CN112666982A - Wireless ultraviolet light cooperation unmanned aerial vehicle formation rapid aggregation method - Google Patents
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Abstract
The invention discloses a wireless ultraviolet light cooperative unmanned aerial vehicle formation rapid aggregation method, which comprises the steps of establishing an unmanned aerial vehicle communication model based on wireless ultraviolet light to form unmanned aerial vehicle formation; carrying out communication topology control on the unmanned aerial vehicle formation; and after taking off, clustering the unmanned aerial vehicle formation to obtain a V-shaped unmanned aerial vehicle formation. The invention discloses a method for quickly aggregating formation of unmanned aerial vehicles cooperated by wireless ultraviolet light, which solves the problems of poor interference resistance, unstable communication and complex aggregation mode of unmanned aerial vehicle formation in the prior art.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle aggregation and control, and particularly relates to a method for quickly aggregating formation of wireless ultraviolet light cooperation unmanned aerial vehicles.
Background
At present, unmanned aerial vehicles are widely applied in the fields of intelligent inspection, agricultural plant protection, express delivery, aerial photography and surveying and mapping. Compared with single unmanned aerial vehicle operation, unmanned aerial vehicle formation can not only complete more complex tasks, including military reconnaissance and suicide type accurate strike in high-risk areas, but also can ensure that the operation tasks are completed under the condition of no casualties. The unmanned aerial vehicle formation has the obvious advantages of long endurance time, wide range of motion, strong anti-interference capability and the like, so that the unmanned aerial vehicle formation has a wide research value in military application.
When the unmanned aerial vehicle formation carries out tasks, detection by detection devices such as enemy radars and the like is often required to be prevented, and therefore a secret communication mode with strong anti-interference capability is urgently required to guarantee stable communication among formations. Meanwhile, a corresponding rapid unmanned aerial vehicle formation aggregation method needs to be designed.
Disclosure of Invention
The invention aims to provide a method for quickly aggregating formation of wireless ultraviolet light cooperative unmanned aerial vehicles, and solves the problems of poor anti-interference capability, unstable communication and complex aggregation mode of unmanned aerial vehicle formation in the prior art.
The technical scheme adopted by the invention is that the method for quickly clustering the formation of the wireless ultraviolet light cooperation unmanned aerial vehicles is implemented according to the following steps:
step 1, establishing an unmanned aerial vehicle communication model based on wireless ultraviolet light to form unmanned aerial vehicle formation;
step 2, carrying out communication topology control on the unmanned aerial vehicle formation;
and step 3, after taking off, carrying out aggregation on the unmanned aerial vehicle formation to obtain a V-shaped unmanned aerial vehicle formation.
The invention is also characterized in that:
in step 1, the unmanned aerial vehicle communication model comprises at least 5 unmanned aerial vehicles, and each unmanned aerial vehicle is provided with a hemispherical ultraviolet LED array device.
The step 2 specifically comprises the following steps: the unmanned aerial vehicles in each team can establish communication with other unmanned aerial vehicles, and the real-time position, speed and course angle information of the unmanned aerial vehicles between the teams are shared; the unmanned aerial vehicle after obtaining the information adjusts the flight direction and speed in time according to the flight state of the unmanned aerial vehicle, and keeps consistent with the formation of the unmanned aerial vehicle.
In step 2, an undirected graph G ═ P, S is used to represent the topological relationship within the formation of unmanned aerial vehicles; each unmanned aerial vehicle is used as a node, and the communication condition among the unmanned aerial vehicles in the unmanned aerial vehicle formation is represented by edges in a topological graph;
wherein P ═ { P ═ Pi1, 2, …, m represents a set of points represented by the unmanned aerial vehicle formation, and m is the total number of unmanned aerial vehicles in the unmanned aerial vehicle formation; s ═ SijI (i, j) belongs to P multiplied by P and represents a set formed by undirected information paths in a topological structure in unmanned aerial vehicle formation, bijRepresenting the connection weight between the communicating drone i and drone j;
at this moment, unmanned aerial vehicle i and unmanned aerial vehicle j in the unmanned aerial vehicle formation are direct communication connection, and the matrix B for the topological structure between whole unmanned aerial vehicle formation is (B ═ B)ij)m×mAmong them are:
in the formula (1), Mi＝{pi|sijE, representing a set of adjacent unmanned aerial vehicles in the unmanned aerial vehicle formation; p ═ P1，p2，p3，p4，p5Represents a set of drone nodes; the communication between adjacent unmanned aerial vehicles in the unmanned aerial vehicle formation is bidirectional; set of undirected edges is S ═ S12，s23，s34，s45，s51}；
The adjacent unmanned aerial vehicle weight is:
the adjacency matrix is:
the information state equation defining the drone is expressed in terms of integrals as:
ε′i＝δi，δi′＝λi (4)，
in the formula (4), i is 1, 2, …, m, epsiloniRepresenting state information of the unmanned aerial vehicles in the formation; deltaiA derivative representing drone status information; lambda [ alpha ]iRepresenting control inputs of the drone;
defining a single unmanned aerial vehicle motion model as follows:
in the formula (5), (x)i，yi，zi) Respectively representing state vectors of the unmanned aerial vehicle in three-dimensional coordinates; viRepresenting the flight speed of drone i; thetaiRepresenting the pitch angle of the unmanned aerial vehicle i; psiiIs the heading angle of drone i.
The step 3 specifically comprises the following steps: the unmanned aerial vehicles scattered after taking off are combined in a V-shaped formation, and when a first unmanned aerial vehicle flies in the air, each unmanned aerial vehicle and a previous unmanned aerial vehicle form a V-shaped formation at the same speed according to a preset formation distance;
step 3.1, initializing node information, sending self state information by each unmanned aerial vehicle, and receiving and storing the state information of adjacent unmanned aerial vehicles;
step 3.2, determining the position of a central node of the unmanned aerial vehicle formation according to the information shared in real time in the unmanned aerial vehicle formation;
3.3, judging whether the distance between the next adjacent unmanned aerial vehicle and the central node is equal to the preset distance between the unmanned aerial vehicles according to the depth priority principle, if not, performing the step 3.4, otherwise, performing the step 3.5;
step 3.4, the current unmanned aerial vehicle autonomously makes a decision instruction, and the distance between the current unmanned aerial vehicle and the center node is equal to the preset distance between the unmanned aerial vehicle and the center node by adjusting the acceleration and course angle information of the vehicle body, so that self formation control is completed;
and 3.5, repeating the step 3 until all unmanned aerial vehicle nodes are traversed to form a V-shaped unmanned aerial vehicle formation.
The self state information is position coordinate information of each unmanned aerial vehicle in a three-dimensional space; the node information includes position coordinate information, flight speed, course angle and pitch angle.
The invention has the beneficial effects that:
according to the method for quickly aggregating formation of unmanned aerial vehicles cooperated by wireless ultraviolet light, disclosed by the invention, a flight model of the formation of the unmanned aerial vehicles under wireless ultraviolet light communication is constructed, flight service is provided for the formation of the unmanned aerial vehicles by virtue of a wireless ultraviolet light LED device, the flight state of each unmanned aerial vehicle is obtained in time, and the stability of the flight structure of the formation of the unmanned aerial vehicles is improved; the invention discloses a method for quickly aggregating formation of unmanned aerial vehicles cooperated by wireless ultraviolet light, and provides a method for aggregating formation of unmanned aerial vehicles under wireless ultraviolet light communication, which solves the communication guarantee problem of formation of unmanned aerial vehicles under special scenes and provides a thinking for further researching the problem of aggregation and control of formation of unmanned aerial vehicles under special scenes.
Drawings
FIG. 1 is a flow chart of a method for fast formation and aggregation of unmanned aerial vehicles cooperated by wireless ultraviolet light according to the present invention;
FIG. 2 is a schematic diagram of the unmanned aerial vehicle communication model of the present invention;
FIG. 3 is a schematic diagram of a hemispherical UV LED array apparatus according to the present invention;
fig. 4 is a schematic diagram of a communication topology for formation of unmanned aerial vehicles according to the present invention;
FIG. 5 is a schematic diagram of an incomplete formation of unmanned aerial vehicles according to the present invention;
fig. 6 is a schematic diagram of completion of unmanned aerial vehicle formation and aggregation.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, the method for fast clustering formation of wireless ultraviolet light cooperative unmanned aerial vehicles of the invention is implemented specifically according to the following steps:
step 1, establishing an unmanned aerial vehicle communication model based on wireless ultraviolet light to form unmanned aerial vehicle formation;
as shown in fig. 2, the unmanned aerial vehicle communication model includes at least 5 unmanned aerial vehicles, each of which carries a hemispherical ultraviolet LED array device; the surface of the hemispherical LED array device is formed by intersecting warps and wefts, ultraviolet LEDs are arranged at the intersections of the warps and the wefts, and each LED is numbered according to the warps and the wefts; as shown in fig. 3, the LED positions indicated by the arrows are at the 2 nd longitude line and the 3 rd latitude line, the LED numbers are (2, 3), and the LED lamp communicates with other unmanned aerial vehicles carrying receiving signals by emitting ultraviolet light of the solar blind band; each LED is independently controllable and can independently complete the task of sending information; each drone maintains flight control of the formation by receiving information sent by neighboring drones to determine its relative position to itself, its flight attitude, its heading speed.
Step 2, carrying out communication topology control on the unmanned aerial vehicle formation;
the method specifically comprises the following steps: the unmanned aerial vehicles in each team can establish communication with other unmanned aerial vehicles, and the real-time position, speed and course angle information of the unmanned aerial vehicles between the teams are shared; the unmanned aerial vehicle after obtaining the information adjusts the flight direction and speed in time according to the flight state of the unmanned aerial vehicle, and keeps consistent with the formation of the unmanned aerial vehicle.
In step 2, an undirected graph G ═ P, S is used to represent the topological relationship within the formation of unmanned aerial vehicles; each unmanned aerial vehicle is used as a node, and the communication condition among the unmanned aerial vehicles in the unmanned aerial vehicle formation is represented by edges in a topological graph;
wherein P ═ { P ═ Pi1, 2, …, m represents a set of points represented by the unmanned aerial vehicle formation, and m is the total number of unmanned aerial vehicles in the unmanned aerial vehicle formation; s ═ SijI (i, j) belongs to P multiplied by P and represents a set formed by undirected information paths in a topological structure in unmanned aerial vehicle formation, bijRepresenting the connection weight between the communicating drone i and drone j;
at this moment, unmanned aerial vehicle i and unmanned aerial vehicle j in the unmanned aerial vehicle formation are direct communication connection, and the matrix B for the topological structure between whole unmanned aerial vehicle formation is (B ═ B)ij)m×mAmong them are:
in the formula (1), Mi＝{pi|sijE, representing a set of adjacent unmanned aerial vehicles in the unmanned aerial vehicle formation; p ═ P1，p2，p3，p4，p5Represents a set of drone nodes; adjacent in unmanned aerial vehicle formation does not haveThe communication between the man-machines is bidirectional; set of undirected edges is S ═ S12，s23，s34，s45，s51}；
The adjacent unmanned aerial vehicle weight is:
the adjacency matrix is:
the information state equation defining the drone is expressed in terms of integrals as:
ε′i＝δi，δi′＝λi (4)，
in the formula (4), i is 1, 2, …, m, epsiloniRepresenting state information of the unmanned aerial vehicles in the formation; deltaiA derivative representing drone status information; lambda [ alpha ]iRepresenting control inputs of the drone;
defining a single unmanned aerial vehicle motion model as follows:
in the formula (5), (x)i，yi，zi) Respectively representing state vectors of the unmanned aerial vehicle in three-dimensional coordinates; viRepresenting the flight speed of drone i; thetaiRepresenting the pitch angle of the unmanned aerial vehicle i; psiiIs the heading angle of drone i.
And step 3, after taking off, carrying out aggregation on the unmanned aerial vehicle formation to obtain a V-shaped unmanned aerial vehicle formation.
The method specifically comprises the following steps: the unmanned aerial vehicles scattered after taking off are combined in a V-shaped formation, and when a first unmanned aerial vehicle flies in the air, each unmanned aerial vehicle and a previous unmanned aerial vehicle form a V-shaped formation at the same speed according to a preset formation distance;
step 3.1, initializing node information, sending self state information by each unmanned aerial vehicle, and receiving and storing the state information of adjacent unmanned aerial vehicles;
step 3.2, determining the position of a central node of the unmanned aerial vehicle formation according to the information shared in real time in the unmanned aerial vehicle formation;
3.3, judging whether the distance between the next adjacent unmanned aerial vehicle and the central node is equal to the preset distance between the unmanned aerial vehicles according to the depth priority principle, if not, performing the step 3.4, otherwise, performing the step 3.5;
step 3.4, the current unmanned aerial vehicle autonomously makes a decision instruction, and the distance between the current unmanned aerial vehicle and the center node is equal to the preset distance between the unmanned aerial vehicle and the center node by adjusting the acceleration and course angle information of the vehicle body, so that self formation control is completed;
and 3.5, repeating the step 3 until all unmanned aerial vehicle nodes are traversed to form a V-shaped unmanned aerial vehicle formation.
The self state information is position coordinate information of each unmanned aerial vehicle in a three-dimensional space; the node information includes position coordinate information, flight speed, course angle and pitch angle.
The V-shaped formation for rapid aggregation of drones is shown in fig. 4, the incomplete formation state of the drones in the three-dimensional space is shown in fig. 5, and epsilon is shown in fig. 5 by taking the relevant information of drone i and drone j as an examplei＝[xi，yi，zi]TIs the spatial state information of drone i, εECentral point of formation of unmanned aerial vehicles, epsiloniR＝[xiR，yiR，ziR]TFor the preset interval, epsilon, of the unmanned aerial vehicle i and the formation central point E in a space coordinate systemiEThe state information of the current unmanned aerial vehicle at the position i and the formation central point E has the same principle of epsilonjIs the spatial state information of drone j, εjRFor a predetermined interval, ε, of drone j from formation center point EjEAnd the current state information of the formation central point E at the j position of the unmanned aerial vehicle. At this time, there is ∈iE＝εi-εiR，εjE＝εj-εjR，εiE≠εjE。
When unmanned aerial vehicle i, unmannedWhen the plane j and the unmanned plane k reach the preset position, as shown in fig. 6, the plane j and the unmanned plane k have | | epsiloniE-εE||→0，||εjE-εE||→0，||εkE-εEI | → 0, i.e. drone i, drone j and drone k complete the predetermined formation.
Claims (6)
1. A wireless ultraviolet light cooperation unmanned aerial vehicle formation rapid aggregation method is characterized by being implemented according to the following steps:
step 1, establishing an unmanned aerial vehicle communication model based on wireless ultraviolet light to form unmanned aerial vehicle formation;
step 2, carrying out communication topology control on the unmanned aerial vehicle formation;
and step 3, after taking off, carrying out aggregation on the unmanned aerial vehicle formation to obtain a V-shaped unmanned aerial vehicle formation.
2. The method for rapid formation and aggregation of wireless ultraviolet light cooperative unmanned aerial vehicles according to claim 1, wherein in step 1, the unmanned aerial vehicle communication model comprises at least 5 unmanned aerial vehicles, and each unmanned aerial vehicle is loaded with a hemispherical ultraviolet LED array device.
3. The method for fast formation and aggregation of unmanned aerial vehicles cooperated with wireless ultraviolet light according to claim 2, wherein the step 2 is specifically: the unmanned aerial vehicles in each team can establish communication with other unmanned aerial vehicles, and the real-time position, speed and course angle information of the unmanned aerial vehicles between the teams are shared; the unmanned aerial vehicle after obtaining the information adjusts the flight direction and speed in time according to the flight state of the unmanned aerial vehicle, and keeps consistent with the formation of the unmanned aerial vehicle.
4. The method for fast rendezvous of unmanned aerial vehicle formation cooperated with wireless ultraviolet light according to claim 3, wherein in step 2, an undirected graph G ═ P, S is used to represent topological relations in the unmanned aerial vehicle formation; each unmanned aerial vehicle is used as a node, and the communication condition among the unmanned aerial vehicles in the unmanned aerial vehicle formation is represented by edges in a topological graph;
wherein P ═ { P ═ Pi|i＝1，2，…，m}Representing a set of points represented by the unmanned aerial vehicle formation, wherein m is the total number of the unmanned aerial vehicles in the unmanned aerial vehicle formation; s ═ SijI (i, j) belongs to P multiplied by P and represents a set formed by undirected information paths in a topological structure in unmanned aerial vehicle formation, bijRepresenting the connection weight between the communicating drone i and drone j;
at this moment, unmanned aerial vehicle i and unmanned aerial vehicle j in the unmanned aerial vehicle formation are direct communication connection, and the matrix B for the topological structure between whole unmanned aerial vehicle formation is (B ═ B)ij)m×mAmong them are:
in the formula (1), Mi＝{pi|sijE, representing a set of adjacent unmanned aerial vehicles in the unmanned aerial vehicle formation; p ═ P1，p2，p3，p4，p5Represents a set of drone nodes; the communication between adjacent unmanned aerial vehicles in the unmanned aerial vehicle formation is bidirectional; set of undirected edges is S ═ S12，s23，s34，s45，s51}；
The adjacent unmanned aerial vehicle weight is:
the adjacency matrix is:
the information state equation defining the drone is expressed in terms of integrals as:
ε′i＝δi，δi′＝λi (4)，
in the formula (4), i is 1, 2, …, m, epsiloniRepresenting state information of the unmanned aerial vehicles in the formation; deltaiLeader representing unmanned aerial vehicle state informationCounting; lambda [ alpha ]iRepresenting control inputs of the drone;
defining a single unmanned aerial vehicle motion model as follows:
in the formula (5), (x)i，yi，zi) Respectively representing state vectors of the unmanned aerial vehicle in three-dimensional coordinates; viRepresenting the flight speed of drone i; thetaiRepresenting the pitch angle of the unmanned aerial vehicle i; psiiIs the heading angle of drone i.
5. The method for fast formation and aggregation of unmanned aerial vehicles cooperated with wireless ultraviolet light according to claim 4, wherein step 3 is specifically: the unmanned aerial vehicles scattered after taking off are combined in a V-shaped formation, and when a first unmanned aerial vehicle flies in the air, each unmanned aerial vehicle and a previous unmanned aerial vehicle form a V-shaped formation at the same speed according to a preset formation distance;
step 3.1, initializing node information, sending self state information by each unmanned aerial vehicle, and receiving and storing the state information of adjacent unmanned aerial vehicles;
step 3.2, determining the position of a central node of the unmanned aerial vehicle formation according to the information shared in real time in the unmanned aerial vehicle formation;
3.3, judging whether the distance between the next adjacent unmanned aerial vehicle and the central node is equal to the preset distance between the unmanned aerial vehicles according to the depth priority principle, if not, performing the step 3.4, otherwise, performing the step 3.5;
step 3.4, the current unmanned aerial vehicle autonomously makes a decision instruction, and the distance between the current unmanned aerial vehicle and the center node is equal to the preset distance between the unmanned aerial vehicle and the center node by adjusting the acceleration and course angle information of the vehicle body, so that self formation control is completed;
and 3.5, repeating the step 3 until all unmanned aerial vehicle nodes are traversed to form a V-shaped unmanned aerial vehicle formation.
6. The method for fast formation and aggregation of unmanned aerial vehicles cooperated by wireless ultraviolet light according to claim 5, wherein the self-state information is position coordinate information of each unmanned aerial vehicle in a three-dimensional space; the node information comprises position coordinate information, flight speed, course angle and pitch angle.
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