unmanned aerial vehicles; and a task eight, performing unmanned aerial vehicle load control and other task control based on data analysis.
In summary, although the present invention has been described with reference to the preferred embodiments, it should be understood that various changes and modifications can be made by those skilled in the art without departing from the spirit and scope of the invention.
Claims (10)
1. The utility model provides a support many unmanned aerial vehicle cluster control's small-size machine carries cooperative control system which characterized in that includes:
the upper-layer task planning module is used for acquiring the state information and track information of the current unmanned aerial vehicle, receiving the position, state and distance information of adjacent unmanned aerial vehicles, finishing unmanned aerial vehicle route task planning according to the self state information, track information and the relation state between adjacent unmanned aerial vehicles of the current unmanned aerial vehicle and controlling the unmanned aerial vehicles to form a formation flight; the unmanned aerial vehicle is controlled to complete image tracking, pod control or aerial obstacle avoidance task planning by acquiring data acquired by each current airborne sensor of the unmanned aerial vehicle in real time; controlling and distributing multi-unmanned aerial vehicle task planning by receiving relationship state information between adjacent unmanned aerial vehicles;
the flight cooperative control module runs a navigation control algorithm and a flight control algorithm loaded on the flight cooperative control module through the current state information and track information of the unmanned aerial vehicle, and outputs a control instruction to a corresponding steering engine executing mechanism to realize the attitude and speed control of the unmanned aerial vehicle, realize the control of the horizontal position, the height and the course and realize the track control of the unmanned aerial vehicle; meanwhile, receiving task plans downloaded by an upper task planning module, operating a navigation control algorithm and a flight control algorithm loaded on the module, outputting a control instruction to a corresponding steering engine executing mechanism, and executing a corresponding task;
the networking cooperative communication module adopts a multi-band multi-channel communication mode to realize communication among all unmanned aerial vehicles in the multi-unmanned aerial vehicle cluster and between the unmanned aerial vehicles and the ground station;
and the power supply management module is used for providing power supply distribution and management for the whole system.
2. The small airborne cooperative control system supporting cluster control of multiple unmanned aerial vehicles according to claim 1, characterized in that: the upper layer task planning module is an embedded online real-time task cooperative control system based on an NVIDIA real-time processing chip, the upper layer task planning module is in data interactive communication with the flight cooperative control module to obtain the state information and track information of the current unmanned aerial vehicle, meanwhile, the data of the current onboard sensors of the unmanned aerial vehicle are read and input into the NVIDIA real-time processing chip to perform data processing and fusion algorithm calculation, the task planning of the unmanned aerial vehicle is performed in real time, the expected flight track of the unmanned aerial vehicle is calculated according to the task planning and decision algorithm and is sent to the flight cooperative control module through a task downloading data interface, the flight cooperative control module receives the expected flight track and generates a corresponding control instruction to a corresponding steering engine executing mechanism, so that the unmanned aerial vehicle flies according to the expected flight track to realize task setting.
3. The small airborne cooperative control system supporting cluster control of multiple unmanned aerial vehicles according to claim 2, characterized in that: the upper-layer task planning module carries out data communication through a networking communication module of the flight cooperative control module to obtain the position and state information between adjacent unmanned aerial vehicles, and further carries out cooperative decision control law calculation according to airborne cluster cooperative control and a decision algorithm, and simultaneously generates expected flight tracks of the cluster unmanned aerial vehicles and transmits the expected flight tracks to the flight cooperative control module of each adjacent unmanned aerial vehicle.
4. The small airborne cooperative control system supporting cluster control of multiple unmanned aerial vehicles according to claim 2, characterized in that: the upper layer task planning module establishes data communication between the networking communication module of the networking cooperative communication module and the ground control station, performs data display and monitoring, receives the finger control information of the ground station, generates the expected flight path of the cluster unmanned aerial vehicle according to the finger control information of the ground station, and transmits the expected flight path to the flight cooperative control module of each adjacent unmanned aerial vehicle, the flight cooperative control module of each adjacent unmanned aerial vehicle receives the corresponding expected flight path, generates a corresponding control instruction to the corresponding steering engine executing mechanism, enables each adjacent unmanned aerial vehicle to fly according to the expected flight path, and completes the task flight of the cluster unmanned aerial vehicle under the intervention of the ground station.
5. The small airborne cooperative control system supporting cluster control of multiple unmanned aerial vehicles according to claim 1, characterized in that: the upper layer task planning module integrates a multi-sensor interface, a multi-unmanned aerial vehicle networking communication interface and a task downloading interface, supports various externally-connected airborne sensors through the multi-sensor interface, and comprises a camera, an unmanned aerial vehicle pod, a radar altimeter, a UWB sensor, an airspeed tube, an IMU (inertial measurement unit) and/or a magnetic compass, and acquires data of each airborne sensor in real time to perform data processing and fusion; through many unmanned aerial vehicle network deployment communication interface, receive other adjacent unmanned aerial vehicle position, state, distance information, calculate and handle the relation state between the adjacent unmanned aerial vehicle to with current unmanned aerial vehicle state, flight path information output download ground station and distribute the task information of collaborative flight control to adjacent unmanned aerial vehicle.
6. The small airborne cooperative control system supporting cluster control of multiple unmanned aerial vehicles according to claim 5, characterized in that: and the upper layer task planning module is fused with UWB data to realize air obstacle avoidance task planning based on an image online processing technology.
7. The small airborne cooperative control system supporting cluster control of multiple drones according to any of claims 1 to 6, characterized in that: the networking cooperative communication module is a TDMA system, channel sharing is realized by adopting a TDMA mode, GPS time of each unmanned aerial vehicle in a multi-unmanned aerial vehicle cluster is taken as reference synchronization in the set same system period time, the TDMA system divides the time into periodic frames on a broadband wireless carrier, each frame is divided into a plurality of time slots, and each time slot is a communication channel and is allocated to one unmanned aerial vehicle no matter whether the frames or the time slots are mutually non-overlapping; the TDMA system enables each unmanned aerial vehicle to transmit signals to the ground station only according to the appointed time slot in each frame according to the set time slot allocation principle, and each unmanned aerial vehicle and the ground station can receive the signals of each unmanned aerial vehicle in the multi-unmanned aerial vehicle cluster in each time slot without mutual interference under the condition of timing and synchronization.
8. The small airborne cooperative control system supporting cluster control of multiple unmanned aerial vehicles according to claim 1, characterized in that: the power management module integrates various power conversion circuits, meets the power supply scheme of modules with different input, multi-path output and different voltages and different powers, and provides power distribution and management for the whole system.
9. The small airborne cooperative control system supporting cluster control of multiple drones according to claim 1, characterized in that: the flight cooperative control module integrates the fusion of multi-sensor information to realize the estimation of the position, the attitude, the speed and the angular velocity of the unmanned aerial vehicle, the flight cooperative control module runs a single-machine control law to realize the control of the attitude, the speed, the horizontal position and the height of the unmanned aerial vehicle, and further the track tracking control of a single unmanned aerial vehicle is realized; the flight cooperative control module integrates a cooperative data interface, reads the position, state and distance information of adjacent unmanned aerial vehicles through the cooperative data interface, runs a cooperative control law, and realizes cluster control and cooperative formation flight of a plurality of unmanned aerial vehicles.
10. The small airborne cooperative control system supporting cluster control of multiple unmanned aerial vehicles according to claim 1, characterized in that: the flight cooperative control module is provided with a main remote control signal link module and a backup remote control signal link module, the main remote control link module is used for airborne remote control signal receiving, and the backup remote control signal link module is used for transmitting PWM signals and is used for unmanned aerial vehicle flyers, fault processing and manual operation.
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