CN112214034A - ZigBee-based four-rotor aircraft formation flight control method - Google Patents
ZigBee-based four-rotor aircraft formation flight control method Download PDFInfo
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Abstract
The embodiment of the invention discloses a ZigBee-based quad-rotor aircraft formation flight control method, relates to the technical field of unmanned aerial vehicle flight control, and can realize switching of formation and avoidance of collision among quad-rotor aircraft by a collision avoidance method so as to facilitate real-time change of the formation according to the environment. The invention comprises the following steps: setting one four-rotor aircraft in the fleet as a pilot from a ground station, and setting the other four-rotor aircraft in the formation as followers, wherein each follower sets a following distance and an angle relative to the pilot from the ground station; in the flight process, each follower generates an expected track according to the position and speed information of the current pilot; completing track following according to the expected track; in the formation flight, all information interaction is completed by adopting a ZigBee-based communication method. The invention is suitable for formation flight control of the four-rotor aircraft.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle flight control, in particular to a ZigBee-based quad-rotor aircraft formation flight control method.
Background
In recent years, small aircrafts have been paid attention to by various industries due to their unique advantages, such as easy operation, portability, capability of being applied to various complex environments to replace manpower and reduce cost, etc. However, due to the small size, the working capacity is limited, the working range is greatly limited, and more efficient formation flight of multiple aircrafts is required to be developed to improve the working efficiency of the aircrafts, so that the cooperative formation of multiple aircrafts becomes one of the emerging research directions.
At present, most researches on four-rotor aircraft formation are still on the theoretical research level, relatively few researches are really applied to physical flight, most of the four-rotor aircraft formation in the market are centralized unmanned aerial vehicle performance shows, and the military field is also searching for the scheme of formation flight, obtains partial application, but is mainly used for executing relatively simple tasks. The main limitations are that the amount of information of centralized control is large, the requirement on the computing power of a processor is high, no information interaction exists among the four-rotor aircrafts, and therefore the task execution effect is not ideal, the control is difficult, the formation is fixed and cannot be changed in real time according to the environment, and the like.
Disclosure of Invention
The embodiment of the invention provides a ZigBee-based quad-rotor aircraft formation flight control method, which can realize switching of formation and avoid collision among quad-rotor aircraft in a collision avoidance method, so that the formation can be changed in real time according to the environment.
In order to achieve the above purpose, the embodiment of the invention adopts the following technical scheme:
a ZigBee-based quad-rotor aircraft formation flight control method for use in a system comprising: the system comprises at least 2 quadrotors and a ground station, wherein each quadrotor and the ground station are provided with ZigBee communication modules for communication;
the method comprises the following steps: step S10, setting one four-rotor aircraft as a pilot from the ground station, and setting the other four-rotor aircraft in the cluster as followers, wherein for each follower, the following distance and angle relative to the pilot are set; s20, the follower acquires the position and speed information of the pilot to generate an expected track; step S30, the follower completes track following according to the expected track; step S40, in the process of switching the formation, the follower acquires the position and speed information of other followers, and adjusts the height to avoid collision; and step S50, performing information interaction between the four-rotor aircrafts and the ground station through a ZigBee-based communication method.
Further comprising: step S51, the sending end classifies all the transmission data according to the data type and the requirement and determines the corresponding receiving end type; step S52, the sending end determines transmission information according to the type of the receiving end, and generates a combined data frame with the transmission information and transmission data, where the transmission information includes: transmission type, transmission address, transmission mode, etc.; step S53, the ZigBee communication module installed at the sending end sends the combined data frame to the receiving end pointed by the transmission address in the combined data frame in the transmission mode in the combined data frame; and after receiving the combined data frame, the ZigBee communication module arranged on the receiving end converts the combined data frame from a sending frame format into a receiving frame format and then transmits the combined data frame to the receiving end.
The step S20 includes: for each follower, acquiring position and speed information of a pilot through a ZigBee communication method, and acquiring a following distance lambda relative to the pilot from a ground stationdAnd following angle
For the follower: according to the position and speed information of the pilot and the set following information, an expected track of the follower is generated by controlling a dynamic error;
wherein the model for controlling the error dynamics comprises:
x(k+1)＝F(x(k))+G(x(k))u(k)
wherein x (k) ═ ex ey eψ]T，u(k)＝[VFx VFy ωF]T，
The parameter symbol with L corresponds to the pilot, the parameter symbol with F corresponds to the follower, wherein: vFx、VFyRepresenting the velocity components, omega, of the follower in the X-and Y-axes of the geographic coordinate systemFIndicating the yaw rate, psi, of the followerFIndicating the yaw angle, psi, of the followerLIndicating the yaw angle, V, of the pilotLx、VLyRepresenting the speed components, omega, of the pilot on the X-axis and Y-axis of the geographic coordinate systemLRepresenting the yaw rate of the pilot, ex、eyRespectively representing the actual following distance lambda in the X axis and the Y axis of the navigator body coordinate system and the set following distance lambdadError of (e), eψIndicating the difference in yaw angle between the follower and the pilot.
The method comprises the following steps of performing dynamic error control by adopting a sliding mode control method based on a combination approach law to generate an expected track, wherein the method comprises the following steps:
the dynamic error is controlled by adopting a sliding mode control method based on a combined approach law of an exponential approach law and a variable speed approach law, wherein the approach law of a switching function comprises the following steps:
where s (k) ═ Cx (k) denotes the switching function, C denotes the sliding mode surface parameter,
c1,c2,c3is a positive number, sat (s (k)) represents a saturation function within a certain interval,
represents the norm of the system state, k0Representing the approach law switching boundary, T represents the sampling period, ε1A gain parameter of a saturation function based on an exponential approximation law is shown, and q represents a speed parameter epsilon approaching a sliding mode surface2Indicating based on the shift approach lawA gain parameter of the saturation function;
generating a control law for controlling the dynamic error according to the dynamic error model and the approach law, wherein the control law comprises the following steps:
generating a desired trajectory for a follower based on the dynamic error, comprising:
XFd＝λx cosψL-λy sinψL+XL
YFd＝λx sinψL+λy cosψL+YL
wherein the content of the first and second substances,
indicating a set distance lambdadDistance on X-axis and Y-axis of navigator body coordinate system, XL、YLThe positions of the pilot on the X axis and the Y axis of the geographic coordinate system,
XFd、YFdthe expected position of the follower on the X axis and the Y axis of the geographic coordinate system is obtained.
The step S30 includes: according to the expected track, a follower controls the position and the posture of the four-rotor aircraft through a cascade PID to complete the expected track following; wherein, the position control ring is used as an outer loop, and the attitude control ring is used as an inner loop; the position control loop comprises position control and speed control, and the attitude control loop comprises angle control and angular rate control; through the output of angular rate control, and then control four rotor craft's motor to control four rotor craft's position and gesture, realize following the orbit of expectation.
The step S40 includes: the four-rotor aircraft numbers the four-rotor aircraft of the whole machine group, and when the numbers of other four-rotor aircraft are smaller than the numbers of the four-rotor aircraft, the four-rotor aircraft is considered to have higher priority than the four-rotor aircraft; each follower acquires the numbers and the position information of other followers, firstly judges whether the priority is higher than the follower, then calculates the spacing distance and judges whether the spacing distance is smaller than the safety distance, if the priority is higher than the follower and the spacing distance is smaller than the safety distance, the height is increased to avoid collision, and the original height is recovered until the spacing distance between the follower and the safety distance is larger than the safety distance.
The step S51 specifically includes: classifying all transmission data according to data types and requirements and determining corresponding receiving end types; the four-rotor aircraft is used as a sending end, and the transmission data types of the four-rotor aircraft comprise: the position and the speed of the four-rotor aircraft, the sensor data and the real-time state data of the four-rotor aircraft, and the specified information of one four-rotor aircraft; the position and the speed of the four-rotor aircraft need to be shared in a communication network, and the type of the data receiving end is all four-rotor aircraft and ground stations in a ZigBee communication network; sensor data and real-time state data of the four-rotor aircraft need to be sent to a ground station for remote monitoring, and the type of a receiving end of the data is the ground station; independent communication may be required between any two four-rotor aircrafts, and the type of the designated information receiving end of one four-rotor aircraft is the independent one four-rotor aircraft pointed by the designated information; the ground station is used as a sending end, and the types of data transmission of the ground station comprise: heartbeat packets and instruction information; when communication connection is established and maintained between the ground station and the four-rotor aircraft, the ground station needs to send heartbeat packets to all the four-rotor aircraft in due time to ensure whether the connection is normal or not, and the receiving ends of the heartbeat packets are all the four-rotor aircraft in the ZigBee communication network; the ground station needs to send instruction information to different four-rotor aircrafts according to the states and current requirements of the four-rotor aircrafts, the purpose of the information is only for one four-rotor aircraft, and the type of the instruction information receiving end is a single four-rotor aircraft pointed by the instruction information.
In step S52, generating a combined data frame specifically includes: packaging the transmission information as an outer layer of the combined data frame; the transmission information content comprises: the method comprises the following steps of transmission type, whether a response mark exists, a transmission address, a transmission mode, a broadcast radius and reserved bits, wherein the transmission mode comprises the following steps: unicast, or, broadcast; according to the message frame form of the MAVLink communication protocol, packaging transmission data and using the transmission data as an inner layer of a combined message frame; the combined data frame inner layer filling field comprises: the specific data to be transmitted, the type of the specific data, the aircraft number and the component number at the transmitting end, the sequence number of the combined message frame, the MAVLink start frame, the length, and the check code.
Determining transmission information by a transmission end according to a receiving end type corresponding to transmission data, wherein the method comprises the following steps: for the sending end, the combined data frame is in a sending frame form, and the transmission information in the combined data frame specifically includes: the transmission type is a sending type, the transmission address is a receiving end address, whether a response mark, a transmission mode, a broadcast radius and a reserved bit exist; when the type of the receiving end corresponding to the transmission data is a ground station or a single four-rotor aircraft, the address of the ground station or the address of the four-rotor aircraft is selected at the address of the receiving end, and the unicast mode is selected as the transmission mode; when the type of the receiving end corresponding to the transmission data is all the four-rotor aircraft and the ground station in the communication network, selecting a broadcast address at the address of the receiving end, selecting a broadcast mode in a transmission mode, and selecting a broadcast radius; for the receiving end, the combined data frame is in the form of a received frame, and the transmission information in the combined data frame specifically includes: the transmission type is a receiving type, the transmission address is a sending end address, and whether a response mark, a transmission mode and a reserved bit exist.
The step S53 includes: the sending end is wired with the installed zigBee communication module, and communication module transmits according to the transmission information in the combined data frame, and the zigBee communication module that the receiving end was installed converts the combined data frame from sending frame format to receiving frame format and then transmits to the receiving end, specifically includes: if the address of the receiving end in the combined data frame is the address of a ground station or the address of a single four-rotor aircraft, and the transmission mode is unicast, the communication module only sends the combined data frame to the receiving end pointed by the address of the receiving end in a unicast mode, namely, the ground station or the single four-rotor aircraft, and other receiving ends cannot receive the combined data frame; if the address of the receiving end in the combined data frame is a broadcast address and the transmission mode is broadcast, the communication module sends the combined data frame to a ZigBee communication network in a broadcast mode, and all the receiving ends in the ZigBee communication network can receive the combined data frame, namely all the quadrotors and the ground station can receive the combined data frame; after receiving a combined data frame sending frame form sent by a sending end, a ZigBee communication module arranged on a receiving end converts the sending frame form into a receiving frame form, fills a receiving type in a transmission type position, fills a sending end address, namely a ground station or a four-rotor aircraft address of the sending end in a transmission address position, and then sends the combined data frame to the receiving end through wired transmission; after the receiving end receives the combined data frame, the sending end is identified through the address of the sending end in the combined data frame, namely the sending end of the data frame is identified to be a ground station or a certain four-rotor aircraft, and the required data is obtained from the transmission data in the combined data frame.
The ZigBee-based four-rotor aircraft formation flight control method provided by the embodiment of the invention is mainly used for meeting different task requirements to form multi-four-rotor aircraft formation flight in different formation shapes. The whole formation flying system is based on a formation mode of a pilot-follower, the pilot adopts a task mode, the follower adopts a distributed formation structure, a sliding mode control method based on a convergence law and a cascade PID control method to follow the pilot, and meanwhile, a ground station carries out remote monitoring on the whole machine group and sends related instructions in a centralized mode, so that formation flying tasks of formation, formation keeping, formation changing and the like of the formation flying system of the four-rotor aircraft are realized.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a block diagram of a quad-rotor aircraft formation flight system control methodology in accordance with the present invention;
FIG. 2 is a schematic diagram of the positions of a follower and a pilot according to an embodiment of the present invention;
FIG. 3 is a flight experiment trace diagram of the follower and the pilot provided by the embodiment of the invention;
fig. 4 shows a format of a transmission frame and a reception frame of a combined data frame according to an embodiment of the present invention;
FIG. 5 is a flow chart of the operation of this formation flight control scheme provided by an embodiment of the present invention;
FIG. 6 is a diagram of a multi-airplane formation flight experiment trajectory provided by an embodiment of the present invention;
fig. 7 is a schematic diagram of a multi-machine formation queue according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments. Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention. As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or coupled. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items. It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The embodiment of the invention provides a ZigBee-based four-rotor aircraft formation flight control method, which is used for a system comprising the following steps: at least 2 four rotor crafts and ground station, every four rotor crafts with the ZigBee communication module is all installed to the ground station, and the ZigBee communication network is formed by all four rotor crafts with the ZigBee communication module network deployment of ground station.
The method comprises the following steps:
step S10, setting one four-rotor aircraft as a pilot from the ground station, and setting the other four-rotor aircraft in the cluster as followers, wherein for each follower, the following distance and angle relative to the pilot are set;
s20, the follower acquires the position and speed information of the pilot to generate an expected track;
step S30, the follower completes track following according to the expected track;
step S40, in the process of switching the formation, the follower acquires the position and speed information of other followers, and adjusts the height to avoid collision;
and step S50, performing information interaction between the four-rotor aircrafts and the ground station through a ZigBee-based communication method.
Further, the method also comprises the following steps:
step S51, the sending end classifies all the transmission data according to the data type and the requirement and determines the corresponding receiving end type;
step S52, the sending end determines transmission information according to the type of the receiving end, and generates a combined data frame with the transmission information and transmission data, where the transmission information includes: transmission type, transmission address, transmission mode, etc.;
step S53, the ZigBee communication module installed at the sending end sends the combined data frame to the receiving end pointed by the transmission address in the combined data frame in the transmission mode in the combined data frame; and after receiving the combined data frame, the ZigBee communication module arranged on the receiving end converts the combined data frame from a sending frame format into a receiving frame format and then transmits the combined data frame to the receiving end.
Specifically, the step S10 includes:
according to task requirements, one four-rotor aircraft in the aircraft group is selected as a pilot, and the other four-rotor aircraft are selected as followers; while setting a following distance lambda from the ground station to the pilot for each quad-rotor aircraft according to the mission durationdAnd following angle
The positions of the pilot and follower are shown in fig. 2;
specifically, the step S20 includes:
the cluster adopts a formation structure of a pilot-follower to carry out formation flight control, the pilot flies according to a specified track, in the flight process, the position and speed information of the pilot and the set following information which are acquired by the follower are controlled by a sliding-mode formation control method based on a proximity law to control dynamic errors, and further an expected flight path is generated, so that the set distance and angle are kept between the follower and the pilot, and a schematic diagram of the positions of the pilot and the follower is shown in FIG. 2;
specifically, according to the position and speed information of the pilot and the set following information, a desired track of the follower is generated by controlling a dynamic error, wherein a model for controlling the error dynamics comprises:
x(k+1)＝F(x(k))+G(x(k))u(k)
wherein x (k) ═ ex ey eψ]T，u(k)＝[VFx VFy ωF]T，
further, the dynamic error is controlled by a sliding mode control method based on a combined approach law of an exponential approach law and a variable speed approach law, and because the sliding mode control generates buffeting motion after approaching a balance surface, in order to prevent the controller from being damaged by buffeting generated by the formation controller, a saturation function is adopted to replace a sign function in a small interval delta near the balance surface, wherein a switching function based on the combined approach law comprises:
where s (k) ═ Cx (k) denotes the switching function, C denotes the sliding mode surface parameter,
c1,c2,c3is a positive number, sat (s (k)) represents a saturation function within a certain cell,
represents the norm of the system state, k0Representing the approach law switching boundary, T represents the sampling period, ε1Respectively representing the gain parameters of a saturation function based on an exponential approximation law, and q representing the speed parameter epsilon approaching a sliding mode surface2Representing the gain parameter of the saturation function based on the shift approach law.
Generating a control law for formation control according to the dynamic error model and a switching function based on a combined approach law comprises the following steps:
generating a desired trajectory for the follower based on the dynamic error, the generating a desired trajectory equation comprising:
XFd＝λx cosψL-λy sinψL+XL
YFd＝λx sinψL+λy cosψL+YL
wherein the content of the first and second substances,
indicating a set distance lambdadDistance on X-axis and Y-axis of navigator body coordinate system, XL、YLNeck collarThe position of the navigator on the X-axis and Y-axis of the geographic coordinate system,
XFd、YFdthe expected position of the follower on the X axis and the Y axis of the geographic coordinate system is obtained.
Specifically, the step S30 includes:
according to the position and speed information of the pilot, a follower generates an expected flight path through sliding mode control based on a combined approach law, and performs trajectory tracking through a cascade PID control method, so that the follower follows the pilot to form a formation flight at a set distance and angle, the flight experimental trajectory of the follower and the pilot is shown in FIG. 3, wherein follow-current represents the actual flight trajectory of the follower, follow-target represents the expected trajectory generated by the follower, and leader-current represents the actual flight trajectory of the pilot.
The position control ring is used as an outer loop, the attitude control ring is used as an inner loop so as to control the position and the attitude of the four-rotor aircraft, the position control ring comprises position control and speed control, and the attitude control comprises angle control and angular rate control; wherein, the position control adopts P control, including:
vdx(k)＝kxex(k)
vdy(k)＝kyey(k)
vdz(k)＝kzez(k)
wherein v isdx(k)、vdy(k)、vdz(k) Representing the desired speed components of the quad-rotor aircraft in the X, Y, Z axes of the geographical coordinate system, ex(k)、ey(k)、ez(k) Respectively representing the errors of the expected position and the actual position of the four-rotor aircraft on the X axis, the Y axis and the Z axis of a geographic coordinate system, kx、ky、kzParameters of the P controller for position control;
generating a desired velocity from the position control, the velocity control employing PID control, comprising:
ux(k)＝kpxevx(k)+kix∑evx(k)+kdx(evx(k)-evx(k-1))
uy(k)＝kpyevy(k)+kiy∑evy(k)+kdy(evy(k)-evy(k-1))
uz(k)＝kpxevz(k)+kix∑evz(k)+kdz(evz(k)-evz(k-1))
wherein e isvx(k)、evy(k)、evz(k) Error u representing expected speed and actual speed of the four-rotor aircraft on X axis, Y axis and Z axis of a geographic coordinate system respectivelyx(k)、uy(k)、uy(k) The control output of the speed controller in the X-axis, Y-axis and Z-axis directions of the geographic coordinate system is shown,
kpx、kix、kdx、kpy、kiy、kdy、kpz、kiz、kdzrespectively representing PID controller parameters of speed control in X-axis, Y-axis and Z-axis directions of a geographic coordinate system;
further, according to the output of the position control loop, a desired attitude angle is generated, and the angle control of the attitude control loop adopts a P control method, which includes:
ωdφ(k)＝kφeφ(k)
ωdθ(k)＝kθeθ(k)
ωdψ(k)＝kψeψ(k)
wherein, ω isdφ(k)、ωdθ(k)、ωdψ(k) Representing the desired roll, pitch and yaw rates, e, respectively, for a quad-rotor aircraftφ(k)、eθ(k)、eψ(k) Error, k, representing desired attitude angle and actual attitude angle of a quad-rotor aircraftφ、kθ、kψControlling parameters of the P controller for the attitude;
generating a desired angular rate from the angular control, the angular rate control employing PID control, comprising:
uφ(k)＝kpφeωφ(k)+kiφ∑eωφ(k)+kdφ(eωφ(k)-eωφ(k-1))
uθ(k)＝kpθeωθ(k)+kiθ∑eωθ(k)+kdθ(eωθ(k)-eωθ(k-1))
uψ(k)＝kpψeωψ(k)+kiψ∑eωψ(k)+kdψ(eωψ(k)-eωψ(k-1))
wherein e isωφ(k)、eωθ(k)、eωψ(k) Error u representing expected angular rate and actual angular rate of four-rotor aircraft at three angles of roll angle, pitch angle and yaw angleφ(k)、uθ(k)、uψ(k) Representing the control output of the angular rate controller in three directions of roll angle, pitch angle and yaw angle, kpφ、kiφ、kdφ、kpθ、kiθ、kdθ、kpψ、kiψ、kdψAnd the PID controller parameters representing the angular rate control in roll angle, pitch angle and yaw angle directions.
Specifically, the step S40 includes:
when the formation is switched or the pilot is changed, the position information of other four-rotor aircrafts is obtained through the communication method, the four-rotor aircrafts receive a switching instruction from the ground station firstly and then receive the position information of other four-rotor aircrafts, and whether the height is increased or not is determined through judging the priority and calculating the spacing distance so as to avoid collision;
specifically, the four-rotor aircraft of the whole fleet are numbered, each follower takes the number as the priority, and when the numbers of the rest four-rotor aircraft are smaller than the numbers of the followers, the followers are regarded as that the priority is higher than the followers. And judging whether the current distance to other followers is smaller than the safety distance or not according to the position information of other followers, and increasing the height if the priority is higher than the current priority and smaller than the safety distance. Wherein, the anticollision logic between four rotor crafts is: the follower acquires the position information of other four-rotor aircrafts through the ZigBee communication network, the number of the four-rotor aircrafts is taken as the priority, whether the priority is higher than the priority is judged, whether the priority is smaller than the safety distance is judged according to the position information, and if the priority is higher than the priority and smaller than the safety distance, the height of the four-rotor aircrafts is increased by one meter to avoid collision until the height of the four-rotor aircrafts is larger than the safety distance and then is recovered to a normal value.
Specifically, the step S51 includes:
the sending end classifies all transmission data according to the data types and requirements and determines the corresponding receiving end types, and the transmission data classification is shown in table 1;
TABLE 1 data classification
Specific examples are as follows: the data types of the four-rotor aircraft are divided into three categories, namely position and speed, sensor data and real-time state data of the four-rotor aircraft, and designated information of a certain four-rotor aircraft; the position and the speed of the four-rotor aircraft need to be shared in a communication network, and the data receiving ends are all receiving ends in a ZigBee communication network; sensor data and real-time state data of the four-rotor aircraft need to be sent to a ground station for remote monitoring, and a receiving end of the data is the ground station; independent communication may be required between any two quadrotor aircrafts, and the specified information receiving end of a certain quadrotor aircraft is the quadrotor aircraft pointed by the specified information;
the data stream receiving end of the ground station is mainly divided into two categories, namely information of a certain specified four-rotor aircraft and all four-rotor aircraft. The ground station needs to send command information such as take-off/landing, mode switching and uploading waypoints to different four-rotor aircrafts according to the states and current requirements of the four-rotor aircrafts, the purpose of the information is only for one four-rotor aircraft, and other four-rotor aircrafts do not need the information, so that the receiving end of the data is the designated four-rotor aircraft. Meanwhile, when communication connection is established and maintained between the ground station and the four-rotor aircraft, the ground station needs to send heartbeat packets to all the four-rotor aircraft in due time to ensure whether the connection is normal or not, and therefore the message receiving ends are all the four-rotor aircraft.
Specifically, the step S52 includes:
generating a combined data frame with transmission information and transmission data; encapsulating the transmission information as an outer layer outside transmission data; according to the message frame format of the MAVLink communication protocol, the transmission data is encapsulated as an inner layer of a combined message frame, whose transmission frame/reception frame format of the combined data frame is shown in fig. 4.
The transmission data is encapsulated in the form of a MAVLink message protocol as an inner layer of a combined message frame, including: transmitting load data and data-related description information, wherein the filled fields comprise: filling transmitted specific data in Payload, filling the type of the specific data in MessageType, filling aircraft numbers and component numbers of a transmitting end in SystemID and ComponentID respectively, filling a Sequence number of a combined message frame in Sequence, and filling a Start frame, a Length and a check code in MAVLIink Start, MAVLink Length and MAVLink checkSum respectively.
The transmission information package is used as an outer layer of the combined message frame, wherein the filled fields comprise: TransmitType for recording the transmission mode, ResponseFlag for recording whether to respond, DestinationAddress for recording the transmission address, TransmitOpoints for recording the transmission mode, BroadcastAdadius for recording the broadcast radius, and Reserved as a Reserved bit. The difference between the receiving frame and the sending frame of the combined data frame is that the SourceAddress in the receiving frame is the address of the sending end, and the SourceAddress in the sending frame is the address of the receiving end; the transmission method RecieveType in the received frame is a reception type, the transmission method RecieveType in the transmitted frame is a transmission type, and the field of broadcast radius BroadcastRadius is absent in the received frame.
Specifically, for example, the data type is judged according to the MAVLinkType, then, transmission information is packaged according to information in a table, and for a four-rotor aircraft transmitting end, if the data is position or speed data, and a receiving end is all four-rotor aircraft in a communication network, a broadcast address is filled in a destination address position in a data frame, and a broadcast mode is selected in a transmittions position; if the data is the real-time state data of the aircraft, and the receiving end is a ground station, the DestinationAddress bit in the data frame fills in the address of the ground station, and a unicast mode is selected at the TransmitOptions position.
When a ground station sending end encapsulates transmission information, if the heartbeat packet is received, and the receiving end is all four-rotor aircrafts, a broadcast address is filled in a destination address position, and a broadcast mode is selected in a transmittions position; if the command information is for the specified four-rotor aircraft, the address of the specified four-rotor aircraft is filled in the DestinationAddress bit, and the unicast mode is selected at the TransmitOptions position, so that the frame command information can only be sent to the specified target four-rotor aircraft. Therefore, different data are sent to different receiving ends according to requirements, data flow is simplified, and communication efficiency is improved.
Specifically, the step S53 includes:
the ZigBee communication module installed at the sending end sends the combined data frame to only a receiving end pointed by a transmission address in the combined data frame in a transmission mode in the combined data frame;
after receiving the combined data frame from the sending end, the ZigBee communication module of the sending end sends the combined data frame to a receiving end pointed by a transmission address in a transmission mode in the transmission information according to the transmission information in the combined data frame, namely if the transmission mode is unicast and the transmission address is a certain receiving end address, the communication module sends the frame data to the receiving end only in a unicast mode, and other receiving ends cannot receive the frame data; if the transmission mode is broadcast and the transmission address is a broadcast address, the communication module broadcasts and sends the combined data frame to the ZigBee communication network, and all receiving ends can receive the combined data frame.
Further, the method also comprises the following steps: in order to avoid confusion where the special value disturbs the data stream, the transmitting end needs to escape the special value data before the combined data frame is transmitted by the transmitting end to the communication module. The special value data includes a start delimiter 0x7E, an escape character 0x7D, a data flow control start character 0x11 and a terminator 0x 13. The escape mode is that after the escape character 0x7D is inserted before the special value data, the special value data and 0x20 are processed with XOR operation and then transmitted.
Specifically, the step S53 further includes:
after receiving the combined data frame sent by the sending end in a wireless transmission mode, the receiving end communication module converts the combined data frame sending frame mode into a receiving frame mode, namely, the transmission type is modified into a receiving type, the broadcast radius is deleted, the sending end address is filled in the transmission address, and then the combined data frame receiving frame is transmitted to a sending buffer area to be temporarily stored until the data is read by the receiving end through wired transmission.
Further, still include: and after receiving the data frame, the receiving end extracts the original combined data frame from the data frame after the escape. The extraction method is to discard the data and read the next data when the escape character 0x7D is read, and then the original data is obtained by performing XOR operation with the data and 0x 20. After the complete combined data frame is extracted, the receiving end can identify the sending end through the address of the sending end in the combined data frame, namely, the sending end can identify the ground station or a certain four-rotor aircraft which sends the data of the frame, and the required data can be obtained through the transmission data in the combined data frame.
The embodiment of the invention adopts a formation mode of pilots-followers, realizes communication among the four-rotor aircrafts and between the four-rotor aircrafts and a ground station based on a ZigBee wireless communication network, intensively monitors all the four-rotor aircrafts through the ground station, simultaneously can issue instructions for designating formation, designating pilots and switching modes, the pilots switch task modes, the followers adopt a formation control method based on a sliding mode of a proximity law and a position and posture control method of a cascade PID (proportion integration differentiation) so as to form an expected formation with the pilots, and simultaneously adopt an anti-collision method based on height control to avoid collision among the four-rotor aircrafts when the formation is changed or the pilots are switched. The invention realizes remote monitoring and relevant instruction sending to the cluster through the ground station centralization, adopts a distributed structure to carry out formation control, has small calculation amount, easy control and flexible and variable formation, simultaneously adopts an anti-collision method to avoid collision when the formation is changed, and can meet the formation flight requirements of different tasks.
For example, the invention is realized on a corresponding hardware platform, wherein the hardware platform is composed of a ground station which is positioned at a PC end and is provided with a communication module, and a plurality of four-rotor aircrafts which are built by a flight control board, a GPS, a receiver, a ZigBee communication module, a rack, an electric controller, a motor and a propeller; the whole system adopts a centralized and distributed combined control strategy, and the ground station performs instruction sending and real-time monitoring on all the four-rotor aircrafts in a centralized manner; the four-rotor aircraft adopts the distributed formation control method to realize formation control.
Specifically, the work flow of the formation flying system is shown in fig. 5, wherein:
(1) starting all the four-rotor aircrafts and connecting the four-rotor aircrafts with a ground station, so that the ground station can receive real-time state information of the four-rotor aircrafts and can communicate among the four-rotor aircrafts, and the real-time states of all the four-rotor aircrafts can be monitored in a centralized manner through the ground station;
(2) setting a pilot through a ground station according to a task requirement and sending a task track to the pilot; the following distances and angles are then sent to different followers by the ground station, for example: the follower 1 sends a signal with lambda 2m,
Sending lambda being 4m to follower 2,
Sending lambda 2m to follower 3,
Thereby forming a desired straight formation, as shown in fig. 7;
(3) unlocking the four-rotor aircraft taking off the whole cluster through a ground station, switching a pilot into a task mode, switching a follower into a formation mode, and generating a desired flight path and following by the follower through the formation control method, so that the formation and the flight task kept by the formation are completed, wherein the flight path of the flight task is shown in fig. 6;
(4) when needing to teamWhen the form is switched, the ground station sends the following distance and angle to the follower again, for example, the form is changed from straight to diamond, and the form sends lambda to the follower 1 as 4m,
Sending lambda 2m to follower 2,
Sending lambda 2m to follower 3,
The queue switching is shown in fig. 7; when the formation is switched, the four-rotor aircraft avoids collision through the anti-collision method; when a pilot fails to execute a task continuously, another pilot is reassigned through the ground station, and when a follower fails, a new formation is set through the ground station;
(5) and the whole cluster automatically returns to the flying starting point after the task is executed.
As can be seen from the above specific examples, the entire system employs a centralized and distributed combined control strategy, based on the formation mode of the pilots and the followers, the pilots fly according to a specified air route, different following distances and angles are set for different followers through a ground station, the followers generate expected tracks and follow through a sliding mode control method and a cascade PID control method based on a proximity law, so that the cluster of aircraft forms an expected formation to perform formation flying, and an anti-collision method is added to avoid collision between the four-rotor aircraft during formation switching. The formation system disclosed by the invention is simple and reliable in structure, the formation forms are flexible and changeable, remote monitoring and instruction sending can be carried out through the ground station, the formation forms can be switched in time and pilots can be replaced when the four-rotor aircraft breaks down, meanwhile, the collision among the four-rotor aircraft is avoided, and the formation flight of the multiple four-rotor aircraft with different formation forms can be met according to different task requirements.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the apparatus embodiment, since it is substantially similar to the method embodiment, it is relatively simple to describe, and reference may be made to some descriptions of the method embodiment for relevant points. The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A ZigBee-based quad-rotor aircraft formation flight control method, wherein the method is used in a system comprising: the system comprises at least 2 quadrotors and a ground station, wherein each quadrotor and the ground station are provided with ZigBee communication modules for communication;
the method comprises the following steps:
step S10, setting one four-rotor aircraft as a pilot from the ground station, and setting the other four-rotor aircraft in the cluster as followers, wherein for each follower, the following distance and angle relative to the pilot are set;
s20, the follower acquires the position and speed information of the pilot to generate an expected track;
step S30, the follower completes track following according to the expected track;
step S40, in the process of switching the formation, the follower acquires the position and speed information of other followers, and adjusts the height to avoid collision;
and step S50, performing information interaction between the four-rotor aircrafts and the ground station through a ZigBee-based communication method.
2. The method of claim 1, further comprising:
step S51, the sending end classifies all the transmission data according to the data type and the requirement and determines the corresponding receiving end type;
step S52, the sending end determines transmission information according to the type of the receiving end, and generates a combined data frame with the transmission information and transmission data, where the transmission information includes: transmission type, transmission address, transmission mode, etc.;
step S53, the ZigBee communication module installed at the sending end sends the combined data frame to the receiving end pointed by the transmission address in the combined data frame in the transmission mode in the combined data frame; and after receiving the combined data frame, the ZigBee communication module arranged on the receiving end converts the combined data frame from a sending frame format into a receiving frame format and then transmits the combined data frame to the receiving end.
3. The method according to claim 1, wherein the step S20 includes:
for each follower, acquiring position and speed information of a pilot through a ZigBee communication method, and acquiring a following distance lambda relative to the pilot from a ground stationdAnd following angle
For the follower: according to the position and speed information of the pilot and the set following information, an expected track of the follower is generated by controlling a dynamic error;
wherein the model for controlling the error dynamics comprises:
x(k+1)＝F(x(k))+G(x(k))u(k)
wherein x (k) ═ ex ey eψ]T，u(k)＝[VFx VFy ωF]T，
The parameter symbol with L corresponds to the pilot, the parameter symbol with F corresponds to the follower, wherein: vFx、VFyRepresenting the velocity components, omega, of the follower in the X-and Y-axes of the geographic coordinate systemFIndicating the yaw rate, psi, of the followerFIndicating the yaw angle, psi, of the followerLIndicating the yaw angle, V, of the pilotLx、VLyRepresenting the speed components, omega, of the pilot on the X-axis and Y-axis of the geographic coordinate systemLRepresenting the yaw rate of the pilot, ex、eyRespectively representing the actual following distance lambda in the X axis and the Y axis of the navigator body coordinate system and the set following distance lambdadError of (e), eψIndicating the difference in yaw angle between the follower and the pilot.
4. The method of claim 3, wherein performing dynamic error control by using a sliding mode control method based on a combination approach law to generate a desired trajectory comprises:
the dynamic error is controlled by adopting a sliding mode control method based on a combined approach law of an exponential approach law and a variable speed approach law, wherein the approach law of a switching function comprises the following steps:
where s (k) ═ Cx (k) denotes the switching function, C denotes the sliding mode surface parameter,
c1,c2,c3is a positive number; sat (s (k)) represents the saturation function in a certain interval,
represents the norm of the system state, k0Representing the approach law switching boundary, T represents the sampling period, ε1Represents the gain parameter of the saturation function based on the exponential approximation law, q represents the speed approaching the sliding mode surfaceDegree parameter epsilon2A gain parameter representing a saturation function based on a variable speed approach law;
generating a control law for controlling the dynamic error according to the dynamic error model and the approach law, wherein the control law comprises the following steps:
generating a desired trajectory for a follower based on the dynamic error, comprising:
XFd＝λx cosψL-λy sinψL+XL
YFd＝λx sinψL+λy cosψL+YL
wherein the content of the first and second substances,
indicating a set distance lambdadDistance on X-axis and Y-axis of navigator body coordinate system, XL、YLIs the position of the pilot on the X-axis and Y-axis of the geographic coordinate system, XFd、YFdThe expected position of the follower on the X axis and the Y axis of the geographic coordinate system is obtained.
5. The method according to claim 1, wherein the step S30 includes:
according to the expected track, a follower controls the position and the posture of the four-rotor aircraft through a cascade PID to complete the expected track following;
wherein, the position control ring is used as an outer loop, and the attitude control ring is used as an inner loop; the position control loop comprises position control and speed control, and the attitude control loop comprises angle control and angular rate control;
through the output of angular rate control, and then control four rotor craft's motor to control four rotor craft's position and gesture, realize following the orbit of expectation.
6. The method according to claim 1, wherein the step S40 includes:
the four-rotor aircraft numbers the four-rotor aircraft of the whole machine group, and when the numbers of other four-rotor aircraft are smaller than the numbers of the four-rotor aircraft, the four-rotor aircraft is considered to have higher priority than the four-rotor aircraft;
each follower acquires the numbers and the position information of other followers, firstly judges whether the priority is higher than the follower, then calculates the spacing distance and judges whether the spacing distance is smaller than the safety distance, if the priority is higher than the follower and the spacing distance is smaller than the safety distance, the height is increased to avoid collision, and the original height is recovered until the spacing distance between the follower and the safety distance is larger than the safety distance.
7. The method according to claim 2, wherein the step S51 specifically includes:
classifying all transmission data according to data types and requirements and determining corresponding receiving end types;
the four-rotor aircraft is used as a sending end, and the transmission data types of the four-rotor aircraft comprise: the position and the speed of the four-rotor aircraft, the sensor data and the real-time state data of the four-rotor aircraft, and the specified information of one four-rotor aircraft; the position and the speed of the four-rotor aircraft need to be shared in a communication network, and the type of the data receiving end is all four-rotor aircraft and ground stations in a ZigBee communication network; sensor data and real-time state data of the four-rotor aircraft need to be sent to a ground station for remote monitoring, and the type of a receiving end of the data is the ground station; independent communication may be required between any two four-rotor aircrafts, and the type of the designated information receiving end of one four-rotor aircraft is the independent one four-rotor aircraft pointed by the designated information;
the ground station is used as a sending end, and the types of data transmission of the ground station comprise: heartbeat packets and instruction information; when communication connection is established and maintained between the ground station and the four-rotor aircraft, the ground station needs to send heartbeat packets to all the four-rotor aircraft in due time to ensure whether the connection is normal or not, and the receiving ends of the heartbeat packets are all the four-rotor aircraft in the ZigBee communication network; the ground station needs to send instruction information to different four-rotor aircrafts according to the states and current requirements of the four-rotor aircrafts, the purpose of the information is only for one four-rotor aircraft, and the type of the instruction information receiving end is a single four-rotor aircraft pointed by the instruction information.
8. The method according to claim 2, wherein the step S52 of generating the combined data frame specifically includes:
packaging the transmission information as an outer layer of the combined data frame; the transmission information content comprises: the method comprises the following steps of transmission type, whether a response mark exists, a transmission address, a transmission mode, a broadcast radius and reserved bits, wherein the transmission mode comprises the following steps: unicast, or, broadcast;
according to the message frame form of the MAVLink communication protocol, packaging transmission data and using the transmission data as an inner layer of a combined message frame; the combined data frame inner layer filling field comprises: the specific data to be transmitted, the type of the specific data, the aircraft number and the component number at the transmitting end, the sequence number of the combined message frame, the MAVLink start frame, the length, and the check code.
9. The method of claim 8, wherein determining the transmission information with the transmitting end according to the receiving end type corresponding to the transmission data comprises:
for the sending end, the combined data frame is in a sending frame form, and the transmission information in the combined data frame specifically includes: the transmission type is a sending type, the transmission address is a receiving end address, whether a response mark, a transmission mode, a broadcast radius and a reserved bit exist;
when the type of the receiving end corresponding to the transmission data is a ground station or a single four-rotor aircraft, the address of the ground station or the address of the four-rotor aircraft is selected at the address of the receiving end, and the unicast mode is selected as the transmission mode; when the type of the receiving end corresponding to the transmission data is all the four-rotor aircraft and the ground station in the communication network, selecting a broadcast address at the address of the receiving end, selecting a broadcast mode in a transmission mode, and selecting a broadcast radius;
for the receiving end, the combined data frame is in the form of a received frame, and the transmission information in the combined data frame specifically includes: the transmission type is a receiving type, the transmission address is a sending end address, and whether a response mark, a transmission mode and a reserved bit exist.
10. The method according to claim 2, wherein the step S53 includes:
the sending end is wired with the installed zigBee communication module, and communication module transmits according to the transmission information in the combined data frame, and the zigBee communication module that the receiving end was installed converts the combined data frame from sending frame format to receiving frame format and then transmits to the receiving end, specifically includes:
if the address of the receiving end in the combined data frame is the address of a ground station or the address of a single four-rotor aircraft, and the transmission mode is unicast, the communication module only sends the combined data frame to the receiving end pointed by the address of the receiving end in a unicast mode, namely, the ground station or the single four-rotor aircraft, and other receiving ends cannot receive the combined data frame;
if the address of the receiving end in the combined data frame is a broadcast address and the transmission mode is broadcast, the communication module sends the combined data frame to a ZigBee communication network in a broadcast mode, and all the receiving ends in the ZigBee communication network can receive the combined data frame, namely all the quadrotors and the ground station can receive the combined data frame;
after receiving a combined data frame sending frame form sent by a sending end, a ZigBee communication module arranged on a receiving end converts the sending frame form into a receiving frame form, fills a receiving type in a transmission type position, fills a sending end address, namely a ground station or a four-rotor aircraft address of the sending end in a transmission address position, and then sends the combined data frame to the receiving end through wired transmission;
after the receiving end receives the combined data frame, the sending end is identified through the address of the sending end in the combined data frame, namely the sending end of the data frame is identified to be a ground station or a certain four-rotor aircraft, and the required data is obtained from the transmission data in the combined data frame.
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