CN112631329A - Unmanned aerial vehicle formation cooperative control system and method based on optical coding LED navigation lamp - Google Patents
Unmanned aerial vehicle formation cooperative control system and method based on optical coding LED navigation lamp Download PDFInfo
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Abstract
The invention discloses an unmanned aerial vehicle formation cooperative control system and method based on optical coding LED (light emitting diode) navigation lamps, the system comprises a visual sensor, a visual computer, a formation control computer, a flight control computer and a plurality of LED navigation lamps, wherein a visual coding module codes unmanned aerial vehicle identity information, course and track information into flashing lights with different frequencies, the LED navigation lamps emit stroboscopic lights, the visual sensor observes stroboscopic light signals emitted by other unmanned aerial vehicle LED navigation lamps in the visual field of the LED navigation lamps, the stroboscopic light signals are converted into digital signals by a visual measuring module, then a visual decoding module is used for extracting coding information in the digital signals, and the formation control computer gives flight position and course control instructions necessary for maintaining formation according to the coding information. All install above-mentioned system for each unmanned aerial vehicle in the unmanned aerial vehicle formation, the stroboscopic light that the place ahead unmanned aerial vehicle sent in the formation is observed by the visual measurement module on the unmanned aerial vehicle of rear and is decoded by visual decoding module to realize the information and transmit between the unmanned aerial vehicle in the formation. The system and the method can utilize the unmanned aerial vehicle-mounted vision sensor to track other unmanned aerial vehicle-mounted LED navigation lamps to realize formation flight; meanwhile, command and instruction information transmission among the unmanned aerial vehicles is achieved through stroboscopic optical coding of the LED navigation lights, and therefore task cooperation of unmanned aerial vehicle formation is achieved.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle formation cooperative control system and method based on optical coding LED navigation lamps.
Background
The unmanned cluster system can play an irreplaceable role in major emergency events such as disaster rescue, emergency logistics and the like and in the life of economy and people, and has the application potential of military and civil integration.
The current unmanned aerial vehicle cluster theory and actual system are based on the multi-agent information consistency theory based on communication links, and when facing application environments with limited communication, even communication refusal, such as interference, complex electromagnetic environment, link congestion and the like, the unmanned aerial vehicle cluster faces the risk of losing self-organizing cooperation. Therefore, it is necessary to develop a technical means for unmanned aerial vehicle cluster perception and formation cooperation under the communication limited condition based on the vision technology to establish the backup capability of cluster control.
The existing unmanned aerial vehicle vision technology can realize formation maintenance through a mark identification method, for example, in patent CN 108052110a, a wing plane airborne binocular vision system is adopted to shoot a long plane airborne LED lamp array and calculate relative distance and posture, thereby realizing formation flight of the long plane and the wing plane. As with CN 110703798A, the formation is maintained by arranging LED lamps and other feature points on the captain plane and arranging visual devices on the captain plane to solve the captain pose. The LED lamp in the above-mentioned patent does not carry out the code stroboscopic, can not transmit command information and identity information between unmanned aerial vehicle, can only be used for resolving position and gesture as the visual marking point. However, in the formation cooperative flight of unmanned aerial vehicles, besides the requirement of maintaining the formation form, there are also a great number of transmission requirements of command and instruction information between machines in order to complete the formation task cooperation, and the prior art cannot transmit the information by optical means under the condition of limited electromagnetic communication.
Disclosure of Invention
Aiming at the problems, the invention provides an unmanned aerial vehicle formation cooperative control system and method based on optical coding LED navigation lamps, which can track other unmanned aerial vehicle-mounted LED navigation lamps by using an unmanned aerial vehicle-mounted vision sensor to realize formation flight; meanwhile, command and instruction information transmission among the unmanned aerial vehicles is achieved through stroboscopic optical coding of the LED navigation lights, and therefore task cooperation of unmanned aerial vehicle formation is achieved.
In order to achieve the above object, the present invention provides an unmanned aerial vehicle formation cooperative control system based on optical coding LED navigation lights, which includes a vision sensor, a vision computer, a formation control computer, a flight control computer, and a plurality of LED navigation lights, wherein:
the vision computer comprises a vision measuring module, a vision decoding module and a vision coding module;
the visual coding module is used for coding the identity information, the course and the track information of the unmanned aerial vehicle into flickering light with different frequencies;
the LED navigation lamp is used for emitting stroboscopic light coded by the visual coding module;
the visual sensor is used for observing stroboscopic light signals emitted by LED navigation lights of other unmanned aerial vehicles in the visual field of the visual sensor;
the vision measuring module is used for converting the stroboscopic light signal into a digital signal;
the visual decoding module is used for extracting coding information in the digital signal;
the formation control computer gives a flight position and a course control instruction necessary for maintaining formation according to the coded information;
and the flight control computer gives the control quantity of the steering engine and the engine of the unmanned aerial vehicle according to the control instruction.
All install above-mentioned system for each unmanned aerial vehicle in the unmanned aerial vehicle formation, the stroboscopic light that the place ahead unmanned aerial vehicle sent in the formation is observed by the visual measurement module on the unmanned aerial vehicle of rear and is decoded by visual decoding module to realize the information and transmit between the unmanned aerial vehicle in the formation.
Optionally, the number of the LED navigation lights is two, wherein the LED navigation lights are arranged on the left wingtip in red and on the right wingtip in green.
In addition, in order to achieve the above object, the present invention provides an unmanned aerial vehicle formation cooperative control method based on optical coding LED navigation lights, the method comprising the steps of:
s1, pre-appointing a captain plane and a plurality of wing planes of the unmanned aerial vehicles in the formation based on a virtual structure law, and presetting the formation of the airplane and the relative position deviation of each wing plane and the captain plane; the control computer of the long machine sets the identity information and course and track information of the control computer, the control computer carries out coding through a visual coding module in the visual computer of the control computer, and the long machine LED navigation lamp sends coded stroboscopic light information.
S2, after observing the stroboscopic light information of the LED navigation light of the pilot plane, the visual measurement module of the wing plane in the formation is decoded by the visual decoding module in the visual computer, so as to identify and lock the pilot plane, and decode the course and track information of the pilot plane.
S3, the formation control computer sends out command to the flight control computer to adjust the flight course of airplane to be consistent with the pilot plane based on the course and track information of pilot plane.
S4, calculating the imaging length of the LED navigation light of the pilot machine on the visual sensor and the deviation of the center point of the wingspan relative to the center of the plane of the visual sensor by the visual computer of the bureaucratic wing plane in the formation.
S5, calculating the relative displacement between itself and the long plane in horizontal coordinate system by visual computer of bureaucratic plane in formation.
S6, formation control computer of bureaucratic plane in formation based on relative offset information of the longplane and the local plane) to control the position of each team.
S7, the flight control computer of the wing plane in formation converts the position control command into the corresponding airplane throttle and rudder amount command, and realizes the maintenance of the relative position of the long plane by each following airplane.
Compared with the prior art, the invention has the beneficial effects that: the invention can ensure that the unmanned aerial vehicle cluster can keep formation cooperative flight only through optical equipment and a visual sensor under the condition of limited communication.
Drawings
FIG. 1 is a schematic structural diagram of an unmanned aerial vehicle formation cooperative control system based on an optical coding LED navigation light;
FIG. 2 is a schematic diagram of the installation position of the unmanned aerial vehicle formation cooperative control system based on the optical coding LED navigation light on the unmanned aerial vehicle;
fig. 3 is another schematic diagram of the installation position of the unmanned aerial vehicle formation cooperative control system based on the optical coding LED navigation light on the unmanned aerial vehicle;
fig. 4 is a schematic diagram of information used by the unmanned aerial vehicle formation cooperative control system based on the optical coding LED navigation light for information transmission between unmanned aerial vehicle formations;
fig. 5 is a schematic diagram of a preset formation form of the unmanned aerial vehicle formation cooperative control method based on the optical coding LED navigation light provided by the embodiment of the present invention.
Fig. 6 is a schematic diagram of imaging of a head aircraft on a member aircraft vision sensor in the unmanned aerial vehicle formation cooperative control method based on the optical coding LED navigation light provided by the embodiment of the present invention.
Fig. 7 is a schematic diagram of a control quantity of a plane coordinate system of an airframe calculated in the optical coding LED navigation light-based unmanned aerial vehicle formation cooperative control method provided in the embodiment of the present invention.
Fig. 8 is a schematic diagram of a body coordinate system control quantity calculated in the unmanned aerial vehicle formation cooperative control method based on the optical coding LED navigation light provided by the embodiment of the present invention.
In the figure: 1. unmanned aerial vehicle single machines in the formation; 10. a vision sensor; 20. a vision computer; 21. a vision measurement module; 22. a visual decoding module; 23. a visual coding module; 30. a formation control computer; 40. a flight control computer; 50. an LED navigation light;
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
Fig. 1 shows an unmanned aerial vehicle formation cooperative control system based on an optical coding LED navigation light, which includes a vision sensor (10), a vision computer (20), a formation control computer (30), a flight control computer (40), and a plurality of LED navigation lights (50), wherein the vision computer (20) includes a vision measuring module (21), a vision decoding module (22), and a vision coding module (23), and the LED navigation lights (50) in the system can emit stroboscopic lights coded by the vision coding module (23); stroboscopic light that the place ahead unmanned aerial vehicle sent in the formation is observed by visual measurement module (21) on the unmanned aerial vehicle of rear and is decoded by visual decoding module (22) to realize that information transmits between the unmanned aerial vehicle in the formation.
Fig. 2 and 3 are schematic diagrams of installation positions of the unmanned aerial vehicle formation cooperative control system based on the optical coding LED navigation lights on the unmanned aerial vehicle, wherein the number of the LED navigation lights (50) is two, red is installed at the left wing tip, and green is installed at the right wing tip.
Fig. 4 is a schematic diagram of information used by the unmanned aerial vehicle formation cooperative control system based on the optical coding LED navigation light for information transmission between unmanned aerial vehicle formations. The unmanned aerial vehicle visual coding module (23) is used for coding the identity information, the course and the track information of the unmanned aerial vehicle into flash light with different frequencies; the LED navigation lamp (50) is used for emitting stroboscopic light coded by the visual coding module; the vision measurement module (21) is used for observing stroboscopic light emitted by LED navigation lights of other unmanned aerial vehicles in the visual field of the vision measurement module; the vision decoding module (22) is used for decoding the stroboscopic light observed by the vision measuring module to obtain the coding information in the stroboscopic light; the formation control computer (30) gives the flight position and the heading control instruction necessary for maintaining the formation according to the coded information; and the flight control computer (40) gives the control quantity of the steering engine and the engine of the unmanned aerial vehicle according to the control command.
All install above-mentioned system for each unmanned aerial vehicle in the unmanned aerial vehicle formation, the stroboscopic light that the place ahead unmanned aerial vehicle sent in the formation is observed by the visual measurement module on the unmanned aerial vehicle of rear and is decoded by visual decoding module to realize the information and transmit between the unmanned aerial vehicle in the formation.
The stroboscopic encoding of the LED navigation lights described in this aspect may employ any communication protocol and signal encoding scheme, such as the simplest morse code. By way of example, the long machine sends strobe light in the following coded manner:
···-··- ----- ----- ·---- ----- ···-- ----- ····· ----- ----- ·-···
corresponding morse code is $ 001030500 &, meaning machine number 001, heading 030, altitude 500, where symbol $ indicates packet start, symbol · indicates short flash, i.e. continuous light emission, for 0.1 second, symbol-indicates long flash, i.e. continuous light emission, for 0.2 second, space symbol indicates discontinuous for 0.2 second no light emission, symbol & indicates packet end. When the visual sensor of any wing plane unmanned aerial vehicle behind the farm aircraft observes the stroboscopic information of the navigation light, the information packet is decoded by the visual decoding module arranged on the aircraft to obtain the information transmitted by the farm aircraft, so that the identity of the farm aircraft is recognized and the current course and altitude information of the farm aircraft are obtained, and the wing plane aircraft keeps formation cooperative flight with the farm aircraft by utilizing the information.
The invention provides an unmanned aerial vehicle formation cooperative control method based on optical coding LED navigation lamps, which comprises the following steps:
s1, pre-designating a captain plane and a plurality of captain planes of the unmanned aerial vehicle in the formation based on the virtual structure law, as shown in fig. 5, pre-setting formation of the airplane and relative position deviation Rs of each member plane and the captain plane in the horizontal coordinate system of the airframex，Rsy，Rsz(ii) a The control computer (30) of the long machine sets self identity information and course and track information, the visual coding module (23) in the visual computer (20) of the long machine carries out coding, and the long machine LED navigation lamp (50) sends coded stroboscopic light information.
S2, after observing the stroboscopic light information of the LED navigation light of the long plane, the vision measuring module (21) of the bureau plane in the formation is decoded by the vision decoding module (22) in the vision computer (20), thereby identifying and locking the long plane, and decoding the course and track information of the long plane.
S3, the formation control computer (30) sends out an instruction to the flight control computer (40) to adjust the flight course of the plane to be consistent with the longplane based on the course and track information of the longplane.
S4, the vision computer (20) calculates the imaging length l of the long computer LED navigation light on the vision sensor and the deviation r of the middle point of the wingspan relative to the center of the xy plane of the vision sensorx，ryAs shown in fig. 6.
S5, the vision computer (20) calculates the relative displacement S of the machine and the long machine under the horizontal coordinate system of the machine bodyx，Sy，Sz：
Wherein k isx，ky，kzThe sensor offset obtained for calibration and the scaling factor of the imaging length with respect to the true offset and length.
S6, based on the relative offset information of the long plane and the local plane, as shown in figure 7, the formation control computer (30) controls the position of each plane by adopting the PD control rate to obtain the acceleration instruction u of the x, y and z axes under the horizontal coordinate system of the plane bodyx，uy，uz：
Wherein Rsx，Rsy，RszTo expect relative offset from the head, kp，kdIs a controller proportional differential coefficient.
The formation control computer (30) converts the acceleration commands of the x, y and z axes of the horizontal coordinate system of the machine body into longitudinal acceleration commands u of the coordinate system of the machine body, as shown in figure 8, pitch angle acceleration and yaw angle acceleration commands uV，uγ，
Wherein V is the flying speed, gamma is the pitch angle,
is the yaw angle.
S7, the flight control computer (40) will uV，uγ，
The instruction is converted into corresponding airplane accelerator and rudder amount instructions, and the relative position of each following airplane to the long airplane is maintained.
The preferred embodiments and examples of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the embodiments and examples described above, and various changes can be made within the knowledge of those skilled in the art without departing from the concept of the present invention.
Claims (3)
1. Unmanned aerial vehicle formation cooperative control system based on optical coding LED navigation light, its characterized in that: the system comprises a vision sensor, a vision computer, a formation control computer, a flight control computer and a plurality of LED navigation lamps, wherein:
the vision computer comprises a vision measuring module, a vision decoding module and a vision coding module;
the visual coding module is used for coding the identity information, the course and the track information of the unmanned aerial vehicle into flickering light with different frequencies;
the LED navigation lamp is used for emitting stroboscopic light coded by the visual coding module;
the visual sensor is used for observing stroboscopic light signals emitted by LED navigation lights of other unmanned aerial vehicles in the visual field of the visual sensor;
the vision measuring module is used for converting the stroboscopic light signal into a digital signal;
the visual decoding module is used for extracting coding information in the digital signal;
the formation control computer gives the flight position and the heading control instruction necessary for maintaining the formation according to the coded information:
and the flight control computer gives the control quantity of the steering engine and the engine of the unmanned aerial vehicle according to the control instruction.
All install above-mentioned system for each unmanned aerial vehicle in the unmanned aerial vehicle formation, the stroboscopic light that the place ahead unmanned aerial vehicle sent in the formation is observed by the visual measurement module on the unmanned aerial vehicle of rear and is decoded by visual decoding module to realize the information and transmit between the unmanned aerial vehicle in the formation.
2. The unmanned aerial vehicle formation cooperative control system based on optical coding LED navigation lights according to claim 1, characterized in that: the number of the LED navigation lights is two, wherein the LED navigation lights are arranged on the wingtips on the left side in red, and the LED navigation lights are arranged on the wingtips on the right side in green.
3. An unmanned aerial vehicle formation cooperative control method based on optical coding LED navigation lamps is characterized by comprising the following steps:
s1, pre-appointing a captain plane and a plurality of wing planes of the unmanned aerial vehicles in the formation based on a virtual structure law, and presetting the formation of the airplane and the relative position deviation of each wing plane and the captain plane; the control computer of the long machine sets the identity information and course and track information of the control computer, the control computer carries out coding through a visual coding module in the visual computer of the control computer, and the long machine LED navigation lamp sends coded stroboscopic light information.
S2, after observing the stroboscopic light information of the LED navigation light of the pilot plane, the visual measurement module of the wing plane in the formation is decoded by the visual decoding module in the visual computer, so as to identify and lock the pilot plane, and decode the course and track information of the pilot plane.
S3, the formation control computer sends out command to the flight control computer to adjust the flight course of airplane to be consistent with the pilot plane based on the course and track information of pilot plane.
S4, calculating the imaging length of the LED navigation light of the pilot machine on the visual sensor and the deviation of the center point of the wingspan relative to the center of the plane of the visual sensor by the visual computer of the bureaucratic wing plane in the formation.
S5, calculating the relative displacement between itself and the long plane in horizontal coordinate system by visual computer of bureaucratic plane in formation.
S6, formation control computer of bureaucratic plane in formation based on relative offset information of the longplane and the local plane) to control the position of each team.
S7, the flight control computer of the wing plane in formation converts the position control command into the corresponding airplane throttle and rudder amount command, and realizes the maintenance of the relative position of the long plane by each following airplane.
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