CN113848988B - Gridding formation method suitable for large-scale unmanned aerial vehicle - Google Patents
Gridding formation method suitable for large-scale unmanned aerial vehicle Download PDFInfo
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Abstract
The invention relates to a gridding formation method, in particular to a gridding formation method suitable for a large-scale unmanned aerial vehicle. After the unmanned aerial vehicles in the non-formation area enter the formation area, basic nine-grid formation and nested nine-grid formation can be sequentially constructed, required meshed formation is finally obtained on the basis of the basic nine-grid formation and the nested nine-grid formation, and all the unmanned aerial vehicles in the meshed formation fly at the same flying height and the same flying speed; after the gridding formation is obtained, the reference unmanned aerial vehicle set can be determined for the unmanned aerial vehicles with any topological grid codes, so that the unmanned aerial vehicles can fly under the constraint of the gridding formation according to the reference unmanned aerial vehicle in the reference unmanned aerial vehicle set before reaching a flight end point, the unmanned aerial vehicles can effectively form and fly under the conditions of strong electromagnetic interference and loss of part of airplanes in the formation flight process, and the influence of the strong electromagnetic interference on the unmanned aerial vehicle formation on a battlefield is effectively avoided.
Description
Technical Field
The invention relates to a gridding formation method, in particular to a gridding formation method suitable for a large-scale unmanned aerial vehicle.
Background
In the present war, unmanned aerial vehicle cluster battle is a great development trend. The communication mode of the unmanned aerial vehicle mainly depends on electromagnetic wave wireless communication, the wireless communication is easy to be subjected to electromagnetic interference, electromagnetic countermeasure becomes a normality in a war, and a complex electromagnetic environment is a centralized expression form of the complex electromagnetic environment of a battlefield on a time domain, an airspace, a frequency domain and an energy domain.
Unmanned aerial vehicle cluster formation is bound to receive very big interference in complicated electromagnetic environment, in addition, the condition such as firepower strike in the battlefield all can break down extensive unmanned aerial vehicle formation. In order to avoid the problem that large-scale unmanned aerial vehicle formation is easily broken down under the electromagnetic interference and firepower attack, the stability of the unmanned aerial vehicle formation is ensured, so that the research has important significance on the problems of unmanned aerial vehicle cluster formation under the complex electromagnetic environment and firepower attack.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides a gridding formation method suitable for large-scale unmanned aerial vehicles, which is based on Sudoku protocol and chain vision reference rule formation, can effectively avoid the collapse of large-scale unmanned aerial vehicle formation under electromagnetic interference and fire striking, and ensures the stability and reliability of unmanned aerial vehicle formation.
According to the technical scheme provided by the invention, the gridding formation method suitable for the large-scale unmanned aerial vehicle comprises the following steps:
and 5, repeating the step 3 or the step 4 until all the unmanned aerial vehicles in the non-formation area enter the formation area so as to obtain the required gridding formation.
The obtained gridding formation is arranged in a square form.
For any unmanned aerial vehicle, a formation visual system, a distance measurement sensing system and a cooperative target lamp system are arranged on the unmanned aerial vehicle, wherein after an unmanned aerial vehicle enters a formation area, the formation visual system can acquire the corresponding formation flying pose state of the adjacent unmanned aerial vehicle in the visual range of the formation visual system; the distance between the unmanned aerial vehicle and the adjacent unmanned aerial vehicle can be determined through the distance measuring and sensing system, and the topological grid number of the current Sudoku grid formation in which the unmanned aerial vehicle is located can be displayed and output through the cooperative target lamp system;
the formation flight pose state includes a topological mesh number displayed by a cooperative target light system of a neighboring drone and a flight position of the neighboring drone.
The formation visual system comprises a plurality of formation visual sensors, and the formation visual sensors in the formation visual system are at least distributed on the left side of the unmanned aerial vehicle body, the right side of the unmanned aerial vehicle body, the nose part and the tail part;
the distance measurement sensing system comprises a plurality of distance measurement sensors, and the distance measurement sensors in the distance measurement sensing system are at least distributed on the left side of the unmanned aerial vehicle body, the right side of the unmanned aerial vehicle body, the head part and the tail part;
the cooperative target lamp system comprises a plurality of fuselage cooperative target lamps, and the fuselage cooperative target lamps in the cooperative target lamp system are at least distributed on the left wing, the right wing, the nose part and the tail part of the unmanned aerial vehicle.
And determining a reference unmanned aerial vehicle set of any unmanned aerial vehicle positioned in the gridding formation according to a Sudoku protocol, wherein when no reference unmanned aerial vehicle exists in the reference unmanned aerial vehicle set, the current unmanned aerial vehicle is separated from the gridding formation.
Determining the relation of the nine-square grid number according to the number of the unmanned aerial vehicles in the non-formation area as follows:
wherein M is the number of unmanned aerial vehicles in the non-formation area, n5The number of Sudoku cells in the grid formation.
The invention has the advantages that: after the unmanned aerial vehicles in the non-formation area enter the formation area, basic nine-grid formation and nested nine-grid formation can be sequentially constructed, required meshed formation is finally obtained on the basis of the basic nine-grid formation and the nested nine-grid formation, and all the unmanned aerial vehicles in the meshed formation fly at the same flying height and the same flying speed; after the gridding formation is obtained, the reference unmanned aerial vehicle set can be determined for the unmanned aerial vehicles with any topological grid codes, so that the unmanned aerial vehicles can fly under the constraint of the gridding formation according to the reference unmanned aerial vehicle in the reference unmanned aerial vehicle set before reaching a flight end point, the unmanned aerial vehicles can effectively form and fly under the conditions of strong electromagnetic interference and loss of part of airplanes in the formation flight process, and the influence of the strong electromagnetic interference on the unmanned aerial vehicle formation on a battlefield is effectively avoided.
Drawings
FIG. 1 is a flow chart of the present invention.
Fig. 2 is a schematic view of the drone of the present invention.
FIG. 3 is a schematic diagram of the basic nine-grid network formation of the present invention.
Fig. 4 is a schematic view of a visual reference topology of a basic nine-grid network formation constructed by the present invention.
FIG. 5 is a topological schematic diagram of the construction of a nested Sudoku grid formation by using a basic Sudoku grid formation according to the present invention.
Fig. 6 is a topological schematic diagram of a nested nine-grid formation constructed again on the basis of fig. 5.
Fig. 7 is a schematic diagram of the invention when forming a 7 × 7 meshed formation.
Fig. 8 is a schematic topology diagram of the meshed formation in fig. 9.
Fig. 9 is a schematic diagram of a man-machine-free system in the selected 7 x 7 gridded formation according to the present invention.
Fig. 10 is a schematic view of a reference drone set of the drone selected in fig. 9.
Description of reference numerals: 100-fuselage cooperation target light of right wing, 110-fuselage cooperation target light of left wing, 120-fuselage cooperation target light of nose, 130-fuselage cooperation target light of tail, and 140-unmanned aerial vehicle fuselage.
Detailed Description
The invention is further illustrated by the following specific figures and examples.
As shown in fig. 1: in order to effectively avoid the collapse of large-scale unmanned aerial vehicle formation under electromagnetic interference and fire impact and ensure the stability and reliability of the unmanned aerial vehicle formation, the invention provides a gridding formation method suitable for large-scale unmanned aerial vehicles, and specifically the gridding formation method comprises the following steps:
specifically, before the formation, all the unmanned aerial vehicles to be formed are located in the non-formation area, and the non-formation area and the formation area may be specifically selected and determined according to actual conditions, and are specifically known to those skilled in the art, and are not described herein again. The number of unmanned aerial vehicles in the non-formation area is selected according to actual needs, the scale of unmanned aerial vehicle formation can be determined after the number of unmanned aerial vehicles in the non-formation area is determined, the scale of unmanned aerial vehicle formation can be specifically selected according to actual needs, and the unmanned aerial vehicles in the non-formation area need to enter the formation area to be formed. When the unmanned aerial vehicles enter the formation area from the non-formation area, the unmanned aerial vehicles respectively have self-planned air routes before reaching a flight destination; namely: each drone has its own flight path, each drone has the same starting and ending points, but all drone's flight paths are constrained by the formation of the grid.
In the embodiment of the invention, when the gridding formation based on the nine-square lattice protocol is adopted, the number of unmanned aerial vehicles in the non-formation area and the number of nine-square lattices after the gridding formation have a corresponding relation, and specifically, the relation for determining the number of the nine-square lattices according to the number of the unmanned aerial vehicles in the non-formation area is as follows:
wherein M is the number of unmanned aerial vehicles in the non-formation area, n5The number of Sudoku cells in the grid formation.
In specific implementation, a formation visual system, a distance measurement sensing system and a cooperative target lamp system are arranged on any unmanned aerial vehicle, wherein after an unmanned aerial vehicle enters a formation area, the formation visual system can acquire a corresponding formation flying pose state adjacent to the unmanned aerial vehicle in the visual range of the formation visual system; the distance between the unmanned aerial vehicle and the adjacent unmanned aerial vehicle can be determined through the distance measuring and sensing system, and the topological grid number of the current Sudoku grid formation in which the unmanned aerial vehicle is located can be displayed and output through the cooperative target lamp system;
the formation flight pose state includes a topological mesh number displayed by a cooperative target light system of a neighboring drone and a flight position of the neighboring drone.
In the embodiment of the invention, the formation visual system comprises a plurality of formation visual sensors, and the formation visual sensors in the formation visual system are at least distributed on the left side of the unmanned aerial vehicle body, the right side of the unmanned aerial vehicle body, the nose part and the tail part. The formation visual sensor can adopt common image sampling equipment such as a camera, and the specific type can be selected according to actual needs, and is not described in detail here. Formation visual sensor generally distributes in unmanned aerial vehicle's fuselage left side, fuselage right side, aircraft nose portion and afterbody to utilize the visual formation system on an unmanned aerial vehicle can effectively acquire the formation flight state of neighbouring unmanned aerial vehicle in the visual range.
The distance measurement sensing system comprises a plurality of distance measurement sensors, and the distance measurement sensors in the distance measurement sensing system are at least distributed on the left side of the unmanned aerial vehicle body, the right side of the unmanned aerial vehicle body, the head part and the tail part; the distance measuring sensor may be of a conventional type, and will not be described herein. The range finding sensor in the range finding sensing system distributes in fuselage left side, fuselage right side, aircraft nose portion and the afterbody of place unmanned aerial vehicle at least to utilize the range finding sensor system can acquire the distance between the adjacent unmanned aerial vehicle.
Furthermore, the cooperative target lamp system comprises a plurality of fuselage cooperative target lamps, and the fuselage cooperative target lamps in the cooperative target lamp system are at least distributed on the left wing, the right wing, the nose part and the tail part of the unmanned aerial vehicle.
In fig. 2, the distribution of fuselage target lamps within a cooperative target lamp system on the drone fuselage 140 is shown; including a right wing fuselage collaboration target lamp 100, a left wing fuselage collaboration target lamp 110, a nose fuselage collaboration target 120, and a tail fuselage collaboration target lamp 130. During specific implementation, the fuselage cooperation target lamp 100 of the right wing can adopt a green LED lamp, the fuselage cooperation target lamp 110 of the left wing can adopt a purple LED lamp, the fuselage cooperation target 120 of the nose can adopt a red LED lamp, the fuselage cooperation target lamp 130 of the tail can adopt a blue LED lamp, the specific distribution and colors of the fuselage cooperation target lamp and the like can be selected according to needs, so as to meet the requirement of obtaining the formation flight pose state of the current unmanned aerial vehicle by the formation vision system on other unmanned aerial vehicles, and the description is omitted here.
In specific implementation, when the number of the topological grid in the nine-square grid formation in which the unmanned aerial vehicle is located is displayed and output through the cooperative target lamp system, the number of the topological grid is 9 numbers in total, and when the number of the topological grid is displayed specifically, the number of the highlighted LED cooperative target lamps which are consistent with the number of the topological grid numbers can be lightened to represent the number of the topological grid in which the unmanned aerial vehicle is located, and the number can be selected specifically as required, and is not repeated here. When the number display mode consistent with the number of the topological mesh is adopted, if the number of the topological mesh is 2, two cooperative target lamps are all in the lighting state in the fuselage cooperative target lamp 100 of the right wing, the fuselage cooperative target lamp 110 of the left wing, the fuselage cooperative target 120 of the nose and the fuselage cooperative target lamp 130 of the tail.
specifically, after the formation starts, the unmanned aerial vehicle in the non-formation area can be guided into the formation area by adopting the technical means commonly used in the technical field, and the specific guiding mode can be selected according to actual needs and is not repeated here. When the formation is carried out, firstly, a basic nine-grid formation is required to be constructed in a formation area, and in order to obtain the nine-grid formation, the unmanned aerial vehicles sequentially entering the formation area are nine, namely, the nine-grid formation is 3 × 3.
Fig. 3 is a schematic layout diagram of forming a 3 × 3 basic nine-grid mesh formation in the formation region, and fig. 4 is a schematic view of a visual reference topology diagram of the basic nine-grid mesh formation in fig. 3. All unmanned aerial vehicles in the basic nine-grid formation have a topological grid number, and the topological grid number is 1-9 and totally 9 numbers. When the nine-square-grid protocol is to be satisfied, the number of the topological grid of the unmanned aerial vehicle at the middle position needs to be set to 5, and in any nine-square-grid formation, the number of the topological grid of the unmanned aerial vehicle at the middle position needs to be set to 5.
For the Sudoku protocol, as can be seen from FIG. 4, the horizontal topologies are 8-1-6, 3-5-7, and 4-9-2, and the vertical topologies are 8-3-4, 1-5-9, and 6-7-2; the oblique topology is 8-5-2 and 4-5-6; the requirement of the nine-square grid protocol is specifically that the sum of the serial numbers of the topological grids of each transverse topology, each longitudinal topology and any oblique topology is 15, which is specifically consistent with the situation of the existing nine-square grid, and is well known by those skilled in the art, and is not described herein again.
During specific implementation, all unmanned aerial vehicles in the basic nine-grid formation are at the same flight height, and the distances between any two adjacent unmanned aerial vehicles in the horizontal direction and the longitudinal direction in the basic nine-grid formation are consistent. As can be seen from the topology in fig. 4, the distance between the drone with the topology mesh number 1 and the drone with the topology mesh number 8 is the same as the distance between the drone with the topology mesh number 1 and the drone with the topology mesh number 6, and is also the same as the distance between the drone with the topology mesh number 1 and the drone with the topology mesh number 5, that is, in fig. 4, the distance between 8-1 is equal to the distance between 1-6 and the distance between 1-5. During specific implementation, the distance between adjacent unmanned aerial vehicles can be selected according to actual need, and is not repeated here. The flying height of the unmanned aerial vehicle, the flying speed and the distance between two adjacent unmanned aerial vehicles can be configured in advance according to the requirement of grid formation, and are specifically known to those skilled in the art, and are not repeated herein.
The distance between the other unmanned aerial vehicles can refer to the above description, and is not repeated here. During specific implementation, the distance between the unmanned aerial vehicle at the position with the topological mesh number of 1 and the unmanned aerial vehicle at the position with the topological mesh number of 8 can be determined by the unmanned aerial vehicle at the position with the topological mesh number of 1 by using a ranging sensing system, and other similarities and similarities are well known to those skilled in the art and are not described herein again.
In order to form the basic grid formation of the squared figure shown in fig. 3, a specific embodiment is described below. Specifically, a first unmanned aerial vehicle enters a formation area, and the first unmanned aerial vehicle displays an output topological mesh number of 5 through a cooperative target lamp system of the first unmanned aerial vehicle; then, the second unmanned aerial vehicle enters the formation area, the flying speed and flying height of the second unmanned aerial vehicle are consistent with those of the first unmanned aerial vehicle, the second unmanned aerial vehicle determines the formation flying pose state of the first unmanned aerial vehicle through the formation visual system on the second unmanned aerial vehicle, and the position of the base nine-grid mesh network formation is determined according to the formation flying pose of the first unmanned aerial vehicle, such as the position with the topology grid number of 1 (at this moment, the second unmanned aerial vehicle is positioned right ahead of the first unmanned aerial vehicle), and of course, other positions can be selected according to actual needs, and the details are not repeated here. After the second unmanned aerial vehicle enters the position in the basic grid formation of the nine-square grid, the position state of the topological grid number 1 where the second unmanned aerial vehicle is located can be displayed and output through the cooperative target lamp system, when the second unmanned aerial vehicle is at other positions, corresponding display is carried out through the cooperative target lamp system, and details are not repeated here.
After a third unmanned aerial vehicle enters a formation area, the third unmanned aerial vehicle determines the corresponding formation flight pose states of the first unmanned aerial vehicle and the second unmanned aerial vehicle by using a formation visual system on the third unmanned aerial vehicle, if the third unmanned aerial vehicle can determine that the unmanned aerial vehicle exists in a position with a topological mesh number of 5 and the unmanned aerial vehicle also exists in a position with a topological mesh number of 1, the third unmanned aerial vehicle enters a required position according to actual needs, if the third unmanned aerial vehicle can enter a position with a topological mesh number of 2, and after the third unmanned aerial vehicle enters the position, the position state of the topological mesh number of the third unmanned aerial vehicle can be displayed and output through a cooperative target lamp system of the third unmanned aerial vehicle, when the third unmanned aerial vehicle is in other positions, the third unmanned aerial vehicle can display the corresponding state through the cooperative target lamp system, and the third unmanned aerial vehicle is not repeated here.
Of course, the third drone and the second drone need to maintain the same flying height and flying speed as the first drone. In addition, when remaining fourth unmanned aerial vehicle to ninth unmanned aerial vehicle get into and build basic squared figure net formation, specifically can refer to above-mentioned second unmanned aerial vehicle and third unmanned aerial vehicle's concrete description, only need guarantee adjacent topology net number between the unmanned aerial vehicle of position have equal distance can, here no longer gives redundant details. Generally, nine-square-grid formation topological graphs of corresponding formation scales can be stored in all unmanned aerial vehicles in advance, and the relationship between the unmanned aerial vehicles and other unmanned aerial vehicles in the nine-square-grid formation can be determined by utilizing the topological graphs of the nine-square-grid formation.
specifically, after the basic nine-grid-mesh formation is constructed, the unmanned aerial vehicles in the non-formation area need to be sequentially formed into the formation area, and when the unmanned aerial vehicles entering the formation area are formed into a formation, the formation based on the basic nine-grid-mesh is needed, that is, the construction of the nested nine-grid-mesh formation needs to use at least one topological mesh in the basic nine-grid-mesh formation, that is, at least one unmanned aerial vehicle in the basic nine-grid-mesh formation, and the specific nesting condition is related to the nested position, which is specifically described below.
The built nested nine-grid formation requires the number of at least one topological grid in the basic nine-grid formation, as shown in fig. 5, which is a topological grid with the number of 4 in the basic nine-grid formation. In this case, the constructed nested nine-grid formation corresponds to a preset unmanned position. After a first unmanned aerial vehicle for constructing the nested nine-grid formation enters, the formation flying attitude state of the unmanned aerial vehicle with the topological grid number of 4 positions in the nine-grid formation needs to be based on the formation visual system, the position of the unmanned aerial vehicle entering the nested nine-grid formation to be constructed can be determined according to the distance and other relations between the adjacent unmanned aerial vehicles, and then the position state of the topological grid number of the position can be displayed and output through the cooperative target lamp system.
In specific implementation, when the nested nine-grid formation is constructed, the specific construction process can refer to the description of the basic nine-grid formation, the nine-grid protocol needs to be met in construction, the unmanned aerial vehicles have the same flight speed and the distances between adjacent unmanned aerial vehicles are the same, and the lower left corner in fig. 5 is the constructed nested nine-grid formation.
specifically, for large-scale unmanned aerial vehicle formation, generally, after a basic nine-grid formation and a first-constructed nested nine-grid formation are constructed, an unmanned aerial vehicle in a non-formation area still has a chance, and therefore, the nested nine-grid formation needs to be continuously constructed. When the nested nine-palace-grid formation is constructed again, at least one topological grid number in the nested nine-palace-grid formation and/or at least one topological grid number in the basic nine-palace-grid formation are/is nested in the constructed nested nine-palace-grid formation, specifically, the actual situation of the topological grid numbers in the nested nine-palace-grid formation and/or the topological grid numbers in the basic nine-palace-grid formation is related to the position of the constructed nested nine-palace-grid formation, and the specific construction process can refer to the description of the step 2 and the step 3, and is not repeated here.
The situation that the nested nine-palace grid formation is built again on the basis of the graph shown in the graph 5. At this time, for the nested nine-square grid formation constructed in fig. 6, that is, the position of the unmanned aerial vehicle corresponding to the topological grid with the number of 4-9-2-3-8 is predetermined, and the unmanned aerial vehicle entering from the non-formation area only needs to complete the formation of the position of the topological grid with the number of 5-7-1-6, which may be referred to the above description specifically, and is not described here again.
And 5, repeating the step 3 or the step 4 until all the unmanned aerial vehicles in the non-formation area enter the formation area so as to obtain the required gridding formation.
Specifically, after step 4, when the unmanned aerial vehicle enters the formation area from the non-formation area, the nested nine-grid formation required to be constructed may be performed in the form of step 3 or step 4 according to the situation that the serial numbers of the topological grids in the basic nine-grid formation are nested, and specific situations may refer to the above description and are not described herein again.
According to the description, when gridding formation is carried out, all unmanned aerial vehicles in a non-formation area need to enter the formation area, and the gridding formation can be finally obtained according to the specific situation of constructing the Sudoku grid formation. During specific implementation, the obtained gridding formation is arranged in a form of a square, namely, the gridding formation is preferentially selected to be arranged in a form of a square, if the gridding formation is arranged in a form of 7 × 7, the arrangement condition of the 7 × 7 grid formation is shown in fig. 7, fig. 8 and fig. 9, and the formed nine-square grid serial nested structure enables the unmanned aerial vehicle formation to be more closely connected, so that the stability of the whole formation is improved. In fig. 7, 8 and 9, since each nine-grid formation needs to include a topological grid with the topological grid number 5, the number n of nine-grids in the 7 x 7 grid formation5The number of the grooves is 9.
Therefore, in the above formula (1), the number n of the Sudoku cells in the grid formation is determined5Namely the sum of the basic nine-square grid formation formed in the steps and the number of all the nested nine-square grid formations.
Further, determining a reference unmanned aerial vehicle set of any unmanned aerial vehicle positioned in the gridding formation according to a Sudoku protocol, and when no reference unmanned aerial vehicle exists in the reference unmanned aerial vehicle set, separating the current unmanned aerial vehicle from the gridding formation.
Specifically, for a reference unmanned aerial vehicle in a reference unmanned aerial vehicle set, the specific selection mainly includes the following two conditions: 1) and the topological mesh where the reference unmanned aerial vehicle is located and the topological mesh of the current unmanned aerial vehicle are located on the same straight line in the topological graph. 2) In the reference direction, besides the number of the topology mesh of the unmanned aerial vehicle and the number of the topology mesh close to the reference unmanned aerial vehicle, a topology mesh needs to be found in the reference direction, and the sum of the numbers corresponding to the three topology mesh numbers must be 15. That is, the unmanned aerial vehicle satisfying the above two conditions is the unmanned aerial vehicle that can be referred to.
Generally, there is a direction indicator gauge in the drone, as shown in fig. 10, which shows the case where the gauge of the drone can display 8 directions with reference to the reference drone in fig. 10. As shown in fig. 4, for the basic nine-grid formation of the building, the unmanned aerial vehicle at the position of the topological grid number 8 only refers to the unmanned aerial vehicle at the position of the topological grid number 1 in the direction position 2, the unmanned aerial vehicle at the position of the topological grid number 6 in the direction position 3 refers to the unmanned aerial vehicle at the position of the topological grid number 5 and the unmanned aerial vehicle at the position of the topological grid number 2 in the direction position 3, and the unmanned aerial vehicle at the position of the topological grid number 3 and the unmanned aerial vehicle at the position of the topological grid number 4 in the direction position 4. The sum of the number of the three topological grids formed by the topological grid numbers of all the unmanned aerial vehicles in the direction bit 2, the direction bit 3 and the direction bit 4 and the topological grid number 8 is 15, so that the nine-square-grid protocol is met, and therefore the unmanned aerial vehicles in the positions with the topological grid numbers of 8 and referenced by the unmanned aerial vehicles are located in the topological grid codes of 1, 6, 5, 2, 3 and 4.
Similarly, the topological mesh code where the unmanned aerial vehicle with the topological mesh number of 3 positions can refer to is 8, 4, 5, and 7. The unmanned aerial vehicles that can be referred to by the unmanned aerial vehicles with other topological mesh numbers are determined according to the above specification. During specific implementation, in the topological graph of fig. 4, the number of unmanned aerial vehicles referred to by the unmanned aerial vehicles at different topological mesh formation positions is different, for example, the unmanned aerial vehicles with the topological mesh codes of 2, 4, 6, and 8 have 6 unmanned aerial vehicles to refer to respectively, the unmanned aerial vehicles with the topological mesh codes of 5 positions have 8 unmanned aerial vehicles to refer to respectively, and the unmanned aerial vehicles with the topological mesh codes of 1, 3, 7, and 9 positions have 4 unmanned aerial vehicles to refer to respectively.
As shown in fig. 9, in the 7 × 7-scale meshed formation topological graph, the unmanned aerial vehicle whose topological mesh code is 4 in the black dashed box is shown, and under this scale formation, the unmanned aerial vehicle whose topological mesh code is 4 can be referred to by the unmanned aerial vehicle whose topological mesh code is 5 in the direction position 1, the unmanned aerial vehicle whose topological mesh code is 9 in the direction position 2, the unmanned aerial vehicle whose topological mesh code is 5 in the direction position 3, the unmanned aerial vehicle whose topological mesh code is 3 in the direction position 4, the unmanned aerial vehicle whose topological mesh code is 5 in the direction position 5, the unmanned aerial vehicle whose topological mesh code is 9 in the direction position 6, the unmanned aerial vehicle whose topological mesh code is 5 in the direction position 7, the unmanned aerial vehicle whose topological mesh code is 3 in the direction position 8, the unmanned aerial vehicle whose topological mesh code is 6 in the direction position 1, the unmanned aerial vehicle whose topological mesh code is 2 in the direction position 2, the unmanned aerial vehicle whose topological mesh code is 2, the unmanned aerial vehicle whose topological mesh code is 6 in the direction position is 3, and the unmanned aerial vehicle whose direction position is the unmanned aerial vehicle and the unmanned aerial vehicle are located in the unmanned aerial vehicle and the unmanned aerial vehicle, An unmanned aerial vehicle with a topological mesh code of 6 is extended from a direction bit 3, an unmanned aerial vehicle with a topological mesh code of 8 is extended from a direction bit 4, an unmanned aerial vehicle with a topological mesh code of 6 is extended from a direction bit 5, an unmanned aerial vehicle with a topological mesh code of 2 is extended from a direction bit 6, an unmanned aerial vehicle with a topological mesh code of 6 is extended from a direction bit 7, and an unmanned aerial vehicle with a topological mesh code of 5 is extended from a direction bit 8, the number of the unmanned aerial vehicles which totally meet the reference condition reaches 16, as shown in fig. 10, if the 16 unmanned aerial vehicles are destroyed, the unmanned aerial vehicles with the topological mesh codes of 4 in a black dotted frame are separated from the formation, otherwise, the unmanned aerial vehicles with the topological mesh codes of 4 in the black dotted frame can fly under the gridding formation constraint according to any reference unmanned aerial vehicle until the flight end point is reached; i.e. the formation flight status can be maintained.
In conclusion, after the unmanned aerial vehicles in the non-formation area enter the formation area, basic nine-grid formation and nested nine-grid formation can be sequentially constructed, the required meshed formation is finally obtained on the basis of the basic nine-grid formation and the nested nine-grid formation, and all the unmanned aerial vehicles in the meshed formation fly at the same flying height and the same flying speed; after the gridding formation is obtained, the reference unmanned aerial vehicle set can be determined for the unmanned aerial vehicles with any topological grid codes, so that the unmanned aerial vehicles can fly under the constraint of the gridding formation according to the reference unmanned aerial vehicle in the reference unmanned aerial vehicle set before reaching a flight end point, the unmanned aerial vehicles can effectively form and fly under the conditions of strong electromagnetic interference and loss of part of airplanes in the formation flight process, and the influence of the strong electromagnetic interference on the unmanned aerial vehicle formation on a battlefield is effectively avoided.
Claims (5)
1. A gridding formation method suitable for a large-scale unmanned aerial vehicle is characterized by comprising the following steps:
step 1, determining the scale of grid formation according to the number of unmanned aerial vehicles in a non-formation area, and determining the number of Sudoku grids in the grid formation according to the scale of the grid formation; the relation of determining the number of the nine-square grids according to the number of the unmanned aerial vehicles in the non-formation area is
Wherein M is the number of unmanned aerial vehicles in the non-formation area, n5The number of the Sudoku cells in the grid formation;
step 2, unmanned aerial vehicles required in the non-formation area sequentially enter the formation area to construct a basic nine-grid formation, wherein topological grid numbers of all unmanned aerial vehicles in the basic nine-grid formation meet a nine-grid protocol, all unmanned aerial vehicles in the basic nine-grid formation are positioned at the same flying height, and the distances of any two adjacent unmanned aerial vehicles in the horizontal direction and the longitudinal direction in the basic nine-grid formation are consistent;
step 3, enabling the unmanned aerial vehicles in the non-formation area to enter a formation area to construct a nested nine-square-grid formation, wherein at least one topological grid number in a basic nine-square-grid formation is nested in the nested nine-square-grid formation, the topological grid numbers of all the unmanned aerial vehicles in the nested nine-square-grid formation meet a nine-square-grid protocol, all the unmanned aerial vehicles in the nested nine-square-grid formation are at the same flying height, and the distances between any two adjacent unmanned aerial vehicles in the transverse direction and the longitudinal direction in the nested nine-square-grid formation are consistent;
step 4, enabling the unmanned aerial vehicles in the non-formation area to enter a formation area, and constructing a nested nine-grid formation again, wherein at least one topological grid number in the nested nine-grid formation and/or at least one topological grid number in the basic nine-grid formation are nested in the nested nine-grid formation, wherein the topological grid numbers of all the unmanned aerial vehicles in the constructed nested nine-grid formation meet a nine-grid protocol, all the unmanned aerial vehicles in the constructed nested nine-grid formation are at the same flight height, and the distances between any two adjacent unmanned aerial vehicles in the transverse direction and the longitudinal direction in the constructed nested nine-grid formation are consistent;
and 5, repeating the step 3 or the step 4 until all the unmanned aerial vehicles in the non-formation area enter the formation area so as to obtain the required gridding formation.
2. The gridding formation method suitable for large-scale unmanned aerial vehicles according to claim 1, wherein: the obtained gridding formation is arranged in a square form.
3. The gridding formation method suitable for large-scale unmanned aerial vehicles according to claim 1 or 2, wherein the gridding formation method comprises the following steps: for any unmanned aerial vehicle, a formation visual system, a distance measurement sensing system and a cooperative target lamp system are arranged on the unmanned aerial vehicle, wherein after an unmanned aerial vehicle enters a formation area, the formation visual system can acquire the corresponding formation flying pose state of the adjacent unmanned aerial vehicle in the visual range of the formation visual system; the distance between the unmanned aerial vehicle and the adjacent unmanned aerial vehicle can be determined through the distance measuring and sensing system, and the topological grid number of the current Sudoku grid formation in which the unmanned aerial vehicle is located can be displayed and output through the cooperative target lamp system;
the formation flight pose state includes a topological mesh number displayed by a cooperative target light system of a neighboring drone and a flight position of the neighboring drone.
4. The gridding formation method suitable for large-scale unmanned aerial vehicles according to claim 3, wherein: the formation visual system comprises a plurality of formation visual sensors, and the formation visual sensors in the formation visual system are at least distributed on the left side of the unmanned aerial vehicle body, the right side of the unmanned aerial vehicle body, the nose part and the tail part;
the distance measurement sensing system comprises a plurality of distance measurement sensors, and the distance measurement sensors in the distance measurement sensing system are at least distributed on the left side of the unmanned aerial vehicle body, the right side of the unmanned aerial vehicle body, the head part and the tail part;
the cooperative target lamp system comprises a plurality of fuselage cooperative target lamps, and the fuselage cooperative target lamps in the cooperative target lamp system are at least distributed on the left wing, the right wing, the nose part and the tail part of the unmanned aerial vehicle.
5. The gridding formation method suitable for large-scale unmanned aerial vehicles according to claim 1 or 2, wherein the gridding formation method comprises the following steps: and determining a reference unmanned aerial vehicle set of any unmanned aerial vehicle positioned in the gridding formation according to a Sudoku protocol, wherein when no reference unmanned aerial vehicle exists in the reference unmanned aerial vehicle set, the current unmanned aerial vehicle is separated from the gridding formation.
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