CN112947125B - Embedded unmanned aerial vehicle cluster simulation system based on high-speed serial bus - Google Patents
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Abstract
The invention discloses an embedded unmanned aerial vehicle cluster simulation system based on a high-speed serial bus, which comprises a comprehensive control computer and a plurality of simulation devices, wherein the comprehensive control computer is connected with the simulation devices; each simulation device comprises a cluster control module, a flight simulation module and a 1394b bus module, wherein the cluster control module is connected with the 1394b bus module and used for receiving and analyzing a cluster control instruction by using the 1394b bus; the cluster control module is interconnected with the flight simulation module through a serial port and used for sending the analyzed cluster control instruction to the flight simulation module and receiving the flight state; the flight simulation module runs a digital airplane model and a flight control logic and is used for receiving a cluster control instruction and calculating a flight state. Each emulation device includes a plurality of 1394b interfaces for communication with the integrated control computer and other emulation devices. The invention can realize dynamic expansion of simulation nodes through a flexible interconnection structure, has high integration level and is convenient for carrying and maneuvering deployment.
Description
Technical Field
The invention belongs to the field of unmanned aerial vehicle cluster simulation, and particularly relates to an embedded unmanned aerial vehicle cluster simulation system based on a high-speed serial bus.
Background
Unmanned aerial vehicle cluster is produced under the rapid development background of technologies such as intelligent technology, big data technology, vibration material disk technique. In recent years, unmanned aerial vehicle clusters are rapidly developed due to potential huge application values, group behaviors of clusters are realized by means of cooperative interaction among unmanned aerial vehicles, tasks which cannot be executed by a traditional single-machine system are completed in a distributed mode, and the unmanned aerial vehicle cluster has the advantages of robustness, scale elasticity, flexibility and the like.
The real flight test of the unmanned aerial vehicle cluster is often difficult to implement due to various reasons such as airspace application, high cost, uncertainty of control and the like, and the early verification is usually carried out by adopting a simulation mode, the functional performance of the cluster is analyzed and evaluated, and the design of a system scheme is gradually perfected according to a simulation result, so that the fast iteration of the development process is realized, the cost in the aspects of manpower, time, expenditure and the like is saved, and the development efficiency is improved.
The traditional unmanned aerial vehicle simulation platform usually takes a computer as an operation platform, simulates the flight environment, the pneumatic characteristics, the flight control algorithm and the like of the unmanned aerial vehicle, and generates flight simulation data in real time, so that the performance of the aircraft is analyzed and verified. However, for the simulation of the flight of the unmanned aerial vehicle cluster, the performance of a single computing platform is difficult to realize the simulation of multiple unmanned aerial vehicles. Research shows that a distributed simulation mode is adopted, the cluster unmanned aerial vehicle is distributed in a plurality of computers or embedded equipment for simulation, and a plurality of operation platforms perform data fusion and sharing through a network, so that the operation of cluster simulation can be realized.
An interactive simulation verification system and an implementation method for unmanned aerial vehicle cluster formation of the chinese patent CN108845802A propose a scheme of constructing a distributed real-time simulation environment through an ethernet by using a plurality of computers as platforms such as a simulator, a host, a client and the like. However, in the mode, a plurality of computers are adopted to simulate the airplane, so that the requirement on the field is high, the portability is poor, and the mobile deployment capability is not provided; and networking is carried out through the Ethernet, the switch is used as a data interaction center, the switch configuration process is complicated when network nodes are dynamically adjusted, the more simulation nodes are, the more switch ports are needed, the networking mode is not flexible enough, and the maintenance and the upgrading are not easy to realize.
Chinese patent CN109188933A entitled "a cluster unmanned aerial vehicle distributed hardware-in-loop simulation system" proposes a simulation system based on the combination of a simulation computer and an embedded simulation module, wherein the simulation computer is used for pneumatic and environmental simulation, and the embedded simulation module is used for flight control and image simulation. The simulation computer is connected to the router by a network cable to be interconnected so as to realize the sharing of the airplane state; the embedded computer is connected to the simulation control module through a network cable to realize the interaction with the airplane pneumatic and flying environment. However, the simulation scale of this method is still limited by the configuration of the hardware architecture, and it is difficult to dynamically upgrade the formation configuration.
In conclusion, in the unmanned aerial vehicle formation simulation method in the prior art, networking is performed through a switch or a router, so that the flexibility and the expansibility are low; a computer is used as a simulation operation platform, so that the space requirement is large and the portability is poor. Therefore, the application scenario of rapid maneuvering deployment and display cannot be satisfied.
Disclosure of Invention
In order to solve the problems, the invention provides an embedded unmanned aerial vehicle cluster simulation device based on a high-speed serial bus, which can realize dynamic expansion of simulation nodes through a flexible interconnection structure, has the advantage of high integration level, and is convenient to carry and flexibly deploy.
In order to achieve the aim, the invention provides an embedded unmanned aerial vehicle cluster simulation system based on a high-speed serial bus, which comprises a comprehensive control computer and a plurality of simulation devices; each simulation device comprises a cluster control module, a flight simulation module, a 1394b high-speed serial bus module and a power supply module, wherein the power supply module is used for supplying power to the cluster control module, the flight simulation module and the 1394b high-speed serial bus module;
the cluster control module comprises a PowerPC core processor and a PCI interface, and is connected with the 1394b high-speed serial bus module through the PCI interface and used for receiving a cluster control instruction by using a 1394b bus; the PowerPC core processor is used for analyzing the received cluster control instruction; the cluster control module is interconnected with the flight simulation module through a serial port and used for sending the analyzed cluster control instruction to the flight simulation module and receiving the flight control instruction and flight state information;
the flight simulation module comprises a core processor ARM which runs a digital airplane model and a flight control logic program inside; the digital airplane model is used for operating a periodic flight state calculation model, inputting a flight control instruction into the periodic flight state calculation model to update the flight state when receiving the flight control instruction sent by the flight control logic program, and feeding back the current flight state information to the flight control logic program after finishing each operation period; the flight control logic program is used for carrying out periodic flight control operation according to the control rate and the flight state information so as to generate a flight control instruction for the digital airplane model, when the analyzed cluster control instruction is received, the cluster control instruction is input into the control logic to generate a corresponding flight control instruction, and the flight control logic program is used for sending the current flight state information to the cluster control module through a serial port;
the 1394b high-speed serial bus module of each simulation device comprises a plurality of 1394b bus interfaces and is used for forming a topological structure with the comprehensive control computer and other simulation devices to carry out interconnection communication, the 1394b bus can automatically manage and configure the topological structure, and a path forming a loop between the simulation devices is set to be in a redundant state.
In some embodiments, the 1394b high speed serial bus module includes 3 1394b bus interfaces.
In some embodiments, the topology includes tree, ring, and mesh types.
In some embodiments, the initial configuration of each emulation device is performed by using the 1394b protocol specification asynchronous transmission, which includes:
1) a user inputs an initial configuration scheme through a graphical interface of the comprehensive control computer;
2) after receiving user input, the integrated control computer generates a cluster control instruction set configured by n simulation devices, respectively configures each simulation device, and numbers the ID numbers of all the simulation devices according to 1,2, … and n;
3) using 1394b asynchronous request packets, starting from ID number 1, sending configuration command packets to corresponding simulation devices according to ID number numbering sequence, and waiting for confirmation packets of the command packets;
4) if the confirmation packet of the instruction packet is received, waiting for the corresponding simulation device to send a data response packet; otherwise, returning to the step 3) to send a configuration instruction packet to the simulation device of the next ID number;
5) the simulation device with the corresponding ID number immediately sends a confirmation packet after receiving the configuration instruction packet on the 1394b bus, analyzes the instruction packet and uses the analyzed data for configuring the initial parameters of the cluster control module and the digital airplane module;
6) after the simulation device with the corresponding ID number completes the initial configuration, a 1394b asynchronous response packet is used for sending a configuration completion response packet to the comprehensive control computer;
7) if the comprehensive control computer receives the configuration completion response, sending a response confirmation packet to the simulation device with the corresponding ID number, and if not, returning to the step 3);
8) if the simulation device of the corresponding ID number receives the response confirmation packet, the current configuration is completed, otherwise, the step 7) is returned;
9) the comprehensive control computer checks the state information in the configuration completion response packet, if the state information is correct, the ID number is added with 1 to perform the initial configuration of the simulation device of the next ID number, and if the state information is not correct, the step 3) is returned;
10) if the ID number is larger than the number n of the simulation devices, configuration completion state information is output to a user interface, and current configuration is completed;
11) and the user interface receives the configuration completion state information, updates the display state and completes the current configuration.
In some embodiments, after the initial configuration of each simulation device is completed, the uplink message transmission is performed by using isochronous transmission of the 1394b protocol specification, which includes the following specific processes:
1) an operating user inputs a cluster control instruction through a graphical interface of the comprehensive control computer;
2) after receiving the user instruction, the integrated control computer generates a cluster control instruction;
3) using 1394b equation transmission to broadcast control command isochronous packets to all simulation devices;
4) each simulation device receives control instruction isochronous packets through the 1394b high-speed serial bus module and sends the control instruction isochronous packets to the cluster control module through the PCI bus;
5) the cluster control module analyzes the cluster instruction, sends the cluster instruction to the flight simulation module and generates a flight control instruction;
6) and the digital airplane model processes the flight control command to complete the simulation control.
In some embodiments, after the initial configuration of each simulation device is completed, the downlink message transmission is performed by using isochronous transmission of the 1394b protocol specification, which includes the following specific steps:
1) after each simulation device completes the initial configuration, entering a periodic flight control operation step;
2) updating the simulated flight state after the cost cycle control operation is finished;
3) transmitting the flight state information isochronous packets to the integrated control computer by the respective simulation devices by 1394b isochronous transmission;
4) the comprehensive control computer receives the flight state information state isochronous packets;
5) updating the display state of the unmanned aerial vehicle cluster, and outputting the current state information of the unmanned aerial vehicle cluster to a user interface;
6) and after the user interface receives the current state information of the unmanned aerial vehicle cluster, updating the display state of the unmanned aerial vehicle cluster.
The invention has the beneficial effects that:
1) the embedded computing module is used as a simulation operation platform, so that the miniaturization and the portability of the device are realized, the simulation model is operated under a real-time operating system, and the simulation efficiency is higher;
2) the invention adopts a centerless network, each node can act as a transit node to realize data forwarding, and a switch or a router node is not needed in the network;
3) the topological structure of the invention is flexible, tree type, ring type, network type and the like and the combined topology thereof can be adopted for interconnection, and new nodes are connected to any node on the bus to be accessed into the network;
4) the interconnection reliability of the invention is high, each node can be provided with three interfaces, a plurality of interfaces are connected to different nodes to form redundant backup, and reliable communication can be realized when any one port works normally;
5) the transmission mechanism of the invention is reliable, and has two transmission mechanisms of isochronous and asynchronous, the former adopts a bandwidth reservation mechanism and is suitable for real-time data transmission, and the latter adopts a fair arbitration mechanism and a handshake retransmission mechanism and is suitable for reliable data transmission.
Drawings
Fig. 1 is a physical structure diagram of internal modules of an embedded unmanned aerial vehicle cluster simulation system based on a high-speed serial bus according to an embodiment of the present invention;
FIG. 2 is a tree topology of a plurality of emulation devices interconnected according to an embodiment of the present invention, wherein a solid line represents a line operating state;
FIG. 3 is a ring topology of a plurality of emulation devices interconnected according to an embodiment of the present invention, wherein the solid lines represent the line operational state and the dashed lines represent the line redundant state;
FIG. 4 is a net topology diagram of a plurality of emulation devices interconnected according to an embodiment of the present invention, wherein a solid line represents a line operating state and a dashed line represents a line in a redundant state;
FIG. 5 is a message processing flow using asynchronous transfer during initial configuration according to an embodiment of the present invention;
FIG. 6 is a flow of performing uplink message transmission by isochronous transmission during emulation runtime according to an embodiment of the present invention;
fig. 7 is a flow of performing downlink message transmission by using isochronous transmission in simulation runtime according to an embodiment of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings and examples, it being understood that the examples described below are intended to facilitate the understanding of the invention, and are not intended to limit it in any way.
As shown in fig. 1, the embedded unmanned aerial vehicle cluster simulation apparatus based on the high-speed serial bus according to this embodiment includes a cluster control module, a flight simulation module, a 1394b high-speed serial bus module, and a power supply module. The cluster control module is a central component of the whole simulation device and has the functions of simulation node configuration, cluster instruction processing, cluster state management, node state transmission and the like. The simulation device is provided with 3 1394b bus interfaces for realizing interconnection with other nodes.
The cluster control module comprises a PowerPC core processor, SDRAM and FLASH, wherein the PowerPC core processor is an embedded microprocessor and runs a cluster control logic program inside. The cluster control module is connected with the 1394b high-speed serial bus module through a PCI interface, and cluster control information is received and transmitted by using the 1394b bus; meanwhile, the flight control data is received and transmitted by interconnecting the serial port and the flight simulation module, so that the management of the flight simulation of the aircraft is realized.
The 1394b high-speed serial bus module is used for interconnection communication of multiple simulation devices (each simulation device is equivalent to one node), supports a flexible topological structure, has hot plugging and plug and play characteristics, and provides a quick and flexible bus access mode. Particularly, the isochronous and asynchronous communication mechanisms of the 1394b protocol specification can be used for carrying out different types of data transmission, wherein the isochronous transmission realizes the real-time communication of data by using a bandwidth reservation mechanism, the mode belongs to connectionless communication, and a sending node does not need to confirm that a receiving node receives the data; asynchronous transmission realizes reliable data communication by using fair arbitration, a handshake mechanism and a retransmission mechanism, the mode belongs to connected communication, and a sending node needs to confirm that a receiving node receives data.
The flight simulation module is used for realizing the simulation operation of the virtual digital airplane. The module adopts an ARM core processor, SDRAM and FLASH, and a digital airplane model and a flight control logic program are operated in the ARM core processor. The digital airplane model needs to receive a control instruction of a flight control logic program, calculate flight state information such as airplane attitude, position and the like in real time, and feed the flight state information back to the flight control logic program; the flight control logic needs to receive flight state information and a cluster control instruction, calculate and control output in real time according to a preset control rate and the current airplane flight state, and provide flight control instruction input for the digital airplane model; and the flight control logic program sends the real-time flight state to the cluster control module through the serial port.
The power supply module is used for supplying power for the whole simulation device, the internal rechargeable battery is used for supplying power for each working module, the external power supply can be omitted for working, the external power supply can be used for charging and working, dynamic carrying and deployment of the nodes are achieved, and limitation of external power supply is avoided.
Particularly, the 1394b high-speed serial bus module includes 3 1394b bus interfaces, and by using the 3 1394b bus interfaces, each simulation device can form various topology structures such as a tree type, a ring type, a network type and the like with other simulation devices and a comprehensive control computer, as shown in fig. 2 to 4. In the interconnection structure, each emulation device (node) can serve as a bus router to send data received by one 1394b bus interface to the connected emulation device (node) through other 1394b bus interfaces, namely, two emulation devices (nodes) can establish connection only through one path, and communication can be realized. After a plurality of simulation devices (nodes) are interconnected through a 1394b bus, the 1394b bus can automatically manage and configure a topological structure, and a path forming a loop is set to be in a redundant state, in fig. 2 to 4, a solid line represents a line in a working state after the topological configuration, and a dotted line represents a line in a redundant state after the topological configuration. In the tree topology shown in fig. 2, there is no data loop, so all lines are in working state; in the ring topology shown in fig. 3, a daisy chain structure without loops is formed after the dotted line is made redundant; in the network topology shown in fig. 4, the dotted line is made redundant, and a tree structure having no loop is formed.
Particularly, the simulation device utilizes a 1394b bus to carry out networking communication, and mainly adopts two communication mechanisms of isochronous and asynchronous of 1394b protocol specification to realize the transmission of different types of data. The information transmission flow of the simulation device during working can be divided into three types shown in figures 5-7: initial configuration, uplink message transmission and downlink message transmission. Advantageously, the initial configuration adopts asynchronous transmission to ensure that all simulation devices perform correct initial configuration according to the principle preset by a user to complete the simulation preparation work; the uplink and downlink message transmission adopts isochronous transmission to simulate the connectionless communication process in the actual unmanned aerial vehicle cluster system. The specific process of the communication is divided into three angles of operating users, a comprehensive control computer and a simulation device to carry out process design.
Fig. 5 shows a message processing flow performed by asynchronous transmission during initial configuration of an unmanned aerial vehicle cluster system, where the specific flow is as follows:
1) the operation user inputs the initial configuration scheme through a graphical interface of the comprehensive control computer;
2) after receiving user input, the comprehensive control computer generates instruction sets configured by all the simulation devices and respectively configures each simulation device;
3) transmitting a configuration instruction packet to the corresponding emulation apparatus starting from ID number 1 by using a 1394b asynchronous request packet, and waiting for an acknowledgement packet of the packet;
4) if the confirmation packet is received, waiting for the simulation device to send a data response packet; otherwise, returning to the step 3);
5) the corresponding ID number simulation device immediately sends a confirmation packet after receiving the configuration instruction packet on the 1394b bus, and then uses the analyzed data for configuring the initial parameters of the cluster module and the digital airplane module;
6) after the configuration of the simulation device is finished, a 1394b asynchronous response packet is used for sending a configuration finishing response packet to the comprehensive control computer;
7) if the comprehensive control computer receives the configuration completion response, sending a confirmation packet, and if not, returning to the step 3);
8) if the simulation device receives the response confirmation packet, the current configuration is completed, otherwise, the step 7) is returned;
9) the comprehensive control computer checks the state information in the configuration completion response packet, if the state information is correct, the ID number is added with 1, and if the state information is not correct, the step 3) is returned;
10) if the ID number is larger than the number N of the simulation modules, configuration completion state information is output to a user interface, and current configuration is completed;
11) and the user interface receives the configuration completion state information, updates the display state and completes the current configuration.
The process of performing uplink message transmission by isochronous transmission when the unmanned aerial vehicle cluster system is in simulation operation is shown in fig. 6, and the specific process is as follows:
1) an operating user inputs a cluster control instruction through a graphical interface of the comprehensive control computer;
2) after receiving the user instruction, the integrated control computer generates a cluster control instruction;
3) transmitting by using a 1394b equation, and broadcasting cluster control instructions and other packets to all embedded unmanned aerial vehicle cluster simulation devices;
4) the simulation device receives a control instruction isochronous packet;
5) analyzing the cluster command and converting the cluster command into an airplane control command;
6) and the airplane processes the control command to complete the control.
The process of performing downlink message transmission by using isochronous transmission when the unmanned aerial vehicle cluster system is in simulation operation is shown in fig. 7, and the specific process is as follows:
1) after the simulation device completes initialization, entering a periodic flight control operation step;
2) updating the simulated flight state after the cost cycle control operation is finished;
3) transmitting flight state isochronous packets to the integrated control computer by 1394b equation transmission;
4) the comprehensive control computer receives the flight state isochronous packets;
5) updating the cluster display state and outputting the current state to the user interface;
6) and after the user interface receives the cluster state information, updating the display state.
In conclusion, the invention can effectively solve the defects of the traditional simulation means and realize the small-size portability, flexible access, easy deployment, reliability and stability of the simulation node.
It will be apparent to those skilled in the art that various modifications and improvements can be made to the embodiments of the present invention without departing from the inventive concept thereof, and these modifications and improvements are intended to be within the scope of the invention.
Claims (7)
1. An embedded unmanned aerial vehicle cluster simulation system based on a high-speed serial bus is characterized by comprising a comprehensive control computer and a plurality of simulation devices; each simulation device comprises a cluster control module, a flight simulation module, a 1394b high-speed serial bus module and a power supply module, wherein the power supply module is used for supplying power to the cluster control module, the flight simulation module and the 1394b high-speed serial bus module;
the cluster control module comprises a PowerPC core processor and a PCI interface, and is connected with the 1394b high-speed serial bus module through the PCI interface and used for receiving a cluster control instruction by using a 1394b bus; the PowerPC core processor is used for analyzing the received cluster control instruction; the cluster control module is interconnected with the flight simulation module through a serial port and used for sending the analyzed cluster control instruction to the flight simulation module and receiving the flight control instruction and flight state information;
the flight simulation module comprises a core processor ARM which runs a digital airplane model and a flight control logic program inside; the digital airplane model is used for operating a periodic flight state calculation model, inputting a flight control instruction into the periodic flight state calculation model to update the flight state when receiving the flight control instruction sent by the flight control logic program, and feeding back the current flight state information to the flight control logic program after finishing each operation period; the flight control logic program is used for carrying out periodic flight control operation according to a control law and flight state information so as to generate a flight control instruction for the digital airplane model, when the analyzed cluster control instruction is received, the cluster control instruction is input into the control logic to generate a corresponding flight control instruction, and the flight control logic program is used for sending the current flight state information to the cluster control module through a serial port;
the 1394b high-speed serial bus module of each simulation device comprises a plurality of 1394b bus interfaces and is used for forming a topological structure with the comprehensive control computer and other simulation devices to carry out interconnection communication.
2. The embedded unmanned aerial vehicle cluster simulation system of claim 1, wherein 1394b bus is used for automatic management and configuration of the formed topology, and a path forming a loop between each simulation device is set to be in a redundant state.
3. The embedded unmanned aerial vehicle cluster simulation system of claim 1 or 2, wherein the 1394b high speed serial bus module comprises 3 1394b bus interfaces.
4. The embedded drone cluster simulation system according to claim 1 or 2, wherein the topology includes tree, ring and mesh.
5. The embedded unmanned aerial vehicle cluster simulation system of claim 1 or 2, wherein the initial configuration of each simulation device is performed by using 1394b protocol standard asynchronous transmission, and the specific process is as follows:
1) a user inputs an initial configuration scheme through a graphical interface of the comprehensive control computer;
2) after receiving user input, the integrated control computer generates a cluster control instruction set configured by n simulation devices, respectively configures each simulation device, and numbers the ID numbers of all the simulation devices according to 1,2, … and n;
3) using 1394b asynchronous request packets, starting from ID number 1, sending configuration command packets to corresponding simulation devices according to ID number numbering sequence, and waiting for confirmation packets of the command packets;
4) if the confirmation packet of the instruction packet is received, waiting for the corresponding simulation device to send a data response packet; otherwise, returning to the step 3) to send a configuration instruction packet to the simulation device of the next ID number;
5) the simulation device with the corresponding ID number immediately sends a confirmation packet after receiving the configuration instruction packet on the 1394b bus, analyzes the instruction packet and uses the analyzed data for configuring the initial parameters of the cluster control module and the digital airplane module;
6) after the simulation device with the corresponding ID number completes the initial configuration, a 1394b asynchronous response packet is used for sending a configuration completion response packet to the comprehensive control computer;
7) if the comprehensive control computer receives the configuration completion response, sending a response confirmation packet to the simulation device with the corresponding ID number, and if not, returning to the step 3);
8) if the simulation device of the corresponding ID number receives the response confirmation packet, the current configuration is completed, otherwise, the step 7) is returned;
9) the comprehensive control computer checks the state information in the configuration completion response packet, if the state information is correct, the ID number is added with 1 to perform the initial configuration of the simulation device of the next ID number, and if the state information is not correct, the step 3) is returned;
10) if the ID number is larger than the number n of the simulation devices, configuration completion state information is output to a user interface, and current configuration is completed;
11) and the user interface receives the configuration completion state information, updates the display state and completes the current configuration.
6. The embedded unmanned aerial vehicle cluster simulation system of claim 1 or 2, wherein after initial configuration of each simulation device is completed, the uplink message transmission is performed by isochronous transmission of 1394b protocol specification, and the specific process is as follows:
1) an operating user inputs a cluster control instruction through a graphical interface of the comprehensive control computer;
2) after receiving the user instruction, the integrated control computer generates a cluster control instruction;
3) broadcasting control command isochronous packets to all emulation devices using 1394b isochronous transfer;
4) each simulation device receives control instruction isochronous packets through the 1394b high-speed serial bus module and sends the control instruction isochronous packets to the cluster control module through the PCI bus;
5) the cluster control module analyzes the cluster instruction, sends the cluster instruction to the flight simulation module and generates a flight control instruction;
6) and the digital airplane model processes the flight control command to complete the simulation control.
7. The embedded unmanned aerial vehicle cluster simulation system of claim 1 or 2, wherein after initial configuration of each simulation device is completed, downlink message transmission is performed by isochronous transmission of 1394b protocol specification, and the specific process is as follows:
1) after each simulation device completes the initial configuration, entering a periodic flight control operation step;
2) updating the simulated flight state after the cost cycle control operation is finished;
3) transmitting the flight state information isochronous packets to the integrated control computer by the respective simulation devices by 1394b isochronous transmission;
4) the comprehensive control computer receives the flight state information state isochronous packets;
5) updating the display state of the unmanned aerial vehicle cluster, and outputting the current state information of the unmanned aerial vehicle cluster to a user interface;
6) and after the user interface receives the current state information of the unmanned aerial vehicle cluster, updating the display state of the unmanned aerial vehicle cluster.
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