CN113110569B - Multi-unmanned aerial vehicle cyclic formation dynamic trapping method under wireless ultraviolet light cooperation - Google Patents
Multi-unmanned aerial vehicle cyclic formation dynamic trapping method under wireless ultraviolet light cooperation Download PDFInfo
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Abstract
The invention discloses a multi-unmanned aerial vehicle cyclic formation dynamic trapping method under wireless ultraviolet light cooperation, which comprises the steps of firstly carrying out inter-machine information interaction by utilizing the characteristics of wireless ultraviolet light secret communication according to the detected state information of a target, and assigning unmanned aerial vehicles to reach expected cyclic formation positions; and then, the ultraviolet light is utilized to detect the position information of the moving target in real time, and the circular navigation radius is reduced, so that the trapping is realized. According to the multi-unmanned aerial vehicle cyclic formation dynamic trapping method under the wireless ultraviolet light cooperation, the characteristics of wireless ultraviolet light secret communication are utilized to conduct inter-machine information interaction, unmanned aerial vehicles are assigned to reach expected cyclic formation positions, dynamic trapping is achieved, and stability and reliability of multi-unmanned aerial vehicle inter-cyclic formation control are improved.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle formation and cooperative capturing, and relates to a multi-unmanned aerial vehicle cyclic navigation formation dynamic capturing method under wireless ultraviolet light cooperation.
Background
With the development and the growth of unmanned aerial vehicle technology in recent years, unmanned aerial vehicles play an irreplaceable role from the civil field to the military field. Due to the appearance of the 'black flight' unmanned aerial vehicle, the unmanned aerial vehicle is required to be captured by civil aviation, high-speed rail and law enforcement departments, but the complex task cannot be completed well by a single unmanned aerial vehicle due to the limited quantity of airborne equipment and low working efficiency, so that the cooperation mode of multiple unmanned aerial vehicles is applied. Compared with a single unmanned aerial vehicle system, the multi-unmanned aerial vehicle system can cooperatively complete more complex tasks, improves task completion quality, improves task completion efficiency through internal information sharing, has good fault tolerance and robustness and stronger task execution capacity, and therefore becomes a research hotspot in the current military and civil fields and presents a rapid development situation.
The unmanned aerial vehicle can protect the target from advancing in a circumnavigation mode or can trap the target in the circumnavigation mode. Because the unmanned aerial vehicle and the target are dynamic in the circumnavigation process, the unmanned aerial vehicle is required to perform inter-machine information interaction in a safe and secret communication mode under complex and changeable war environments so as to ensure the dynamic and stable progress of the unmanned aerial vehicle surrounding the target. The wireless ultraviolet light has the advantages of low resolution, low eavesdropping rate, strong electromagnetic interference resistance, low background noise, all-weather non-direct-view communication and the like, overcomes the disadvantages of other communication modes, ensures the safety of unmanned aerial vehicle formation flying in a special environment, and greatly improves the formation capturing efficiency.
In the aspect of the cyclic formation control, the method is divided into a centralized cyclic formation control and a distributed cyclic formation control. Because the centralized cyclic formation control needs a central unmanned aerial vehicle to transmit information, if the central unmanned aerial vehicle is damaged, the information interaction is failed, so that the trapping task cannot be completed; in the distributed cyclic formation control process, local information interaction is carried out among a plurality of unmanned aerial vehicles, a circular formation is formed autonomously, and the target is enabled to move around at a certain angular speed, so that the target cannot escape. There is a great need for intensive research into distributed cyclic formation control.
The method has the advantages that the wireless ultraviolet stealth communication is combined, the existing cyclic formation control method is researched, so that the unmanned aerial vehicle detects and interacts the motion information of the target in real time in the target moving process, and the dynamic cyclic formation trapping method of the multiple unmanned aerial vehicles is designed to be consistent with the wireless ultraviolet cooperation.
Disclosure of Invention
The invention aims to provide a multi-unmanned aerial vehicle cyclic formation dynamic trapping method under wireless ultraviolet light cooperation, which utilizes the characteristics of wireless ultraviolet light secret communication to perform inter-machine information interaction, and assigns unmanned aerial vehicles to reach expected cyclic formation positions so as to realize dynamic trapping.
According to the technical scheme, the ultraviolet MIMO communication module is arranged in each unmanned aerial vehicle under the cooperation of wireless ultraviolet light, the ultraviolet MIMO communication module comprises a hemispherical LED array device, the surface of the hemispherical LED array device is divided into M weft directions and N warp directions, an ultraviolet LED transmitting device is arranged at a weft-warp intersection point, an omnidirectional receiver is arranged at the top of the hemispherical LED array device and is electrically connected with a central controller through a cable, a beam splitter is arranged on the front, rear, left and right sides of the hemispherical LED array device, the four beam splitters can receive ultraviolet light emitted by the ultraviolet LED transmitting device on the whole surface of the corresponding surface, the ultraviolet LED transmitting device emits the ultraviolet light to be divided into two beams through the beam splitters on the corresponding surface, one beam of ultraviolet LED transmitting device emits the ultraviolet light to an object, and the other beam of ultraviolet LED transmitting device and the central controller are also electrically connected with an unmanned aerial vehicle control system through cables.
The method comprises the following specific steps:
step 1, initializing position and speed information of unmanned aerial vehicles and targets, wherein each unmanned aerial vehicle sends out self state information through an ultraviolet LED sending device, receives state information of adjacent unmanned aerial vehicles through an omnidirectional receiver and stores the state information;
step 2, the unmanned aerial vehicle detects target information in real time by using an ultraviolet MIMO communication module and shares the target information with other unmanned aerial vehicles in real time;
step 3, if the unmanned aerial vehicle reaches a desired cyclic navigation position after finding the target, surrounding the target in the formation, then executing step 4, and if the target is not found, repeating step 2;
step 4, the unmanned aerial vehicle continuously detects the motion information of the target in real time by using the ultraviolet MIMO communication module and adjusts the circumnavigation position in real time;
and 5, reducing the current loop radius when the loop formation and the target are relatively static, regarding the loop formation as successful capture, ending the loop, and repeating the step 4 if the loop formation and the target are unstable.
The present invention is also characterized in that,
each ultraviolet LED transmitting device is provided with a code, and the code consists of a weft code and a warp code, and reflects the direction of a light beam emitted by the ultraviolet LED transmitting device relative to the node; each ultraviolet LED transmitting device can independently transmit information to finish the task of transmitting information.
The real-time detection of the target information by the ultraviolet MIMO communication module in the flight process is specifically as follows: in the flight process of the unmanned aerial vehicle, the ultraviolet LED transmitting device transmits ultraviolet pulse signals, reflection and scattering can occur when the ultraviolet pulse signals are irradiated on a target object, the omnidirectional receiver receives the reflected light signals, and the distance of the target is calculated by measuring the time interval between the transmission and the reception of the light signals.
The central controller comprises a photoelectric tube, a constant proportion start-stop time discriminator, a digital delay circuit, a register and a singlechip which are electrically connected through a cable, the singlechip is electrically connected with an unmanned aerial vehicle control system through the cable, the omnidirectional receiver is electrically connected with the constant proportion start-stop time discriminator through the cable, the ultraviolet LED transmitting device transmits ultraviolet light to the corresponding face of the beam splitter and then is divided into two beams through the beam splitter, one beam of ultraviolet light is emitted to the target, and the other beam of ultraviolet light is emitted to the photoelectric tube.
The ultraviolet MIMO communication module detects target information in real time in the flight process, and the method is implemented according to the following steps:
step 2.1, an ultraviolet LED transmitting device on the unmanned aerial vehicle transmits a narrow pulse light wave signal, the light wave is transmitted by a beam splitter and is divided into two beams, one beam is transmitted to a constant proportion start-stop moment discriminator after being converted into an electric signal by a photoelectric tube, the constant proportion start-stop moment discriminator triggers timing, and after the timing is triggered, the signal enters a digital delay circuit;
the other beam is shot to the target, reflected by the target and received by an omnidirectional receiver, the omnidirectional receiver transmits the received signal to a constant proportion start-stop time discriminator, the constant proportion start-stop time discriminator triggers and stops timing, and a pulse signal sent by the constant proportion start-stop time discriminator directly enters a register after passing through a digital delay circuit;
step 2.2, the singlechip reads the register to obtain the number N of the delay units, and the delay of a single delay unit is set as t 0 The start-stop time interval is t=t 0 X n, target distanceAnd c is the light speed, and the information is transmitted to the unmanned aerial vehicle control system after the target distance is calculated.
And after receiving the target distance, the unmanned aerial vehicle control system transmits the information to the ultraviolet LED transmitting device, and the target information is shared through the ultraviolet LED transmitting device and the omnidirectional receiver.
And 5, reducing the current circumscribing radius to be within five meters.
The beneficial effects of the invention are as follows:
(1) The multi-unmanned aerial vehicle cyclic formation control model under the wireless ultraviolet light is constructed, the wireless ultraviolet light LED transceiver is utilized to mutually provide the flight state among the unmanned aerial vehicles, so that the information among the unmanned aerial vehicles can be interacted in real time, and the stability and the reliability of the multi-unmanned aerial vehicle cyclic formation control are improved.
(2) The unmanned aerial vehicle cyclic formation dynamic trapping method under the wireless ultraviolet light communication solves the problems of real-time detection and information interaction of unmanned aerial vehicle cyclic formation targets in a battlefield environment, and provides thinking for further researching the unmanned aerial vehicle cyclic formation dynamic trapping problem in the battlefield environment.
Drawings
Fig. 1 is a schematic structural diagram of a multi-unmanned aerial vehicle cyclic formation dynamic trapping method under the cooperation of wireless ultraviolet light;
FIG. 2 is a flow chart of the multi-unmanned aerial vehicle cyclic formation dynamic trapping method under the wireless ultraviolet light cooperation of the invention;
fig. 3 is a schematic structural diagram of a hemispherical LED array device in the dynamic trapping method of the multi-unmanned aerial vehicle cyclic formation under the cooperation of wireless ultraviolet light;
fig. 4 is a position diagram of a unmanned aerial vehicle in a polar coordinate system in a cyclic navigation process in a multi-unmanned aerial vehicle cyclic navigation formation dynamic trapping method under the cooperation of wireless ultraviolet light;
fig. 5 is a position diagram of an unmanned aerial vehicle in a three-dimensional space in the multi-unmanned aerial vehicle cyclic formation dynamic trapping method under the wireless ultraviolet light cooperation of the invention.
In the figure, a ultraviolet light MIMO communication module, a hemispherical LED array device, a ultraviolet LED transmitting device, a omni-directional receiver, a central controller, a beam splitter, a photoelectric tube, a constant proportion starting and ending time discriminator, a digital delay circuit, a register and a singlechip are respectively arranged in sequence, wherein the ultraviolet light MIMO communication module, the hemispherical LED array device, the ultraviolet LED transmitting device, the omni-directional receiver, the central controller, the beam splitter, the photoelectric tube and the constant proportion starting and ending time discriminator are respectively arranged in sequence, the digital delay circuit is arranged in sequence, and the digital delay circuit is arranged in sequence.
Detailed Description
The invention will be described in detail below with reference to the drawings and the detailed description.
The invention relates to a multi-unmanned aerial vehicle cyclic formation dynamic capture method under the cooperation of wireless ultraviolet light, the structure of which is shown in figures 1 and 3, an ultraviolet light MIMO communication module 1 is arranged in each unmanned aerial vehicle, the ultraviolet light MIMO communication module comprises a hemispherical LED array device 2, the surface of the hemispherical LED array device 2 is divided into M weft directions and N warp directions, an ultraviolet LED transmitting device 3 is arranged at a weft intersection point, an omnidirectional receiver 4 is arranged at the top of the hemispherical LED array device 2, the omnidirectional receiver 4 is also electrically connected with a central controller 5 through cables, a beam splitter 6 is arranged on the front, back, left and right sides of the hemispherical LED array device 2, the four beam splitters 6 can receive ultraviolet light emitted by the ultraviolet LED transmitting device 3 on the whole surface of the corresponding surface, the ultraviolet LED transmitting device 3 transmits the ultraviolet light to the beam splitter 6 on the corresponding surface and then is divided into two beams, one beam is transmitted to the central controller 5, the other beam is transmitted to the central controller 5, the ultraviolet LED transmitting device 3 and the central controller 5 are also electrically connected with an unmanned aerial vehicle control system through cables, and each ultraviolet LED transmitting device 3 has a code corresponding to the weft direction of the ultraviolet LED transmitting device, and the code is coded by the ultraviolet light encoding device itself; each ultraviolet LED transmitting device 3 can independently transmit information to finish the task of transmitting information;
as shown in fig. 2, the specific steps are as follows:
step 1, initializing position and speed information of unmanned aerial vehicles and targets, wherein each unmanned aerial vehicle sends out self state information through an ultraviolet LED sending device 3, receives and stores state information of adjacent unmanned aerial vehicles through an omnidirectional receiver 4;
step 2, the unmanned aerial vehicle detects target information in real time by using the ultraviolet MIMO communication module 1 and shares the target information with other unmanned aerial vehicles in real time, and the method specifically comprises the following steps:
in the flight process of the unmanned aerial vehicle, the ultraviolet LED transmitting device 3 transmits ultraviolet pulse signals, reflection and scattering can occur when the ultraviolet pulse signals are irradiated on a target object, the omnidirectional receiver 4 receives the reflected light signals, and the distance of the target object is calculated by measuring the time interval between the transmission and the reception of the light signals; the central controller 5 comprises a photoelectric tube 7, a constant proportion start-stop moment discriminator 8, a digital delay circuit 9, a register 10 and a singlechip 11 which are electrically connected through cables, the singlechip 11 is electrically connected with an unmanned plane control system through cables, the omnidirectional receiver 4 and the constant proportion start-stop moment discriminator 8 are electrically connected through cables, the ultraviolet LED transmitting device 3 transmits ultraviolet light towards the corresponding face of the beam splitter 6 and then is divided into two beams through the beam splitter 6, one beam is directed to a target, and the other beam is directed to the photoelectric tube 7.
The ultraviolet light MIMO communication module 1 detects target information in real time in the flight process, and the method is implemented according to the following steps:
step 2.1, an ultraviolet LED transmitting device 3 on the unmanned aerial vehicle transmits a narrow pulse light wave signal, the light wave is transmitted by a beam splitter 6 and is divided into two beams, one beam is transmitted to a constant proportion start-stop moment discriminator 8 after being converted into an electric signal by a photoelectric tube 7, the constant proportion start-stop moment discriminator 8 triggers timing, and after triggering timing, the signal enters a digital delay circuit 9;
the other beam is shot to the target, reflected by the target and received by the omnidirectional receiver 4, the omnidirectional receiver 4 transmits the received signal to the constant proportion start-stop time discriminator 8, the constant proportion start-stop time discriminator 8 stops timing after triggering, and the pulse signal sent by the constant proportion start-stop time discriminator 8 directly enters the register 10 after passing through the digital delay circuit 9;
step 2.2, the singlechip 11 reads the register to obtain the number N of delay units, and the delay of a single delay unit is set as t 0 The start-stop time interval is t=t 0 X n, target distanceC is the light speed, the information is transmitted to the unmanned aerial vehicle control system after the target distance is calculated, and the unmanned aerial vehicle control system transmits the information to the purple after receiving the target distanceThe outer LED transmitting device 3 is used for sharing real target information through the ultraviolet LED transmitting device 3 and the omnidirectional receiver 4;
step 3, if the unmanned aerial vehicle reaches a desired cyclic navigation position after finding the target, surrounding the target in the formation, then executing step 4, and if the target is not found, repeating step 2;
step 4, the unmanned aerial vehicle continuously detects the motion information of the target in real time by using the ultraviolet MIMO communication module 1 and adjusts the circumnavigation position in real time;
and 5, reducing the current loop radius when the loop formation and the target are relatively static, regarding the successful capturing, ending the loop, and repeating the step 4 if the loop is unstable, wherein the current loop radius is reduced to be within five meters.
According to the detected state information of the target, the invention firstly utilizes the characteristics of wireless ultraviolet stealth communication to carry out information interaction among machines, and assigns the unmanned aerial vehicle to reach the expected circumnavigation formation position; and then, the ultraviolet light is utilized to detect the position information of the moving target in real time, and the circular navigation radius is reduced.
The inter-plane communication is an essential loop of unmanned aerial vehicle cluster combat, when a plurality of unmanned aerial vehicles capture a dynamic target, according to the flight characteristics of the unmanned aerial vehicles and the scattering characteristics of wireless ultraviolet light, ultraviolet light with different wavelengths emitted by an LED array of an onboard hemispherical MIMO structure is utilized, and the ultraviolet light is transmitted and received through signals, so that real-time interaction of information in the flight process of the plurality of unmanned aerial vehicles is realized, the effect of hidden communication is achieved, the effectiveness of information transmission among the unmanned aerial vehicles is guaranteed, and a new idea is provided for safety and secret communication of unmanned aerial vehicle formation under the environment of a battlefield of our research.
When a plurality of unmanned aerial vehicles carry out circumscribing and capturing on a target, the unmanned aerial vehicle system is formed by a plurality of unmanned aerial vehicles with autonomous movement capacity of n (n is more than or equal to 2), wherein each unmanned aerial vehicle respectively uses r 1 ，r 2 ，...r n And (3) representing. These unmanned aerial vehicles are to form a circular formation at arbitrary intervals and autonomously orbit, i.e. do circular movements, in three dimensions, the targets being denoted S. When the target moves, unmanned aerial vehicle formation is carried out according to the targetThe positions of unmanned aerial vehicles in the formation are adjusted in real time according to the moving speed and the positions of the unmanned aerial vehicles, so that the target is always in the formation.
Assuming that each of the drone and the target is represented by particles in a three-dimensional space, p i (t)∈R 3 Representation unmanned plane r i Cartesian coordinates corresponding to the world coordinate system, u i (t) represents the unmanned plane r i Control input of (c) then:
wherein p is i (t) represents the unmanned plane r i Cartesian coordinates corresponding to the world coordinate system, u i (t) is a control input at time t;
in the problem of cyclic formation, which requires that the unmanned aerial vehicle is finally on the same horizontal plane as the target, i.e. in the case of the cyclic altitude being the same as the target altitude, we consider the cyclic problem of the unmanned aerial vehicle in the polar coordinate system, as shown in fig. 4, the unmanned aerial vehicles are arranged according to their angles in the polar coordinate systemIn anticlockwise order and number, r i+1 And r i-1 Representing two adjacent unmanned aerial vehicles respectively. Wherein use->Representing the cylindrical coordinates in the unmanned aerial vehicle coordinate system, defining a vector function p= (p) x ,p y ,p z ) T ，p∈R 3 Is a component p x ,p y ,p z Is the Cartesian coordinate p of the unmanned aerial vehicle i To polar coordinate r i The transfer function between them is:
the position of the unmanned aerial vehicle in the three-dimensional space is shown in fig. 5At this time, the target S is the origin point, ρ represents the distance between the projection point of the unmanned plane on the XSY plane and the target point,the included angle between the X-axis positive direction and the ray formed by the projection point of the unmanned aerial vehicle on the XSY plane and the target point S is represented, z represents the height of the unmanned aerial vehicle relative to the XSY plane, and the following relation is specific to the transformation function:
z(p)＝p z
the following conditions are required to be met for the cyclic formation to remain stable:
wherein ρ is * 、ω * And z * Respectively representing given expected cyclic radius, cyclic angular velocity and cyclic altitude; in general, in order to ensure successful capture, the positions of the unmanned aerial vehicles in the cyclic formation are uniformly distributed, that is, the angular intervals between two adjacent unmanned aerial vehicles are equal, so that the cyclic formation is performed.
Therefore, when the annular navigation formation and the target are relatively static, the current annular navigation radius is reduced, and the annular navigation is regarded as successful in capturing and is ended.
Claims (7)
1. The method is characterized in that an ultraviolet MIMO communication module (1) is arranged in each unmanned aerial vehicle under the cooperation of wireless ultraviolet light, the ultraviolet MIMO communication module comprises a hemispherical LED array device (2), the surface of the hemispherical LED array device (2) is divided into M weft directions and N warp directions, an ultraviolet LED transmitting device (3) is arranged at a warp-weft intersection point, an omnidirectional receiver (4) is arranged at the top of the hemispherical LED array device (2), the omnidirectional receiver (4) is electrically connected with a central controller (5) through a cable, a beam splitter (6) is arranged on the front, the rear, the left and the right of the hemispherical LED array device (2), the four beam splitters (6) can receive ultraviolet light emitted by the ultraviolet LED transmitting device (3) on the whole surface of the corresponding surface, the ultraviolet LED transmitting device (3) emits the ultraviolet light towards the beam splitter (6) on the corresponding surface and then is divided into two beams through the beam splitters (6), the other beam of the omnidirectional receiver (4) is electrically connected with the central controller (5), and the ultraviolet LED transmitting device (3) is respectively connected with the central controller (5) through the cable;
the method comprises the following specific steps:
step 1, initializing position and speed information of unmanned aerial vehicles and targets, wherein each unmanned aerial vehicle sends out own state information through an ultraviolet LED sending device (3), receives state information of adjacent unmanned aerial vehicles through an omnidirectional receiver (4) and stores the state information;
step 2, the unmanned aerial vehicle detects target information in real time by using the ultraviolet MIMO communication module (1) and shares the target information with other unmanned aerial vehicles in real time;
step 3, if the unmanned aerial vehicle reaches a desired cyclic navigation position after finding the target, surrounding the target in the formation, then executing step 4, and if the target is not found, repeating step 2;
step 4, the unmanned aerial vehicle continuously detects the motion information of the target in real time by using the ultraviolet MIMO communication module (1) and adjusts the circumnavigation position in real time;
and 5, reducing the current loop radius when the loop formation and the target are relatively static, regarding the loop formation as successful capture, ending the loop, and repeating the step 4 if the loop formation and the target are unstable.
2. The method for dynamically capturing the multi-unmanned aerial vehicle cyclic navigation formation under the wireless ultraviolet light cooperation according to claim 1, wherein each ultraviolet LED transmitting device (3) is provided with a code, and the code consists of a weft code and a warp code, and reflects the direction of a light beam emitted by the ultraviolet LED transmitting device (3) relative to a node; each ultraviolet LED transmitting device (3) can independently transmit information to finish the task of transmitting information.
3. The method for dynamically capturing multiple unmanned aerial vehicle cyclic navigation formations under the cooperation of wireless ultraviolet light according to claim 2, wherein the ultraviolet light MIMO communication module (1) detects target information in real time in the flight process specifically comprises the following steps: in the flight process of the unmanned aerial vehicle, the ultraviolet LED transmitting device (3) transmits ultraviolet pulse signals, reflection and scattering can occur when the ultraviolet pulse signals irradiate on a target object, the omnidirectional receiver (4) receives the reflected light signals, and the distance of the target is calculated by measuring the time interval between the transmission and the reception of the light signals.
4. The method for dynamically capturing multiple unmanned aerial vehicle cyclic navigation formation under the cooperation of wireless ultraviolet light according to claim 3, wherein the central controller (5) comprises a photoelectric tube (7), a constant proportion start-stop moment discriminator (8), a digital delay circuit (9), a register (10) and a singlechip (11) which are electrically connected through cables, the singlechip (11) is electrically connected with an unmanned aerial vehicle control system through cables, the omnidirectional receiver (4) and the constant proportion start-stop moment discriminator (8) are electrically connected through cables, the ultraviolet LED transmitting device (3) emits ultraviolet light towards a corresponding surface beam splitter (6) and then is divided into two beams through the beam splitter (6), one beam is directed towards a target, and the other beam is directed towards the photoelectric tube (7).
5. The method for dynamically capturing the multi-unmanned aerial vehicle cyclic navigation formation under the wireless ultraviolet light cooperation according to claim 4, wherein the ultraviolet light MIMO communication module (1) detects target information in real time in the flight process is implemented according to the following steps:
step 2.1, an ultraviolet LED transmitting device (3) on the unmanned aerial vehicle transmits a narrow pulse light wave signal, the light wave is transmitted by a beam splitter (6) and is divided into two beams, one beam is transmitted to a constant proportion start-stop moment discriminator (8) after being converted into an electric signal by a photoelectric tube (7), the constant proportion start-stop moment discriminator (8) triggers timing, and after triggering timing, the signal enters a digital delay circuit (9);
the other beam is shot to the target, reflected by the target and then received by the omnidirectional receiver (4), the omnidirectional receiver (4) transmits the received signal to the constant proportion starting and ending time discriminator (8), the constant proportion starting and ending time discriminator (8) stops timing after triggering, and the pulse signal sent by the constant proportion starting and ending time discriminator (8) directly enters the register (10) after passing through the digital delay circuit (9);
step 2.2, the singlechip (11) reads the register to obtain the number N of the delay units, and the delay of a single delay unit is set as t 0 The start-stop time interval is t=t 0 X n, target distanceAnd c is the light speed, and the information is transmitted to the unmanned aerial vehicle control system after the target distance is calculated.
6. The dynamic capture method for multi-unmanned aerial vehicle cyclic formation under the cooperation of wireless ultraviolet light according to claim 5, wherein the unmanned aerial vehicle control system transmits information to the ultraviolet LED transmitting device (3) after receiving the target distance, and real target information sharing is achieved through the ultraviolet LED transmitting device (3) and the omnidirectional receiver (4).
7. The method for dynamically capturing multiple unmanned aerial vehicle cyclic navigation formations under the cooperation of wireless ultraviolet light according to claim 1, wherein the current cyclic navigation radius is reduced to be within five meters in the step 5.
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| 无人机编队协同追踪控制律和编队信息架构;张佳龙;闫建国;肖冰;吕茂隆;;西安交通大学学报(第06期);全文 * |
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