CN113359838B - Multi-UAV cooperative flight control system and method - Google Patents
Multi-UAV cooperative flight control system and method Download PDFInfo
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Abstract
The invention discloses a multi-UAV cooperative flight control system and a method, comprising a plurality of UAVs and a multi-UAV system MUAVS consisting of a plurality of UAVs; dividing the MUAVS into different hierarchies, and forming a plurality of UAVs into corresponding groups in different hierarchies; using one UAV in the group as a control node UAV; all UAVs in the group execute tasks together, and a MUAVS distributed system architecture based on a multilayer structure is constructed; when any UAV causes the MUAVS communication network to be changed into a partially communicated state due to reasons, an intelligent ad hoc network mechanism of the multi-layer distributed MUAVS is triggered, the UAVs are ensured to be replaced in time and to be subjected to networking communication after self faults and damages, or automatic searching and networking are carried out under the partially communicated state of the network so that the MUAVS is normally communicated, and the smooth completion of flight tasks of the UAVs is ensured.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle control, and particularly relates to a multi-UAV cooperative flight control system and method.
Background
Unmanned Aerial Vehicles (UAVs) have the characteristics of zero casualties, strong operational capability, low operation cost and the like, and have the advantages of shape size, flight speed, maneuverability and the like, and can replace the difficult operational tasks such as withering, severe, dangerous, deep and the like of an Unmanned Aerial Vehicle in various fields such as sea, land, air and the like, so the UAVs gradually become important weaponry in modern high-technology local warfare. In the face of increasingly diverse complex tasks and highly complex battlefield environments, it is difficult for a single UAV to independently and efficiently complete the tedious and complex combat tasks. However, a plurality of UAVs are used to form a Multi-UAV System (MUAVS) for cooperative combat, which can improve the success probability of tasks through dynamic allocation and scheduling inside the System, and improve the quality and capability of task execution through resource sharing and mutual cooperation among members. Therefore, the realization of high information sharing, high task integration and high resource optimization becomes an important development trend of future battle modes.
However, during the execution of actual combat missions, MUAVS usually adopts a distributed architecture, which is complex in the mission environment, requires numerous elements of battlefield, and is complex in corresponding information communication and data calculation. If a scientific and efficient cooperative control method is lacked, the UAVs in the distributed MUAVS are mutually contradictory and conflicted in the aspects of time, space and tasks, so that the established tasks cannot be smoothly completed. In addition, for various disturbances and uncertainties of the outside, especially when each UAV can only obtain limited local information, the MUAVS system needs a decision space with high complexity and a decision capability with strong real-time performance to meet the reliability and robustness of cooperative control under the limited communication condition, and ensure optimal task allocation, formation control, trajectory planning, collision avoidance, and the like. Therefore, the cooperative control of the distributed MUAVS becomes a hotspot and difficult problem in the current application research field.
Aiming at the problem of cooperative flight control of multiple UAVs under the condition of local information communication, the invention provides the schemes of a distributed MUAVS system architecture, network communication, cooperative formation, flight path planning, danger avoidance, consistency realization and the like, and realizes efficient and reliable cooperative control of the distributed MUAVS.
Disclosure of Invention
The invention aims to solve the problems and provides a multi-UAV cooperative flight control system which has the advantages of efficient and reliable cooperative control action on distributed MUAVS.
In order to achieve the purpose, the invention provides the following technical scheme: a multi-UAV cooperative flight control system comprises a plurality of Unmanned Aerial Vehicles (UAVs) and a multi-UAV system MUAVS consisting of a plurality of UAVs; dividing the MUAVS into different hierarchies, and forming a plurality of UAVs into corresponding groups in different hierarchies; using one UAV in a group as a control node UAV, wherein the control node UAV is in data communication with the UAV in the group or the control node UAV in other groups; all UAVs in the group execute tasks together, and a MUAVS distributed system architecture based on a multilayer structure is constructed; the data structure of a global state control information model CIM _ MUAVS is stored in each UAV in the MUAVS distributed system architecture with the multilayer structure, and when any UAV causes the MUAVS communication network to become a partially communicated state, the intelligent ad hoc network mechanism of the multilayer distributed MUAVS is triggered and the MUAVS is normally communicated.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, a multi-UAV distributed cooperative control system structure based on a multilayer structure is established through a MUAVS distributed system structure of the multilayer structure, for each UAV, the information of local (or all, according to the number and network capacity of the UAVs) nodes, network topology characteristic information and task environment characteristic information in the MUAVS can be acquired through an autonomous cooperative control support network and an information acquisition system, then the information is analyzed and processed through a formation decision and control system, and node cost, grouping cost and group cost are obtained according to a formation principle and an efficiency index, so that task planning/target distribution, cooperative formation control, collision avoidance decision, cooperative track planning and threat avoidance control are carried out, formation guidance and formation optimization indexes of the multi-UAV cooperative control are formed, and finally the cooperative formation flight control system and the node flight control system finish the cooperative flight control of the MUAVMUS according to formation guidance requirements and collision strategies.
2. According to the invention, by setting the multi-layer distributed MUAVS intelligent ad hoc network mechanism, when internal communication of UAV groups is blocked or fails due to any UAV, the multi-layer distributed MUAVS intelligent ad hoc network mechanism is triggered, and the current UAV uses the time step length T s K (k is a positive integer) continuously and repeatedly sends network connection requests to a plurality of UAV nodes in the group, and the UAV nodes meeting the communication requirement are selected to be connected in the shortest time, so that MUAVS is normally communicated, and further the condition that the MUAVS is normally communicated is ensured to be finishedThe cooperative flight control of the MUAVS is successfully completed.
3. According to the invention, by setting a multi-layer distributed MUAVS intelligent ad hoc network mechanism, when any control node UAV is blocked or fails in communication with other UAV groups due to reasons, the multi-layer distributed MUAVS intelligent ad hoc network mechanism is triggered, and the control node UAV controls the node UAV according to the time step length T s And/l (l is a positive integer not greater than k) continuously and repeatedly sends network connection requests to other UAV packet control nodes UAVs, and selects the control node UAV meeting the communication requirement to connect in the shortest time, so that MUAVS is normally communicated, the control information of the global state can be completely stored and updated consistently, and the flight mission can be completed smoothly.
4. According to the invention, by setting a multilayer distributed MUAVS intelligent ad hoc network mechanism, in each UAV group, when any non-communication control node UAV has a function loss due to self failure and damage, the intelligent ad hoc network mechanism of the multilayer distributed MUAVS is triggered, and when the task priority of the non-communication control node UAV is lowest, the current UAV group state control information vector group does not update the non-communication control node UAV any more; when the task priority level of the non-communication control node UAV is not the lowest, selecting the UAV with lower task priority level and the minimum row number in the CIM _ MUAVS data structure in the current packet or other packets, and exchanging the task target information of the UAV with lower task priority level and the minimum row number in the CIM _ MUAVS data structure with the task target information of the non-communication control node UAV, so that MUAVS is normally communicated, and the smooth completion of the flight task is ensured.
5. According to the invention, by setting a multi-layer distributed MUAVS intelligent ad hoc network mechanism, in each UAV group, when the communication control node UAV has lost functions due to self failure and damage, the multi-layer distributed MUAVS intelligent ad hoc network mechanism is triggered, and the UAV with lower task priority and the minimum row number in a CIM _ MUAVS data structure is selected in the current group and is used as a new control node UAV of the current UAV group, so that the MUAVS is normally communicated; and when the UAVs with lower task priority levels and the minimum row number in the CIM _ MUAVS data structure exist in other groups, the UAVs with lower task priority levels and the minimum row number in the CIM _ MUAVS data structure acquire the priority task target information stored by the UAV group new communication control node UAVs and exchange the priority task target information with the original task target information of the UAVs to establish a new control node UAV, so that the completion of the cooperative flight control of MUAVS is ensured to be successfully completed.
Drawings
FIG. 1 is a schematic diagram of a MUAVS distributed architecture based on a multi-layer structure according to the present invention;
FIG. 2 is a schematic diagram of a multi-UAV distributed cooperative control architecture based on a multi-layer structure according to the present invention;
FIG. 3 is a schematic diagram of a topology model of a multi-UAV communication network in a partially connected state according to the present invention;
FIG. 4 is a schematic diagram of a topology of a MUAVS communication network under the multi-layer distributed architecture of the present invention;
fig. 5 is a flowchart of the intelligent ad hoc network mechanism for triggering multi-layer distributed MUAVS when any UAV causes blocked or failed intra-UAV packet communication;
fig. 6 is a flowchart of the intelligent ad hoc network mechanism for triggering multi-layer distributed MUAVS when any UAV packet communication control node is blocked or disabled from communicating with other UAV packets due to some reason;
fig. 7 is a flowchart of an intelligent ad hoc network mechanism for triggering multi-layer distributed MUAVS when a non-communication control node UAV fails or is damaged to cause a loss of function;
fig. 8 is a flowchart of an intelligent ad hoc network mechanism for triggering the multi-layer distributed MUAVS when the communication control node UAV has a function lost due to a failure or a damage.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
Example 1
As shown in fig. 1 to 4, the present invention provides a multi-UAV cooperative flight control system, which includes a plurality of unmanned UAVs and a multi-UAV system MUAVS composed of a plurality of drones; each UAV can be regarded as an intelligent node and has independent information processing and information interaction capabilities; a plurality of unmanned aerial vehicles form a multi-unmanned aerial vehicle system MUAVS, and a plurality of UAVs can communicate with each other. The cooperative control system architecture of the MUAVS mainly comprises a centralized structure, a distributed structure, a hierarchical structure and the like. Although the centralized structure has a relatively stable organization form and a cooperative mechanism, the complexity of problem solving cannot be reduced, and the requirement of a control decision process on the integrity and the dependency of information is high. The multi-UAV cooperative control method adopting a distributed and hierarchical structure is the mainstream research direction at present. In order to realize cooperative control of multiple UAVs, it is necessary to establish a multi-UAV distributed cooperative control architecture based on a multi-layer structure, and the multi-UAV distributed cooperative control architecture of the present invention is constructed according to the following steps, as shown in fig. 1, specifically:
firstly, a multi-unmanned aerial vehicle system MUAVS consisting of a plurality of unmanned aerial vehicles;
then, dividing the MUAVS into different hierarchical structures, and forming a plurality of UAVs into corresponding groups in different hierarchies;
one UAV in each group is used as a control node UAV, and the control node UAV is in data communication with the UAVs in each group or the control nodes UAVs in other groups;
all UAVs in the group execute tasks together, and a MUAVS distributed system architecture based on a multilayer structure is constructed;
as shown in fig. 1, the control node group shown in the first layer is composed of control nodes in each group in the second layer, and the control node UAV performs data communication with other UAVs in the group, and simultaneously performs data communication with the control nodes UAV of other groups, so as to ensure the integrity of the entire MUAVS communication.
As shown in fig. 2, the multi-UAV autonomous cooperative control support network architecture is based on a MUAVS distributed architecture of a multi-layer structure. According to the number of UAVs and the network capability, for each UAV therein, each UAV needs to acquire information of partial or all UAVs in the MUAVS, network topology characteristic information, task environment characteristic information through an autonomous cooperative control support network and information acquisition system. And then analyzing and processing the information through a formation decision and control system, balancing node cost, grouping cost and group cost according to a formation principle and an efficiency index, so as to perform task planning/target allocation, cooperative formation control, collision avoidance decision, cooperative track planning and threat avoidance control, form formation guidance and formation optimization indexes of multi-UAV cooperative control, and finally complete MUAVS cooperative flight control according to formation guidance requirements and collision avoidance strategies through a cooperative formation flight control system and a node flight control system.
The key of the multi-UAV cooperative control lies in effective and reliable information interaction communication, but in an actual strong-confrontation environment, conditions are often harsh, and the characteristics of limited bandwidth, high packet loss rate, time delay, strong confrontation and the like exist, which usually causes the communication network topology and the communication state to change, so that a plurality of UAVs in the MUAVS are in a partial communication state. Meanwhile, the high-speed movement of the UAVs and the possible faults, damages and the like enable the cooperative control of the UAVs to be carried out only in a partially communicated network environment with delay. The direct consequence of this is that the state information among multiple UAVs is inconsistent or incomplete, increasing the difficulty and complexity of the problem of autonomous cooperative control of multiple UAVs.
To describe the partially connected state of MUAVS, a directed graph is used to build a communication network topology model between multiple UAV nodes in MUAVS (taking 3 UAV nodes as an example), as shown in fig. 3. It can be seen that the communications among UAVs in a), b) and c) in fig. 3 are all in a partially connected state, which is very likely to cause failure of internal communications and failure of final task execution of MUAVS when a certain UAV node fails or is damaged.
As shown in fig. 4, for MUAVS adopting a multi-layer distributed architecture, the communication connection relationship between UAVs can be described as the network topology shown in fig. 4, and the communication relationship between UAVs in the MUAVS distributed architecture of the multi-layer structure is the network topology;the network topology structure specifically comprises: UAV 1 、UAV 2 、…、UAV i 、…、UAV m A respective communication control node UAV that is a first layer communication network and that is grouped into a plurality of UAVs in a second layer communication network; namely: UAV1 is UAV1, UAV12, \8230, UAV1j, \8230, UAV1 1n1 Grouped communication control nodes UAV, UAV2 as UAV2, UAV22, \8230;, UAV2j, \8230;, UAV 2n2 Grouped communication control nodes UAVs UAVi, UAVi2, UAVi 8230, UAVij, UA 8230, UAV ini Grouped communication control nodes UAVm2, 8230, UAVmj, UAV8230 mnm A grouped communication control node UAV; and according to the composition scale of the MUAVS and the total number of the UAVs, the other UAVs in each group of the second-layer communication network serve as communication control nodes UAVs of a plurality of UAV groups in the next-layer communication network.
Under normal working conditions, in the communication network topology structure shown in fig. 4, UAVs which are compiled to different levels, different groups and communication control nodes thereof can directly or indirectly communicate information. However, once the UAV serving as a communication control node has a fault or a damage, or has problems of severely limited bandwidth, extremely high packet loss rate, excessively long time delay, and the like due to a communication network, the topology of the MUAVS communication network may be changed into a partially connected state. In order to avoid the situation that the MUAVS is out of control or fails due to local information communication, an intelligent ad hoc network mechanism needs to be established to ensure that the UAV serving as a communication control node can be replaced in time for networking communication after the UAV fails or is damaged, or automatic searching networking is performed under the network communication state that the bandwidth is severely limited, the packet loss rate is extremely high, and the time delay is too long.
In the process of executing the task, the required state control information of the plurality of UAVs includes the current spatial position, the flight attitude, the flight speed/acceleration, the flight duration, the assumed task, the target point position, the task requirement, the task execution state and the like. The establishment process of the global state control information model CIM _ MUAVS comprises the following steps: for any UAVi node in MUAVS (1 ≦ i ≦ n, n is the total number of UAVs in MUAVS), its state control information model CIM _ UAVi (t) at time t is described as the combination of UAVi flight state information and task target information:
CIM_UAV i (t)＝[P i (t),A i (t),V i (t),W i (t),T i (t),M i (t),D i (t),R i (t),S i (t)]
wherein, P i (t)、A i (t)、V i (t)、W i (T) and T i (t) is UAV i Flight status information of;
M i (t)、D i (t)、R i (t) and S i (t) is UAV i Task target information of (1);
P i (t) is UAV i The air position coordinate at the time t adopts a geodetic coordinate system and comprises longitude, latitude and elevation information, namely P i (t)＝[x i (t),y i (t),z i (t)]；
A i (t) is UAV i The attitude of the flight in the air at time t, including pitch, roll and yaw angle information, i.e. A i (t)＝[p i (t),r i (t),h i (t)]；
V i (t) is UAV i Information of the flight velocity vector at time t, V i (t)＝[vx i (t),vy i (t),vz i (t)]The unit is m/s;
W i (t) is UAV i Flight acceleration vector information at time t, W i (t)＝[wx i (t),wy i (t),wz i (t)]In the unit of m/s 2 ；
T i (t) is UAV i The accumulated flight time at the time t is in the unit of s;
M i (t) is UAV i The specific task information assumed At time t is a sequence of instruction information, such as snooping (Re/reconciletre), probing (De/Detect), attack (At/attach), evaluation (Ev/evaluation), and the like.
D i (t) is UAV i The azimuth information of the target point corresponding to the task born at the time t is described by longitude, latitude and elevation of a geodetic coordinate system, namely D i (t)＝[dx i (t),dy i (t),dz i (t)]；
R i (t) is UAV i The task M assumed at time t i (t) the corresponding priority and execution requirement information is the instruction information sequence, the task priority is 1,2,3, \ 8230, which represents the gradual reduction, and the task execution requirement is described by Mandatory (Ma/Mandatory) and adjustable (Ad/Adjust).
S i (t) is UAV i The task M assumed at time t i And (t) corresponding execution state information comprises different states of execution (E/Execute), completion (F/Finish), cancellation (C/Cancel), release (R/Release) and the like.
Then at time t, the global state control information model CIM _ MUAVS for the entire MUAVS is described as:
in view of the fact that existing UAV hardware has strong processing, storage and communication performance, the data structure of CIM _ MUAVS is stored in each UAV of MUAVS, but for storage and update of specific state control information vector in CIM _ MUAVS, corresponding division and dynamic adjustment are performed according to different work division of each UAV. For any UAV grouping shown in fig. 5, each UAV is responsible for storing and updating its own state control information vector, and is in a specific step T s UAV transmitted to corresponding communication control node 1 、UAV 2 、…、UAV i 、…、UAV m The UAV state control information vectors are stored and updated to form state control information vector groups of the respective UAV groups, and the state control information vector groups are distributed to each UAV node in the groups to store and update other UAV state control information vectors outside the UAV node, so that the state control information vectors of a plurality of UAVs in the groups are ensured to be stored and updated in a specific step length T s And performing synchronous updating. At the same time, each packet communication control node UAV 1 、UAV 2 、…、UAV i 、…、UAV m As a first layer network node shown in fig. 2, it needs to be at a certain time interval T J And step length T s Performing mutual storage backup and consistency on state control information vector groups of respective groupsAnd updating so as to ensure that the global state control information can be completely stored and consistently updated under the condition that the MUAVS is normally communicated.
Specifically, a data structure of a global state control information model CIM _ MUAVS is stored in each UAV in a MUAVS distributed system architecture of a multilayer structure, when any UAV causes a MUAVS communication network to be changed into a partially communicated state due to reasons, an intelligent ad hoc network mechanism of the multilayer distributed MUAVS is triggered and the MUAVS is enabled to be normally communicated, so that task planning/target allocation, cooperative formation control, collision avoidance decision, cooperative track planning and threat avoidance control are carried out, formation guide and formation optimization indexes of multi-UAV cooperative control are formed, and finally the cooperative flight control of the MUAVS is completed through a cooperative formation flight control system and a node flight control system according to formation guide requirements and collision avoidance strategies.
Example 2
Due to the problems of serious bandwidth limitation, extremely high packet loss rate, overlong time delay and the like caused by the communication network, the topology structure of the MUAVS communication network is changed into a partial communication state. In order to avoid the situation that the MUAVS is out of control or fails in tasks due to local information communication, an intelligent ad hoc network mechanism of the multi-layer distributed MUAVS needs to be established; specifically, when internal communication of UAV groups is blocked or disabled due to any UAV, the intelligent ad hoc network mechanism of the multi-layer distributed MUAVS is triggered, and the current UAV uses the time step T s And k (k is a positive integer) continuously and repeatedly initiating network connection requests to a plurality of UAV nodes in the group, and selecting the UAV nodes meeting the communication requirement for connection in the shortest time so that MUAVS is normally connected.
Specifically, as shown in fig. 5, the following steps are performed:
s1: in each UAV group, when any UAV causes the internal communication of the UAV group to be blocked or disabled due to reasons, the current UAV can be in a time step T s And k (k is a positive integer) continuously initiating network connection requests to a plurality of UAV nodes in the group for a plurality of times, and selecting the UAV nodes meeting the communication requirements for connection in the shortest time.
S2: once the connection is successful, the UAV packet resumes the full connectivity state,the next update timestamp t + Δ t when the current UAV also acquires the self-state control information in time s (T s Positive integer multiple of).
Further, the current UAV state control information and target completion are determined, and further actions are taken:
s201: if the current UAV state control information is closer to the target completion, then at t + Δ t s And updating the state control information vector stored in the packet communication control node at the moment, and distributing and storing the state control information vector in the packet.
S202: if the current UAV state control information is more off target completion, then at t + Δ t s And acquiring the state control information vector stored in the packet communication control node at any moment, recovering the state control information vector (except the air position coordinate information), and updating, distributing and storing the subsequent state control information on the basis of the recovered state control information vector.
According to the steps, the complete storage and the consistent updating of the global state control information can be guaranteed, so that the MUAVS is normally communicated, and the cooperative flight control of the MUAVS is guaranteed to be completed smoothly.
Example 3
Due to the problems of serious bandwidth limitation, extremely high packet loss rate, overlong time delay and the like caused by the communication network, the topology structure of the MUAVS communication network is changed into a partial communication state. In order to avoid the situation that the MUAVS is out of control or fails in tasks due to local information communication, an intelligent ad hoc network mechanism of the multi-layer distributed MUAVS needs to be established; specifically, when any control node UAV is blocked or fails in communication with other UAV groups due to reasons, the intelligent ad hoc network mechanism of the multi-layer distributed MUAVS is triggered, and the control node UAV controls the UAV according to the time step T s And l (l is a positive integer not greater than k) continuously and repeatedly initiating network connection requests to other UAV group control nodes UAV, and selecting the control node UAV meeting the communication requirement for connection in the shortest time so that MUAVS is in normal communication. Specifically, as shown in fig. 6, the following steps are performed:
s3: when any UAV group communication control node causes the UAV group communication control node to be connected with other UAV groupsWhen communication is blocked or failed, updating and storing of state control information of each UAV in a group are not influenced, and the UAV can be controlled by a current group communication control node in a time step T s And/l (l is a positive integer not greater than k) continuously and repeatedly initiating network connection requests to other UAV packet communication control nodes UAV, and selecting the UAV nodes meeting the communication requirements for connection in the shortest time.
S4: once the connection is successful, the whole MUAVS restores the full-communication state, and the current UAV packet communication control node can acquire the next backup and update time stamp t + delta t of the respective packet state control information vector group in time J (T J Positive integer multiples of).
Further, each grouping state control information vector group and task completion condition stored by the current UAV grouping communication control node UAV are judged, and further actions are taken:
s401: if each group of the grouped state control information vectors stored by the current UAV grouped communication control node UAV is closer to the completion of the task, the current UAV grouped communication control node UAV is at t + delta t J Time of day in time steps T s And performing mutual storage backup and consistent updating on the state control information vector groups of the respective groups.
S402: if each group of the grouped state control information vectors stored by the current UAV grouped communication control node deviates from the task completion, the current UAV grouped communication control node is at t + delta t J Time of day in time steps T s And acquiring a state control information vector group stored in other UAV packet communication control nodes UAV, and recovering the UAV packet state control information vector group stored in the UAV packet communication control nodes UAV (except the aerial position coordinate information).
S403: after the state control information vector group of the UAV group is recovered to the optimal state, the next updating time t + delta t of the state control information in the group is s The packet communication control node UAV distributes the current packet state control information vector group to the other UAVs in the group, recovers the state control information vectors of the other UAVs (except for the aerial position coordinate information), and updates, distributes and stores the subsequent state control information based on the recovered state control information vectors.
According to the steps, the complete storage and the consistent updating of the global state control information can be guaranteed, so that the MUAVS is normally communicated, and further the smooth completion of the cooperative flight control of the MUAVS is guaranteed.
Example 4
Due to the problems of serious bandwidth limitation, extremely high packet loss rate, overlong time delay and the like caused by communication network reasons, the topology structure of the MUAVS communication network is changed into a partially communicated state. In order to avoid the loss of control or task failure state of MUAVS due to local information communication, an intelligent ad hoc network mechanism of multi-layer distributed MUAVS needs to be established; specifically, in each UAV group, when any non-communication control node UAV has a function loss due to self failure and damage, an intelligent ad hoc network mechanism of the multi-layer distributed MUAVS is triggered, and when the priority level of the UAV task of the non-communication control node is lowest, the current UAV group state control information vector group does not update the non-communication control node UAV any more; when the task priority level of the non-communication control node UAV is not the lowest, selecting the UAV with the lower task priority level in the current packet or other packets and the smallest row number in the CIM _ MUAVS data structure, and exchanging the task target information of the UAV with the lower task priority level and the smallest row number in the CIM _ MUAVS data structure with the task target information of the non-communication control node UAV so that MUAVS is normally communicated. Specifically, as shown in fig. 7, the following steps are performed:
s5: in each UAV group, when a non-communications control node UAV fails to function due to its own malfunction or damage, all UAVs in the group are in a full-connectivity state, and as the group communications control node UAV backups and stores a state control information vector group of each UAV group, after any UAV fails, the current UAV group is still in a full-connectivity state, but task execution of the failed UAV will be suspended.
Further, according to the task priority level, taking the following actions:
s501: if the task priority level is lowest in the current UAV group, the next updating time t + delta t of the state control information is carried out s Other UAVs keep state control information of the UAVs not changed, and the current UAV grouped state control information vector group is not aligned or missed any moreUpdating the effective UAV, and only updating the row vector corresponding to the existing UAV, and storing and distributing the row vector; meanwhile, the current UAV grouping communication control node searches whether a UAV with a lower task priority level exists in other groups or not by using other UAV grouping state control information vector groups stored and backed up by the current UAV grouping communication control node.
S502: if there is a UAV in the current UAV group that has a lower priority than its mission, then at t + Δ t s At any moment, the UAV with lower task priority and the minimum row number in the CIM _ MUAVS data structure can timely acquire task target information in the state control information vector of the invalid UAV, exchange part of the original task target information of the UAV, update the information in the current UAV grouping state control information vector group, and store the information in the state control information vector group of the current UAV grouping without updating after the original task target information replaced by the UAV is combined with the flight state information of the invalid UAV; meanwhile, the current UAV grouping communication control node searches whether a UAV with a lower task priority level exists in other groups by utilizing other UAV grouping state control information vector groups stored and backed up by the current UAV grouping communication control node.
S503: after the processing of the step S501 or S502, if no UAV with lower task priority level exists in other UAV groups, keeping the existing processing result; if UAVs with lower task priority levels exist in other groups, controlling the next backup and update time t + delta t of the information vector group at each UAV group state J And after the replaced original task target information of the UAV is combined with the flight state information of the invalid UAV, the replaced original task target information is stored into the state control information vector group of the current UAV group and is not updated any more.
According to the steps, the complete storage and the consistent updating of the global state control information can be guaranteed, so that the MUAVS is normally communicated, and further the smooth completion of the cooperative flight control of the MUAVS is guaranteed.
Example 5
Due to the problems of serious bandwidth limitation, extremely high packet loss rate, overlong time delay and the like caused by the communication network, the topology structure of the MUAVS communication network is changed into a partial communication state. In order to avoid the situation that the MUAVS is out of control or fails in tasks due to local information communication, an intelligent ad hoc network mechanism of the multi-layer distributed MUAVS needs to be established; specifically, in each UAV group, when the communication control node UAV has lost functions due to self failure and damage, triggering an intelligent ad hoc network mechanism of the multilayer distributed MUAVS, selecting the UAV with lower task priority and the minimum row number in a CIM _ MUAVS data structure in the current group and using the UAV as a new control node UAV of the current UAV group, so that the MUAVS is normally communicated; when the UAVs with lower task priority levels and the minimum row number in the CIM _ MUAVS data structure exist in other groups, the UAVs with lower task priority levels and the minimum row number in the CIM _ MUAVS data structure acquire the priority task target information stored by the UAV group new communication control node UAV and exchange the priority task target information with the original task target information of the UAVs. Specifically, as shown in fig. 8, the following steps are performed:
s6: in each UAV group, when the communication control node UAV has a function loss caused by self failure and damage, the task execution is stopped, the inside of the current UAV group or the group with other UAVs is changed into a partial communication state, but a plurality of UAVs in the group still store a recently updated group state control information vector group; according to the stored UAV grouping state control information vector group, a new communication control node UAV is established according to the following steps:
s601: at the next update time t + Δ t of the current UAV packet internal state control information s And searching and selecting the UAV with lower task priority and the minimum row number in the CIM _ MUAVS data structure by other UAVs according to the stored UAV grouping state control information vector group as a new communication control node UAV of the current UAV grouping.
S602: and the new communication control node UAV is formed to timely acquire task target information in the state control information vector of the invalid communication control node UAV, exchange the original task target information part of the new communication control node UAV, update the original task target information in the current UAV grouped state control information vector group, and store the original task target information which is replaced into the current UAV grouped state control information vector group without updating after combining the original task target information with the flight state information of the invalid communication control node UAV.
S603: new communication control node UAV of current UAV group by time step T s And l (l is a positive integer not greater than k) continuously and repeatedly initiating network connection requests to other UAV packet communication control nodes UAV, and selecting the UAV nodes meeting the communication requirements for connection in the shortest time.
S604: once the connection is successful, the existing UAV of the MUAVS recovers the full-communication state, and the current UAV packet communication control node can acquire the next backup and update time stamp t + delta t of the respective packet state control information vector group in time J And then updating or recovering the state control information vector groups of the respective groups according to the implementation method of S401-S403, and performing mutual storage backup.
S605: if no UAV with task priority level lower than that of the invalid communication control node UAV in the current UAV group exists in other UAV groups, keeping the existing processing result; if UAVs with lower task priority levels exist in other groups, the UAV group state control information vector group is backed up and updated again at the time t + delta t J +T J And after the replaced original task target information is combined with the flight state information of the UAV, the replaced original task target information is stored into the state control information vector group of the current UAV group and is not updated any more, the overall state control information can be ensured to be completely stored and updated consistently, so that MUAVS is communicated normally, and further the smooth completion of the cooperative flight control of MUAVS is ensured.
According to the invention, by establishing a multi-layer structure-based MUAVS distributed system architecture and an intelligent ad hoc network mechanism of the multi-layer distributed MUAVS, when the topological structure of the MUAVS communication network is changed into a partially communicated state due to the problems of serious limitation of bandwidth, extremely high packet loss rate, overlong time delay and the like caused by the communication network, the intelligent ad hoc network mechanism of the multi-layer distributed MUAVS is triggered, so that the MUAVS is ensured to be normally communicated, and the normal internal communication of the MUAVS and the smooth completion of the final flight task of each UAV are ensured.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. A multi-UAV cooperative flight control system comprises a plurality of Unmanned Aerial Vehicles (UAVs) and a multi-UAV system MUAVS consisting of a plurality of UAVs;
dividing the MUAVS into different hierarchies, and forming a plurality of UAVs into corresponding groups in different hierarchies;
using one UAV in a group as a control node UAV, wherein the control node UAV is in data communication with the UAV in the group or the control node UAV in other groups;
all UAVs in the group execute tasks together, and a MUAVS distributed system architecture based on a multilayer structure is constructed;
the method comprises the steps that a data structure of a global state control information model CIM _ MUAVS is stored in each UAV in a MUAVS distributed system architecture with a multilayer structure, and when any UAV causes a MUAVS communication network to become a partially communicated state due to reasons, an intelligent ad hoc network mechanism of the multilayer distributed MUAVS is triggered and the MUAVS is normally communicated;
specifically, when internal communication of UAV groups is blocked or disabled due to any UAV, the intelligent ad-hoc network mechanism of the multi-layer distributed MUAVS is triggered, and the current UAV is in a first time step T s K, where k is a positive integer, T s For a specific step length, continuously and repeatedly initiating network connection requests to a plurality of UAV nodes in a group, and selecting the UAV nodes meeting the communication requirement in the shortest time to connect so that MUAVS is normally communicated;
specifically, when any control node UAV is blocked or fails in communication with other UAV groups due to reasons, the intelligent ad hoc network mechanism of the multi-layer distributed MUAVS is triggered, and the control node UAV performs communication with other UAV groups in a second time step T s L, wherein l is a positive integer not greater than k, network connection requests are continuously sent to other UAV group control nodes UAVs for multiple times, and the control nodes UAVs meeting the communication requirements are selected to be connected in the shortest time, so that MUAVS is normally communicated;
specifically, in each UAV group, when any non-communication control node UAV has a function loss due to self failure and damage, an intelligent ad hoc network mechanism of a multilayer distributed MUAVS is triggered, and when the task priority of the non-communication control node UAV is lowest, the current UAV group state control information vector group does not update the non-communication control node UAV any more; when the task priority level of the non-communication control node UAV is not the lowest, selecting the UAV with the lower task priority level and the minimum row number in a CIM _ MUAVS data structure in the current packet or other packets, and exchanging task target information of the UAV with the lower task priority level and the minimum row number in the CIM _ MUAVS data structure with the task target information of the non-communication control node UAV so that MUAVS is normally communicated;
specifically, in each UAV group, when the communication control node UAV has a function loss due to self failure and damage, an intelligent ad hoc network mechanism of the multi-layer distributed MUAVS is triggered, and a UAV with lower task priority and the minimum row number in a CIM _ MUAVS data structure is selected in the current group and is used as a new control node UAV of the current UAV group, so that the MUAVS is normally communicated; when the UAVs with lower task priority levels and the minimum row number in the CIM _ MUAVS data structure exist in other groups, the UAVs with lower task priority levels and the minimum row number in the CIM _ MUAVS data structure acquire the priority task target information stored by the UAV group new communication control node UAV and exchange the priority task target information with the original task target information of the UAVs.
2. The system of claim 1, wherein: the communication relation among all UAVs in the MUAVS distributed system architecture with the multilayer structure is a network topology structure; the network topology structure is specifically as follows: UAV 1 、UAV 2 、…、UAV i 、…、UAV m A respective communication control node UAV grouped for a first layer of the communication network and for a plurality of UAVs in a second layer of the communication network; namely: UAV 1 As UAVs 1 、UAV 12 、…、UAV 1j 、…、UAV 1n1 Grouped communication control nodes UAV, UAV 2 As UAV 2 、UAV 22 、…、UAV 2j 、…、UAV 2n2 Grouped communication control nodes UAV, UAV i As UAV i 、UAV i2 、…、UAV ij 、…、UAV ini Grouped communication control nodes UAV, UAV m As UAVs m 、UAV m2 、…、UAV mj 、…、UAV mnm A grouped communication control node UAV; according to the composition scale of the MUAVS and the total number of the UAVs, the other UAVs in each group of the second-layer communication network serve as communication control nodes UAVs of a plurality of UAV groups in the next-layer communication network.
3. The multi-UAV cooperative flight control system of claim 1, wherein: the establishment process of the global state control information model CIM _ MUAVS comprises the following steps: for any UAVi node in MUAVS, wherein i is more than or equal to 1 and less than or equal to n, n is the total number of UAVs in MUAVS, and the state control information model CIM _ UAVi (t) at the time t is described as the combination of UAVi flight state information and task target information:
CIM_UAV i (t) = [P i (t), A i (t), V i (t), W i (t), T i (t), M i (t), D i (t), R i (t), S i (t)]
wherein, P i (t)、A i (t)、V i (t)、W i (T) and T i (t) is UAV i Flight status information of (a);
M i (t)、D i (t)、R i (t) and S i (t) is UAV i Task target information of (1);
P i (t) is UAV i The air position coordinate at the time t adopts a geodetic coordinate system and comprises longitude, latitude and elevation information, namely P i (t) = [x i (t), y i (t), z i (t)]；
A i (t) is UAV i The attitude of the flight in the air at time t, including pitch, roll and yaw angle information, i.e. A i (t) = [p i (t), r i (t), h i (t)]；
V i (t) is UAV i Information of the flight velocity vector at time t, V i (t) = [vx i (t), vy i (t), vz i (t)]The unit is m/s;
W i (t) is UAV i Flight acceleration vector information at time t, W i (t) = [wx i (t), wy i (t), wz i (t)]In the unit of m/s 2 ；
T i (t) is UAV i The accumulated flight time at the time t is in the unit of s;
M i (t) is UAV i The specific task information born at the moment t is an instruction information sequence;
D i (t) is UAV i The azimuth information of the target point corresponding to the task born at the time t is described by longitude, latitude and elevation of a geodetic coordinate system, namely D i (t) = [dx i (t), dy i (t), dz i (t)]；
R i (t) is UAV i The task M assumed at time t i (t) the corresponding priority and execution requirement information is an instruction information sequence;
S i (t) is UAV i The task M assumed at time t i (t) corresponding execution state information;
then at time t, the global state control information model CIM _ MUAVS for the entire MUAVS is described as:
4. the multi-UAV cooperative flight control system of claim 1, wherein: each UAV is respectively responsible for storing and updating the state control information vector of the UAV and controlling the state of the UAV by a specific step length T s UAV transmitted to corresponding communication control node 1 、UAV 2 、…、UAV i 、…、UAV m The state control information vectors of the UAVs in the group are stored and updated, so that the state control information vector group of each UAV group is formed and distributed to each control node UAV in the group, the state control information vectors of other UAVs outside the UAVs are stored and updated, and the state control information vectors of the UAVs in the group are ensured to be in a specific step length T s Carrying out synchronous updating; UAV (unmanned aerial vehicle) of each packet communication control node 1 、UAV 2 、…、UAV i 、…、UAV m As a first layer network node, it needs to be at a specific time interval T J And step length T s And performing mutual storage backup and consistent updating on the state control information vector groups of the respective groups.
5. The system of claim 1, wherein: the control node UAV communicates data with other UAVs within the group while communicating data with other grouped control nodes UAVs.
6. The multi-UAV cooperative flight control system of claim 1, wherein: according to the number of UAVs and the network capacity, each UAV acquires the information of partial or all UAVs in the MUAVS, the network topology characteristic information and the task environment characteristic information through the autonomous cooperative control supporting network and the information acquisition system.
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