CN113093801B - Method for making air route file of multi-unmanned aerial vehicle cooperative formation - Google Patents
Method for making air route file of multi-unmanned aerial vehicle cooperative formation Download PDFInfo
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Abstract
The invention discloses a method for manufacturing an airway file for collaborative formation of multiple unmanned aerial vehicles, which relates to the technical field of unmanned aerial vehicle airway planning and comprises the following steps: acquiring longitude and latitude coordinates and a course angle of a current waypoint long machine; obtaining relative distances among the unmanned aerial vehicles according to a preset formation, wherein the first relative distance is the distance between each wing plane and the captain plane; calculating the azimuth angle of each wing plane relative to the captain plane according to the course angle of the captain plane; substituting the longitude and latitude coordinates, the first relative distance and the azimuth angle of the current waypoint wing aircraft into a first coordinate conversion formula, and calculating to obtain preset longitude and latitude coordinates of each wing aircraft of the current waypoint; if the next waypoint exists, calculating the preset longitude and latitude coordinates of the next waypoint leader at different preset formation forms, and repeating the process to calculate the preset longitude and latitude coordinates of each bureaucratic at the next waypoint; and the route files are generated in real time and uploaded to all unmanned aerial vehicles, and the unmanned aerial vehicles fly in formation according to the designed route files, so that the unmanned aerial vehicles have engineering application value.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle route planning, in particular to a method for manufacturing a route file for multi-unmanned aerial vehicle cooperative formation.
Background
Along with the progress of science and technology, the technical level of unmanned aerial vehicle formation is steadily promoted. The multi-unmanned aerial vehicle cooperative formation can execute various flight tasks, and has various advantages of flexibility, high efficiency and the like in task scenes such as cooperative investigation, cooperative combat, swarm combat, communication relay, electronic countermeasure, decoy interference, multi-target tracking, target attack and the like. An important research direction of the unmanned aerial vehicle formation flight technology is how to design and generate unmanned aerial vehicle formation air routes. The reasonability and the safety of the air route design have important engineering application values. The traditional air route design is researched by using known air route points of a single machine, and aiming at unmanned aerial vehicle formation, the technical difficulty is how to make an air route file for formation in real time so that the unmanned aerial vehicles maintain a specific formation to form and fly.
Disclosure of Invention
The invention provides a method for manufacturing a route file of multi-unmanned aerial vehicle cooperative formation aiming at the problems and the technical requirements, and the unmanned aerial vehicle formation can keep the predetermined formation flying according to the preset route through the manufactured route file.
The technical scheme of the invention is as follows:
a method for manufacturing an airway file for multi-unmanned aerial vehicle collaborative formation comprises the following steps:
acquiring real-time information of a current waypoint long machine, wherein the real-time information comprises longitude and latitude coordinates and a course angle;
acquiring relative distances among unmanned aerial vehicles according to a preset formation form, wherein the preset formation form comprises direct flight and turning, and the first relative distance is the distance between each wing plane and the captain plane;
calculating the azimuth angle of each wing plane relative to the captain plane according to the course angle of the captain plane;
substituting the longitude and latitude coordinates, the first relative distance and the azimuth angle of the current waypoint wing aircraft into a first coordinate conversion formula, and calculating to obtain preset longitude and latitude coordinates of each wing aircraft of the current waypoint;
judging whether all waypoints are traversed or not, if not, calculating preset longitude and latitude coordinates of a leader at the next waypoint when different preset formation forms exist, repeatedly acquiring the relative distance between the unmanned aerial vehicles according to the preset formation forms, and calculating to obtain the preset longitude and latitude coordinates of each wing plane at the next waypoint;
if yes, establishing a route file according to the preset longitude and latitude coordinates of the unmanned aerial vehicles at the waypoints and uploading the route file to the unmanned aerial vehicles, and achieving the purpose that the unmanned aerial vehicles cooperatively form a formation to fly according to the preset route.
The further technical proposal is that the azimuth angle of each bureaucratic plane relative to the long plane is calculated according to the course angle of the long plane, comprising the following steps:
obtaining a first line-of-sight angle alpha of each wing aircraft i + n with respect to the long aircraft i from the formation of a straight flight formationi,i+nObtaining a second line-of-sight angle γ of each wing plane i + n with respect to the long plane i, according to the formation of the turn formationi,i+n；
The azimuth angle expression in direct flight is then:
orientation while turningThe angle expression is:
wherein the content of the first and second substances,
is the azimuth angle of the direct flight bureaucratic plane i + n relative to the long plane i,
for the azimuth of a wing plane i + N in a turn with respect to a long plane i, the subscript N denotes the respective wing plane and N belongs to (1, N-1), N being the total number of drones; psii,pFor p waypoint lengthener i heading angle, p denotes waypoint number, and p is 0,1,2 ….
The further technical scheme is that the method for calculating the preset longitude and latitude coordinates of the next waypoint long aircraft during turning comprises the following steps:
calculating the azimuth angle of the next waypoint length machine relative to the circle center of the turn according to the course angle of the current waypoint length machine;
and substituting the preset longitude and latitude coordinate of the turning circle center, the third relative distance and the azimuth angle into the first coordinate conversion formula, and calculating to obtain the preset longitude and latitude coordinate of the next waypoint lengthener during turning.
The further technical scheme is that the method for calculating the azimuth angle of the next waypoint long aircraft relative to the circle center of the turn comprises the following steps:
acquiring the turning angle delta psi between the current waypoint p and the next waypoint p +1 of the leader according to the turning formationp,p+1；
Then the course angle expression of the next waypoint lengthener is: psii,p+1＝ψi,p-Δψp,p+1；
Calculating the azimuth angle of the next waypoint length machine relative to the circle center of the turn according to the course angle of the next waypoint length machine, and then:
the azimuth angle expression at left turn is:
the azimuth angle expression at right turn is:
a further technical scheme is that after the preset longitude and latitude coordinates of the current waypoint wing plane are obtained through calculation, the method further comprises the following steps: calculating preset longitude and latitude coordinates of the circle center of the turn, comprising the following steps:
and setting the third relative distance as the distance between the turning circle center and the long machine, and calculating the azimuth angle of the turning circle center relative to the long machine according to the course angle of the current waypoint long machine, then:
the azimuth angle expression at left turn is:
the azimuth angle expression at right turn is:
and substituting the longitude and latitude coordinates, the third relative distance and the azimuth angle of the current waypoint long machine into a first coordinate conversion formula, and calculating to obtain the preset longitude and latitude coordinates of the turning circle center.
The further technical scheme is that after the preset longitude and latitude coordinates of the circle center of the turn are calculated, the method further comprises the following steps: calculating the preset plane coordinates of each wing plane of the current waypoint relative to the circle center of the turn, comprising:
substituting the preset longitude and latitude coordinates of the circle center of the turn and the preset longitude and latitude coordinates of each wing aircraft at the current waypoint into a second coordinate conversion formula, and calculating to obtain the east distance and the north distance of the circle center of each wing aircraft at the current waypoint relative to the circle center of the turn as preset plane coordinates.
The method has the further technical scheme that when a preset formation is in direct flight, the course angles of the captain aircraft and the wing aircraft are equal at each waypoint, and the direction angle of the same unmanned aerial vehicle at each waypoint is equal to the course angle of the unmanned aerial vehicle; setting the second relative distance as the distance between the current waypoint and the next waypoint of the long aircraft;
calculating the preset longitude and latitude coordinates of the next waypoint long aircraft in the straight flight, comprising the following steps:
and substituting the longitude and latitude coordinates, the second relative distance and the course angle of the current waypoint long aircraft into a first coordinate conversion formula, and calculating to obtain the preset longitude and latitude coordinates of the next waypoint long aircraft in the direct flight process.
The further technical scheme is that the first coordinate conversion formula is as follows:
the azimuth is converted as follows: 90-omega
The conversion formula for converting the plane coordinates into the longitude and latitude coordinates is as follows:
wherein (L)0,B0) For known latitude and longitude coordinates, (L)1,B1) D represents the relative distance between two points for the longitude and latitude coordinates obtained, and omega is (L)1,B1) Relative to (L)0,B0) In the range of 0-360 DEG, k11＝57.29578，k22＝111319.97854；
The second coordinate conversion formula is a conversion formula for converting the latitude and longitude coordinates into the plane coordinates, and is expressed as follows:
wherein x represents (L)1,B1) Relative to (L)0,B0) East coordinate of center of (A), y denotes (L)1,B1) Relative to (L)0,B0) C is a north coordinate of1＝111412.876，k2＝93.503，k3＝111132.952，k4＝559.849。
A further technical scheme is that after the preset longitude and latitude coordinates of the current waypoint wing plane are obtained through calculation, the method further comprises the following steps: calculating the course angle of each wing plane at the current waypoint when turning according to the course angle of the current waypoint long plane, comprising the following steps:
along the speed direction of the current waypoint grandplane, a wing plane with the position ahead of the connecting line of the grandplane and the circle center of the turn is recorded as a wing plane i +1, a wing plane with the position behind the connecting line of the grandplane and the circle center of the turn is recorded as a wing plane i +2, and a wing plane with the position on the connecting line of the grandplane and the circle center of the turn is recorded as a wing plane i + 3;
obtaining a central angle according to the formation of the left turn formation, and recording the central angle as betai,i+nThe central angle is an included angle between the circle center of the turn and the connecting line of each bureaucratic plane i + n and the long plane i respectively;
the course angle expressions of the current waypoints and wing aircrafts when turning left are calculated according to the chord tangent angle theorem are respectively as follows:
ψi+1,p＝ψi,p-βi,i+1，ψi+2,p＝ψi,p+βi,i+2，ψi+3,p＝ψi,p。
the method further adopts the technical scheme that the airway file also comprises an airway number, the flight height of the unmanned aerial vehicle, a turning radius, a circle center east coordinate, a circle center north coordinate, a course angle/turning angle and a character word;
a characteristic word 2211 represents the end point of the turning formation;
turning radius is the distance of each unmanned aerial vehicle to the centre of a circle of turning, and the negative value shows anticlockwise turning, and the positive value shows clockwise turning.
The beneficial technical effects of the invention are as follows:
the preset formation can be any large-scale multi-machine formation conceived by a designer, a plurality of waypoint information at a future moment can be continuously generated by acquiring relative information of the preset formation, including a first/second/third relative distance, longitude and latitude coordinates and a course angle of a current waypoint long machine, and a waypoint file including a straight flight section and a turning section turning at any angle can be generated in real time. Simulation tests show that by adopting the air route file designed by the application, each unmanned aerial vehicle can carry out collaborative formation flying according to a preset air route, and the unmanned aerial vehicle has engineering application value.
Drawings
Fig. 1 is a flowchart of a method of making a route file.
Fig. 2 is a schematic diagram of the positions of the drones at the current waypoint when the drones are in the straight flight formation.
Fig. 3 is a schematic diagram of the positions of the drones at the current waypoints when forming a formation for a left turn.
FIG. 4 is a schematic diagram of the positions of the drones at the current waypoints during the right turn formation
Fig. 5 is a diagram showing a rhombus left turn flight path for formation of drones.
Detailed Description
The following further describes the embodiments of the present invention with reference to the drawings.
The application discloses a method for manufacturing a route file for multi-unmanned aerial vehicle collaborative formation, which is based on a coordinate conversion formula and realizes the mutual conversion of longitude and latitude and plane coordinates of unmanned aerial vehicles. In order to describe the position relationship between each unmanned aerial vehicle and the preset air route, as shown in fig. 2, the current position O of the long aircraft is selectediAs an origin, the X-axis points to the true east direction and the Y-axis points to the true north direction, and an NED coordinate system is established. From this, the bureaucratic plane O can be obtainedi+1、Oi+2、Oi+3Relative to the position of the longplane.
(1) The first coordinate conversion formula is a conversion formula for converting the plane coordinates into the longitude and latitude coordinates, and is expressed as follows:
known waypoints (L)0,B0) And (x, y) are respectively known longitude and latitude coordinates and plane coordinates, and the waypoint (L) to be solved1,B1) For the longitude and latitude coordinates, the relative representation relationship between the known waypoint and the waypoint to be solved is as follows:
wherein D represents the relative distance between two points, and Ω is (L)1,B1) Relative to (L)0,B0) In azimuth, i.e. in (L)0,B0) As the origin, true north is 0 degrees, starting clockwise from true north and (L)1,B1) And (L)0,B0) The included angle formed by the connecting lines between the two is 0 to 360 degrees.
For ease of calculation, the azimuth is converted as follows: q' ═ 90-q (3)
And the following relationship between the relative distance and (x, y):
the conversion formula for converting the plane coordinates into the longitude and latitude coordinates is as follows:
wherein k is11＝57.29578，k22＝111319.97854。
(2) The second coordinate conversion formula is a conversion formula for converting the latitude and longitude coordinates into the plane coordinates, and is expressed as follows:
known waypoints (L)0,B0) And (L)1,B1) And then:
wherein x represents (L)1,B1) Relative to (L)0,B0) East coordinate of center of (A), y denotes (L)1,B1) Relative to (L)0,B0) C is a north coordinate of1＝111412.876，k2＝93.503，k3＝111132.952，k4＝559.849。
The first embodiment is as follows:
in a formation formed by N unmanned aerial vehicles, a preset direct flight schematic diagram of the formation of the unmanned aerial vehicles is shown in fig. 2, a current position of a long aircraft i is set as a current waypoint P, and a method for manufacturing a designed direct flight route file comprises the following steps:
step 1: when a formation direct flight instruction is clicked, the P waypoint length is obtainedReal-time information of the machine, including latitude and longitude coordinates (L)i,p,Bi,p) Heading angle psii,pVelocity vi,p. The course angle is an included angle formed by the due north direction and the speed direction of the unmanned aerial vehicle.
Step 2: obtaining, from the formation of a straight flight formation, a first relative distance and a first angle of view α of each bureaucratic machine i + n with respect to the long machine ii,i+nWherein the first relative distance is the distance between each wing aircraft i + n and the grand aircraft i, denoted di,i+n(ii) a The first line-of-sight angle is the angle between the speed direction of the long plane i and the line connecting the long plane i and each wing plane i + n.
And step 3: and calculating the azimuth angle of each wing plane i + n relative to the long plane i according to the course angle of the long plane.
The azimuth angle expression in direct flight is:
wherein the content of the first and second substances,
is the azimuth angle of a direct flight bureaucratic plane i + N relative to a long plane i, the subscript N represents each bureaucratic plane, and N belongs to (1, N-1), N is the total number of unmanned planes; psii,pFor p waypoint lengthener i heading angle, p denotes waypoint number, and p is 0,1,2 ….
And 4, step 4: the longitude and latitude coordinates (L) of the P navigation point lengthening machine ii,p,Bi,p) A first relative distance di,i+nAnd azimuth angle
Substituting the coordinate values into (3) and (5) of the first coordinate conversion formula to calculate to obtain a preset longitude and latitude coordinate (L) of each bureaucratic i + n of P waypointsi+n,p,Bi+n,p)。
When multiple unmanned planes fly straight, the course angles of the long plane and each wing plane are equal at each waypoint, and the direction angle of the same unmanned plane at each waypoint is equal to the course angle. Thus the course angle ψ of each wing aircraft i + n at P waypointi+n,p＝ψi,p。
And 5: and judging whether all waypoints are traversed, if not, entering the step 6, and otherwise, entering the step 7.
Step 6: the preset longitude and latitude coordinates of the P +1 navigation point length machine during the formation of the straight flying formation are calculated, and the method comprises the following steps:
step 61: obtaining a second relative distance according to the straight flying formation form, wherein the second relative distance is the distance from the P waypoint to the P +1 waypoint of the long plane and is marked as Dp,p+1。
Step 62: the longitude and latitude coordinates (L) of the P navigation point lengthening machine ii,p,Bi,p) Second relative distance Dp,p+1And heading angle psii,pSubstituting the coordinate into (3) and (5) of the first coordinate conversion formula, and calculating to obtain the preset longitude and latitude coordinates (L) of the P +1 waypoint long aircraft i in the straight flight processi,p+1,Bi,p+1) Course angle psi of Changtai I at P +1 waypointi,p+1＝ψi,p。
And (5) repeatedly executing the step (2) until the preset longitude and latitude coordinates (L) of each unmanned aerial vehicle of the P + w navigation points are obtainedi+n,p+w,Bi+n,p+w) And its course angle psii+n,p+w＝ψi,p+w。
And 7: and establishing a direct flight path file according to the preset longitude and latitude coordinates of each waypoint unmanned aerial vehicle and uploading the direct flight path file to each unmanned aerial vehicle, so that the unmanned aerial vehicles can cooperatively form a formation flight according to the preset air route.
The fairway file also comprises a navigation point number, the flight height of the unmanned aerial vehicle, a turning radius, an east coordinate of a circle center, a north coordinate of the circle center, a course angle/turning angle and a characteristic word, wherein the characteristic word is 2211 and represents the terminal point of the formation of the turning formation. In the straight flight path file, the turning radius, the east coordinate of the circle center and the north coordinate of the circle center are all 0. The straight flight path file obtained by the above method is shown in table 1.
TABLE 1 direct flight route document
Example two:
in a formation composed of N unmanned aerial vehicles, a preset turning flight schematic diagram of the formation of the unmanned aerial vehicles is shown in fig. 3 and 4. In the turning flight segment, all unmanned aerial vehicles turn at a certain pointA circle center O, wherein the first unmanned aerial vehicle provided with the inner ring along the speed direction is a long aircraft and is marked as a long aircraft i, and when the circle center O is arranged at the current navigation point P, the position of the long aircraft i is A1The distribution of the positions of the respective bureaucratic machines i + n is divided into three cases: along the speed direction of a Pvopoint long plane i, a wing plane I +1 with the position ahead of the connecting line of the long plane i and the circle center O of a turn is set as a wing plane I +1, the position is B, and the projection point of the inner circle is set as B'; a wing plane behind a connecting line between the long plane i and the circle center O of the turn is denoted as wing plane i +2, the position is C, and the projection point of the wing plane and the inner circle is C'; the wing plane at the connection of the long plane i and the centre of the turn O is denoted as wing plane i +3 and the position is D. When the next navigation point P +1 is reached, the position of the long aircraft i is A2。
Referring to fig. 1, the method for making the designed turning route file includes the following steps:
step 1: when a formation turning instruction is clicked, real-time information of the P-way point pilot station is acquired, wherein the real-time information comprises longitude and latitude coordinates (L)i,p,Bi,p) Heading angle psii,pVelocity vi,p. The course angle is an included angle formed by the due north direction and the speed direction of the unmanned aerial vehicle.
Step 2: obtaining a first relative distance and a second line-of-sight angle gamma of each bureaucratic machine i + n with respect to the long machine i from the formation of the turni,i+nWherein the first relative distance is the distance between each wing aircraft i + n and the grand aircraft i, denoted di,i+n(ii) a The second line-of-sight angle is the angle between the speed direction of the long plane i and the line connecting the long plane i and each wing plane i + n.
And step 3: and calculating the azimuth angle of each wing plane i + n relative to the long plane i according to the course angle of the long plane.
The azimuth angle expression during turning is as follows:
wherein the content of the first and second substances,
for the azimuth of a wing plane i + N in a turn with respect to a long plane i, the subscript N denotes the respective wing plane and N belongs to (1, N-1), N being the total number of drones; psii,pFor p waypoint, the heading angle of the aircraft i is lengthened, and p represents waypoint numberAnd p is 0,1,2 ….
And 4, step 4: the longitude and latitude coordinates (L) of the P navigation point lengthening machine ii,p,Bi,p) A first relative distance di,i+nAnd azimuth angle
Substituting the coordinate values into (3) and (5) of the first coordinate conversion formula to calculate to obtain a preset longitude and latitude coordinate (L) of each bureaucratic i + n of P waypointsi+n,p,Bi+n,p)。
And 5: calculating the course angle of each wing plane i + n at P waypoints during turning according to the course angle of the long plane i at P waypoints, comprising the following steps:
obtaining a central angle according to the formation of the left turn formation, and recording the central angle as betai,i+nThe central angle is the included angle between the circle center O of the turn and the connecting line of each bureaucratic machine i + n and the long machine i respectively;
from the theorem of chord tangent angle, at Δ A1In OB, central angle βi,i+1Is a chord length A1B' and the tangential angle chi of the speed direction of the long machine1The direction of the speed of the projected point B' of the bureaucratic machine i +1 is equivalent to the tangential angle χ which turns the direction of the speed of the longeron i by 2 times1Therein x1＝χ2Other bureaucratic machines i + n have the same theory. Then the course angle expressions of respective wing machines i + n at P waypoints when turning left are respectively:
ψi+1,p＝ψi,p-βi,i+1，ψi+2,p＝ψi,p+βi,i+2，ψi+3,p＝ψi,p。
the course angle calculation method of each wing plane i + n at P waypoints when turning right similarly is the same, and the course angle information when turning is shown in table 2.
TABLE 2 course angle information for unmanned aerial vehicle turn formation
Step 6: calculating a preset longitude and latitude coordinate of a turning circle center O, comprising the following steps:
step 61: obtaining a third relative distance according to the turning formation, wherein the third relative distance is the distance between the turning circle center O and the long machine i, namely the turning radius of the long machine i and is recorded as RiThe turning radius of each bureaucratic i + n is denoted as Ri+n。
Step 62: calculating the azimuth angle of the turning circle center O relative to the long aircraft i according to the course angle of the P navigation point long aircraft i, and then:
the azimuth angle expression at left turn is:
the azimuth angle expression at right turn is:
and step 63: the longitude and latitude coordinates (L) of the P navigation point lengthening machine ii,p,Bi,p) The third relative distance RiAnd azimuth angle Ωi,oSubstituting the coordinates into (3) and (5) of a first coordinate conversion formula to calculate to obtain a preset longitude and latitude coordinate (L) of a turning circle center Oo,Bo)。
And 7: calculating the preset plane coordinates of the P waypoints respective wing plane with respect to the centre O of the turn, comprising:
the preset longitude and latitude coordinates (L) of the circle center O of the turno,Bo) Preset longitude and latitude coordinates (L) of P waypoints respective wing plane i + ni+n,p,Bi+n,p) Substituting the obtained result into a second coordinate conversion formula (6) to calculate the east distance x of the centre of circle of each wing plane i + n of the P waypoint relative to the centre of circle O of the turno,i+nAnd the north distance y of the circle centero,i+nAs preset planar coordinates.
And 8: and judging whether all the waypoints are traversed, if not, entering the step 9, and otherwise, entering the step 10.
And step 9: the preset longitude and latitude coordinates of the P +1 waypoint length machine during the turning formation are calculated, and the method comprises the following steps:
step 91: calculating the azimuth angle of the P +1 waypoint length machine i relative to the turning circle center O according to the course angle of the P waypoint length machine i, and the method comprises the following steps:
acquiring the turning angle delta psi between the current waypoint p and the next waypoint p +1 of the leader according to the turning formationp,p+1；
Then the course angle expression of the p +1 waypoint lengthener i is as follows: psii,p+1＝ψi,p-Δψp,p+1；
Calculating the azimuth angle of the p +1 waypoint length machine i relative to the turning circle center O according to the course angle of the p +1 waypoint length machine i, and then:
the azimuth angle expression at left turn is:
the azimuth angle expression at right turn is:
and step 92: the preset longitude and latitude coordinates (L) of the circle center O of the turno,Bo) The third relative distance RiAnd azimuth angle Ωo,iSubstituting the coordinates into (3) and (5) of the first coordinate conversion formula to calculate and obtain the preset longitude and latitude coordinates (L) of the p +1 waypoint long aircraft i during turningi,p+1,Bi,p+1)。
And (5) repeatedly executing the step (2) until the preset longitude and latitude coordinates (L) of each unmanned aerial vehicle of the P + w navigation points are obtainedi+n,p+w,Bi+n,p+w) And its course angle psii+n,p+w。
Step 10: and establishing a turning route file according to the preset longitude and latitude coordinates of each waypoint unmanned aerial vehicle and uploading the turning route file to each unmanned aerial vehicle, so that the unmanned aerial vehicles can cooperatively form a formation to fly according to the preset air route.
The fairway file also comprises a navigation point number, the flying height of the unmanned aerial vehicle, a turning radius, a circle center east coordinate, a circle center north coordinate, a course angle/turning angle and a characteristic word. The turning radius is the distance from each unmanned aerial vehicle to a turning circle center O, a negative value represents anticlockwise turning, and a positive value represents clockwise turning; a characteristic word 2211 indicates the end of the turn formation. The turning route file obtained by the above method is shown in table 3.
TABLE 3 Turn course File
By adopting the method for manufacturing the route file, the route file with the rhombus left turn of the unmanned aerial vehicle formation can be obtained, the unmanned aerial vehicle group route display based on the route file is shown in fig. 5, and it can be known that in actual conditions, the route of the unmanned aerial vehicle can simultaneously comprise a straight flight section and a turning flight section, so that the obtained route file simultaneously comprises straight flight information and turning information.
What has been described above is only a preferred embodiment of the present application, and the present invention is not limited to the above embodiment. It is to be understood that other modifications and variations directly derivable or suggested by those skilled in the art without departing from the spirit and concept of the present invention are to be considered as included within the scope of the present invention.
Claims (10)
1. A method for manufacturing an airway file for multi-unmanned aerial vehicle collaborative formation is characterized by comprising the following steps:
acquiring real-time information of a current waypoint long machine, wherein the real-time information comprises longitude and latitude coordinates and a course angle;
acquiring relative distances among unmanned aerial vehicles according to a preset formation form, wherein the preset formation form comprises direct flight and turning, and the first relative distance is the distance between each wing plane and the captain plane;
calculating the azimuth angle of each wing plane relative to the grand plane according to the course angle of the grand plane;
substituting the longitude and latitude coordinates, the first relative distance and the azimuth angle of the current waypoint wing aircraft into a first coordinate conversion formula to calculate and obtain preset longitude and latitude coordinates of each wing aircraft of the current waypoint;
judging whether all waypoints are traversed or not, if not, calculating preset longitude and latitude coordinates of a leader at the next waypoint when different preset formation forms exist, repeatedly executing the steps of obtaining the relative distance between the unmanned aerial vehicles according to the preset formation forms and calculating to obtain the preset longitude and latitude coordinates of each leader at the next waypoint;
if so, establishing a route file according to the preset longitude and latitude coordinates of the unmanned aerial vehicles at each waypoint and uploading the route file to each unmanned aerial vehicle, so that the unmanned aerial vehicles can cooperatively form a formation to fly according to a preset route;
the first coordinate conversion formula is:
converting the azimuth angle as follows: 90-omega
The conversion formula for converting the plane coordinates into the longitude and latitude coordinates is as follows:
wherein (L)0,B0) For known latitude and longitude coordinates, (L)1,B1) D represents the relative distance between two points for the longitude and latitude coordinates obtained, and omega is (L)1,B1) Relative to (L)0,B0) In the range of 0-360 DEG, k11＝57.29578，k22＝111319.97854。
2. The method for creating a route file for collaborative formation of multiple drones according to claim 1, wherein said calculating the azimuth angle of each bureaucratic plane with respect to the grand plane according to the heading angle of the grand plane comprises:
obtaining a first line-of-sight angle alpha of each wing aircraft i + n with respect to said long aircraft i, from a direct flight formationi,i+nObtaining, from the formation of a turn, a second line-of-sight angle γ of each wing plane i + n with respect to said long plane ii,i+n；
The azimuth angle expression in direct flight is then:
the azimuth angle expression during turning is as follows:
wherein the content of the first and second substances,
is the azimuth angle of the direct flight bureaucratic plane i + n relative to the long plane i,
for the azimuth of a wing plane i + N in a turn with respect to a long plane i, the subscript N denotes the respective wing plane and N belongs to (1, N-1), N being the total number of drones; psii,pFor p waypoint lengthener i heading angle, p denotes waypoint number, and p is 0,1,2 ….
3. The method for making a route file for collaborative formation of multiple unmanned aerial vehicles according to claim 1, wherein calculating the preset longitude and latitude coordinates of the next waypoint leader at the time of turning comprises:
calculating the azimuth angle of the next waypoint length machine relative to the circle center of the turn according to the course angle of the current waypoint length machine;
and substituting the preset longitude and latitude coordinate of the turning circle center, the third relative distance and the azimuth angle into the first coordinate conversion formula, and calculating to obtain the preset longitude and latitude coordinate of the next waypoint long machine during turning.
4. The method for making the route file for the collaborative formation of the multiple unmanned aerial vehicles according to claim 3, wherein calculating the azimuth angle of the next waypoint with respect to the center of the turn comprises:
acquiring a turning angle delta psi between the current waypoint p and the next waypoint p +1 of the longplane according to the turning formationp,p+1；
Then the course angle expression of the next waypoint lengthener is as follows: psii,p+1＝ψi,p-Δψp,p+1；
Calculating the azimuth angle of the next waypoint length machine relative to the turning circle center according to the course angle of the next waypoint length machine, and then:
the azimuth angle expression at left turn is:
the azimuth angle expression at right turn is:
5. a method for making a route file for collaborative formation of multiple drones according to claim 3, wherein after obtaining the preset longitude and latitude coordinates of each bureaucratic of the current waypoint through calculation, said method further comprises: calculating preset longitude and latitude coordinates of the circle center of the turn, comprising the following steps:
setting a third relative distance as the distance between the turning circle center and the long machine, and calculating the azimuth angle of the turning circle center relative to the long machine according to the course angle of the current waypoint long machine, then:
the azimuth angle expression at left turn is:
the azimuth angle expression at right turn is:
and substituting the longitude and latitude coordinates, the third relative distance and the azimuth angle of the current waypoint long machine into the first coordinate conversion formula, and calculating to obtain the preset longitude and latitude coordinates of the turning circle center.
6. The method for making the route file for the cooperative formation of multiple unmanned aerial vehicles according to claim 5, wherein after the calculating of the preset longitude and latitude coordinates of the circle center of the turn, the method further comprises: calculating preset plane coordinates of the current waypoint bureaucratic machines relative to the circle center of the turn, comprising:
substituting the preset longitude and latitude coordinates of the circle center of the turn and the preset longitude and latitude coordinates of each wing aircraft at the current waypoint into a second coordinate conversion formula, and calculating to obtain the east distance and the north distance of the circle center of each wing aircraft at the current waypoint relative to the circle center of the turn as preset plane coordinates.
7. A method for making a route file for a collaborative formation of multiple drones according to claim 1, wherein when said predetermined formation is a direct flight, the heading angles of said franchise and bureaucratic plane are equal at each waypoint, and the heading angle of the same drone at each waypoint is equal to its heading angle; setting a second relative distance as the distance between the current waypoint and the next waypoint of the long aircraft;
calculating the preset longitude and latitude coordinates of the next waypoint long aircraft in the straight flight, comprising the following steps:
and substituting the longitude and latitude coordinates, the second relative distance and the course angle of the current waypoint long aircraft into a first coordinate conversion formula, and calculating to obtain the preset longitude and latitude coordinates of the next waypoint long aircraft in the direct flight process.
8. The method for making a route file for collaborative formation of multiple drones according to claim 6, wherein the second coordinate transformation formula is a transformation formula for transforming longitude and latitude coordinates into plane coordinates, and is expressed as follows:
wherein x represents (L)1,B1) Relative to (L)0,B0) East coordinate of center of (A), y denotes (L)1,B1) Relative to (L)0,B0) C is a north coordinate of1＝111412.876，k2＝93.503，k3＝111132.952，k4＝559.849。
9. A method for making a route file for a collaborative formation of multiple drones, according to any of the claims 1-6, characterized in that after calculating the preset longitude and latitude coordinates of the current waypoint bureaucratic plane, said method further comprises: calculating the course angle of each wing plane at the current waypoint when turning according to the course angle of the current waypoint long plane, comprising the following steps:
along the speed direction of the current waypoint long plane, a wing plane with the position ahead of the connection line of the long plane and the circle center of the turn is recorded as a wing plane i +1, a wing plane with the position behind the connection line of the long plane and the circle center of the turn is recorded as a wing plane i +2, and a wing plane with the position on the connection line of the long plane and the circle center of the turn is recorded as a wing plane i + 3;
obtaining a central angle according to the formation of the left turn formation, and recording the central angle as betai,i+nThe central angle is an included angle between the circle center of the turn and the connecting line of each bureaucratic machine i + n and the long machine i respectively;
the course angle expressions of the current waypoints and wing aircrafts when turning left are calculated according to the chord tangent angle theorem are respectively as follows:
ψi+1,p＝ψi,p-βi,i+1，ψi+2,p＝ψi,p+βi,i+2，ψi+3,p＝ψi,p。
10. the method for making an airway file for collaborative formation of multiple unmanned aerial vehicles according to any one of claims 1-8, wherein the airway file further comprises an airway number, an unmanned aerial vehicle flight altitude, a turning radius, a circle center east coordinate, a circle center north coordinate, a course angle/turning angle, and a character word;
the characteristic word 2211 represents the end point of the turning formation;
the turning radius is the distance from each unmanned aerial vehicle to the turning circle center, a negative value represents anticlockwise turning, and a positive value represents clockwise turning.
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