CN114237298A - Control method and system for wing aircraft following leader in formation flight of unmanned aerial vehicle - Google Patents
Control method and system for wing aircraft following leader in formation flight of unmanned aerial vehicle Download PDFInfo
- Publication number
- CN114237298A CN114237298A CN202111573289.2A CN202111573289A CN114237298A CN 114237298 A CN114237298 A CN 114237298A CN 202111573289 A CN202111573289 A CN 202111573289A CN 114237298 A CN114237298 A CN 114237298A
- Authority
- CN
- China
- Prior art keywords
- wing
- plane
- wing plane
- speed
- error
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000015572 biosynthetic process Effects 0.000 title claims abstract description 26
- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000004364 calculation method Methods 0.000 claims description 46
- 238000012423 maintenance Methods 0.000 abstract description 4
- 230000000694 effects Effects 0.000 description 3
- 238000004088 simulation Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000035484 reaction time Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to a control method and a system for a wing plane to follow a lead plane in the formation flight of an unmanned aerial vehicle, which comprises the steps of firstly obtaining the speed of the lead plane, the course angle of the lead plane, the longitude and latitude of the lead plane, the maximum speed of the wing plane, the course angle of the wing plane and the longitude and latitude of the wing plane; then obtaining a wing plane distance and further obtaining a wing plane position and a position error based on the longitude and latitude of the long plane and the longitude and latitude of the wing plane; and finally, judging the position error, and obtaining the speed and the angular speed of the wing plane by adopting different methods according to the magnitude relation between the position error and an error threshold value so as to control the flight of the wing plane. The invention realizes the pursuit of wing plane to farm plane and the formation maintenance by controlling the speed of wing plane and the turning angle speed based on the known flight parameters.
Description
Technical Field
The invention relates to the technical field of flight control of unmanned aerial vehicles, in particular to a method and a system for controlling a wing plane follower in formation flight of an unmanned aerial vehicle.
Background
Unmanned aerial vehicle formation flight is the basis of unmanned aerial vehicle cluster application, has wide application prospect. The current unmanned aerial vehicle formation control methods include a leader-follower (LF) law, a virtual structure law, a consistency-based method, and the like, and although the specific control strategies are different when a plurality of machines are formed, the final implementation basis is that the unmanned aerial vehicle effectively tracks a certain target, such as a leader.
Due to the fact that the position of the long machine changes in real time, the method can lead to the fact that targets and responsibilities are not clear and the interaction degree is low, further prolongs the reaction time, and is poor in real-time performance.
Disclosure of Invention
In view of the above, the present invention provides a method and a system for controlling a wing plane to follow a leader in the formation of a formation of an unmanned aerial vehicle, which realize the pursuit of the wing plane to the leader and the formation maintenance by controlling the speed and turning angle speed of the wing plane based on known flight parameters.
In order to achieve the purpose, the invention provides the following scheme:
a method for controlling a wing plane following a leader in the formation flight of an unmanned aerial vehicle, comprising:
step S1, obtaining the speed of the leader, the heading angle of the leader, the longitude and latitude of the leader, the maximum speed of the wing plane, the heading angle of the wing plane and the longitude and latitude of the wing plane;
step S2, obtaining a wing-plane distance, and further obtaining a wing-plane position and a position error based on the longitude and latitude of the longplane and the longitude and latitude of the wing-plane;
step S3, determining the position error; if the position error is greater than or equal to the error threshold, executing step S4; if the position error is smaller than the error threshold, executing step S5;
a step S4, to obtain a first wing plane angular speed, as a function of said wing plane distance and of said wing plane course angle, to control the wing plane flight as a function of said first wing plane angular speed and of said wing plane maximum speed;
a step S5 of deriving a wing plane speed from said long plane speed and said position error, deriving a second wing plane angular speed based on said long plane course angle, said wing plane course angle and said position error, controlling wing plane flight based on said second wing plane angular speed and said wing plane speed.
Preferably, the step S2 includes:
step S21, obtaining a wing plane lateral distance and a wing plane longitudinal distance based on the grand plane longitude and latitude and the wing plane longitude and latitude; said wing plane distances comprise both the lateral and the longitudinal direction of the wing plane;
step S22, establishing a coordinate system by taking the long machine as an origin, taking the course of the long machine as an X axis and taking the overlooking transverse direction of the X axis as a Y axis;
a step S23, obtaining, in connection with said coordinate system, wing-machine X-axis coordinates and wing-machine Y-axis coordinates, based on said long-machine course angle, said wing-machine transverse distance and said wing-machine longitudinal distance; a wing-plane position comprising the X-axis coordinates of said wing-plane and the Y-axis coordinates of said wing-plane;
step S24, obtaining an X-axis error based on a bureaucratic demand X coordinate and said bureaucratic X-axis coordinate; obtaining a Y-axis error based on a wing plane demand Y coordinate and the wing plane Y-axis coordinate; the position error includes the X-axis error and the Y-axis error.
Preferably, the step S3 is specifically:
judging the Y-axis error and the error threshold, and if the Y-axis error is greater than or equal to the error threshold, executing a step S4; if the Y-axis error is smaller than the error threshold, step S5 is executed.
Preferably, the step S4 includes:
a step S41 of obtaining, on the basis of said transversal distance and said longitudinal distance of a wing, the azimuth of the wing pointing in the direction of the long plane, using an arctan function;
a step S42 of obtaining an angular difference based on said azimuth and said wing plane course angle;
a step S43, of deriving said first bureaucratic angular speed on the basis of said angular difference;
step S44, controlling the wing plane flight on the basis of said first wing plane angular speed and said wing plane maximum speed.
Preferably, the step S5 includes:
a step S51 of deriving a wing plane speed based on said long plane speed and said X axis error;
a step S52, obtaining said second wing angular speed based on said wing speed, said Y-axis error, said wing course angle and said elongator course angle;
step S53, controlling the wing plane flight on the basis of said wing plane speed and said second wing plane angular speed.
The invention also provides a control system for a wing plane to follow a leader in the formation flight of an unmanned aerial vehicle, which comprises:
the data acquisition module acquires the speed of the long plane, the course angle of the long plane, the longitude and latitude of the long plane, the maximum speed of the wing plane, the course angle of the wing plane and the longitude and latitude of the wing plane;
a calculation module which obtains a wing plane distance and further obtains a wing plane position and a position error based on the longitude and latitude of the grand plane and the longitude and latitude of the wing plane;
the judging module is used for judging the position error; if the position error is larger than or equal to an error threshold, executing a first control module; if the position error is smaller than the error threshold, executing a second control module;
said first control module, as a function of said wing plane distance and of said wing plane course angle, obtains a first wing plane angular speed and, as a function of said first wing plane angular speed and of said maximum wing plane speed, controls the wing plane flight;
the second control module derives a wing aircraft speed from the long aircraft speed and the position error, and it derives a second wing aircraft angular speed based on the long aircraft course angle, the wing aircraft course angle and the position error, and controls wing aircraft flight based on the second wing aircraft angular speed and the wing aircraft speed.
Preferably, the calculation module comprises:
a distance calculation unit for obtaining a wing plane transverse distance and a wing plane longitudinal distance based on the longitudes and the wing plane longitudes; said wing plane distances comprise both the lateral and the longitudinal direction of the wing plane;
the coordinate system unit is used for establishing a coordinate system by taking the long machine as an original point, taking the course of the long machine as an X axis and taking the overlooking transverse direction of the X axis as a Y axis;
a coordinate calculation unit, which combines the coordinate system to obtain the bureaucratic X-axis coordinates and the bureaucratic Y-axis coordinates based on the longplane course angle, the bureaucratic transverse distance, and the bureaucratic longitudinal distance; a wing-plane position comprising the X-axis coordinates of said wing-plane and the Y-axis coordinates of said wing-plane;
an error calculation unit for obtaining an X-axis error based on a bureaucratic demand X coordinate and said bureaucratic X-axis coordinate; obtaining a Y-axis error based on a wing plane demand Y coordinate and the wing plane Y-axis coordinate; the position error includes the X-axis error and the Y-axis error.
Preferably, the judging module is specifically:
judging the Y-axis error and the error threshold, and if the Y-axis error is greater than or equal to the error threshold, executing a 'first control module'; and if the Y-axis error is smaller than the error threshold, executing a second control module.
Preferably, the first control module comprises:
an azimuth calculation unit for obtaining the azimuth of a wing plane pointing to the direction of a wing plane by adopting an arctangent function based on the lateral distance of the wing plane and the longitudinal distance of the wing plane;
an angle difference calculation unit for obtaining an angle difference based on the azimuth and the wing plane course angle;
a first angular velocity calculation unit deriving said first bureaucratic angular velocity on the basis of said angular difference;
a first control unit controlling the wing plane flight on the basis of said first wing plane angular speed and said wing plane maximum speed.
Preferably, the second control module comprises:
a speed calculation unit deriving a wing plane speed on the basis of said long plane speed and said X-axis error;
a second angular velocity calculation unit obtaining said second wing angular velocity based on said wing speed, said Y-axis error, said wing course angle and said leader course angle;
a second control unit controlling the wing plane flight on the basis of said wing plane speed and said second wing plane angular speed.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention relates to a control method and a system for a wing plane to follow a lead plane in the formation flight of an unmanned aerial vehicle, which comprises the steps of firstly obtaining the speed of the lead plane, the course angle of the lead plane, the longitude and latitude of the lead plane, the maximum speed of the wing plane, the course angle of the wing plane and the longitude and latitude of the wing plane; then obtaining a wing plane distance and further obtaining a wing plane position and a position error based on the longitude and latitude of the long plane and the longitude and latitude of the wing plane; and finally, judging the position error, and obtaining the speed and the angular speed of the wing plane by adopting different methods according to the magnitude relation between the position error and an error threshold value so as to control the flight of the wing plane. The invention realizes the pursuit of wing plane to farm plane and the formation maintenance by controlling the speed of wing plane and the turning angle speed based on the known flight parameters.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
Fig. 1 is a flow chart of a method for controlling a wing plane following a leader in the formation flight of an unmanned aerial vehicle according to the invention;
fig. 2 is a structural diagram of a control system of a wing plane following a leader in formation flight of an unmanned aerial vehicle.
Description of the symbols: the method comprises the following steps of 1-a data acquisition module, 2-a calculation module, 3-a judgment module, 4-a first control module and 5-a second control module.
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 derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a method and a system for controlling a wing plane to follow a captain plane in the formation flight of an unmanned aerial vehicle, which realize the pursuit of the wing plane to the captain plane and the formation maintenance by controlling the speed and the turning angle speed of the wing plane based on known flight parameters.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Fig. 1 is a flow chart of a control method of a wing plane following a leader in formation flight of an unmanned aerial vehicle. As shown in the figure, the invention provides a method for controlling a wing plane following a leader in the formation of unmanned planes, comprising:
step S1, obtaining the speed of the lead aircraft, the heading angle of the lead aircraft, the longitude and latitude of the lead aircraft, the maximum speed of the wing aircraft, the heading angle of the wing aircraft and the longitude and latitude of the wing aircraft.
Step S2, obtaining a wing plane distance, and further obtaining a wing plane position and a position error based on the grand plane longitude and latitude and the wing plane longitude and latitude.
Specifically, the step S2 includes:
step S21, obtaining a wing plane lateral distance and a wing plane longitudinal distance based on the grand plane longitude and latitude and the wing plane longitude and latitude; the wing plane distances comprise both the lateral and the longitudinal direction of the wing plane. The calculation formula is as follows:
in the formula: l iseHorizontal distance of bureaucratic plane, LnVertical distance of wing aircraft, lon is longitude of long aircraft, lat is latitude of long aircraft, lon0A wing plane longitude, lat0As the latitude of a bureaucratic plane.
And step S22, establishing a coordinate system by taking the long machine as an origin, taking the course of the long machine as an X axis and taking the overlooking transverse direction of the X axis as a Y axis.
A step S23, obtaining, in connection with said coordinate system, wing-machine X-axis coordinates and wing-machine Y-axis coordinates, based on said long-machine course angle, said wing-machine transverse distance and said wing-machine longitudinal distance; the bureaucratic position comprises the bureaucratic X-axis coordinates and the bureaucratic Y-axis coordinates. The calculation formula is as follows:
in the formula: x is the number of1X-axis coordinate of bureaucratic machine, y1A wing plane Y-axis coordinate, psi0The long aircraft course angle is the included angle between the long aircraft course and the vertical direction.
Step S24, obtaining an X-axis error based on a bureaucratic demand X coordinate and said bureaucratic X-axis coordinate; obtaining a Y-axis error based on a wing plane demand Y coordinate and the wing plane Y-axis coordinate; the position error includes the X-axis error and the Y-axis error.
The calculation formula is as follows:
in the formula: Δ X is the X-axis error, Δ Y is the Y-axis error, PxX coordinate of bureaucratic demand, PyAs bureaucratic demand Y coordinates.
Step S3, determining the position error; if the position error is greater than or equal to the error threshold, executing step S4; if the position error is smaller than the error threshold, step S5 is executed.
Specifically, the Y-axis error and the error threshold are determined, and if the Y-axis error is greater than or equal to the error threshold, the step S4 is executed; if the Y-axis error is smaller than the error threshold, step S5 is executed.
A step S4, deriving a first wing plane angular speed from said wing plane distance and said wing plane course angle, controlling wing plane flight based on said first wing plane angular speed and said wing plane maximum speed.
Preferably, the step S4 includes:
at step S41, the azimuth angle of the wing plane pointing in the direction of the long plane is obtained by means of an arctan function, based on the lateral distance of the wing plane and the longitudinal distance of the wing plane.
Step S42, obtaining an angle difference based on said azimuth and said bureaucratic course angle. The calculation formula is as follows:
Δψ＝ψlos-ψ,Δψ∈[-π,π)；
in the formula: Δ ψ is the angular difference, ψ is the wing aircraft heading angle, ψlosIs the azimuth angle.
Step S43, deriving the first bureaucratic angular velocity based on the angular difference. The calculation formula is as follows:
ω1＝kωΔψ,kω＞0；
in the formula: omega1Is a first wing angular velocity, kωIs a positive proportionality coefficient of angular velocity.
Step S44, controlling the wing plane flight on the basis of said first wing plane angular speed and said wing plane maximum speed.
A step S5 of deriving a wing plane speed from said long plane speed and said position error, deriving a second wing plane angular speed based on said long plane course angle, said wing plane course angle and said position error, controlling wing plane flight based on said second wing plane angular speed and said wing plane speed.
Further, the step S5 includes:
step S51, obtaining a wing plane speed based on said long plane speed and said X axis error. The calculation formula is as follows:
v＝V-kxΔx；
in the formula: v is the speed of the long plane, V is the speed of the wing plane, kxIs a positive speed scaling factor.
Step S52, obtaining the second wing angular speed based on the wing aircraft speed, the Y-axis error, the wing aircraft heading angle and the lead aircraft heading angle. The calculation formula is as follows:
in the formula: omega2At a second wing angular velocity, α ═ ψ0-ψ，
L is a positive distance reference constant.
Step S53, controlling the wing plane flight on the basis of said wing plane speed and said second wing plane angular speed.
Preferably, the fixed-wing drone generally effects a change of course through a banked turn, in case of a banked turn a turn being effected generally by controlling the roll angle, the banked turn roll angle being obtained, with said bureaucratic speed and said second bureratic angular speed, by the following formula:
in the formula: g is the acceleration of gravity.
When controlling the wing plane flight on the basis of said first wing plane angular velocity and said wing plane maximum velocity, the same principle as the above can be followed to obtain the bank turn roll angle.
Fig. 2 is a structural diagram of a control system of a wing plane following a leader in formation flight of an unmanned aerial vehicle. As shown in the figure, the present invention provides a control system for a wing plane following a leader in the formation of unmanned planes, comprising: the device comprises a data acquisition module 1, a calculation module 2, a judgment module 3, a first control module 4 and a second control module 5.
The data acquisition module 1 acquires the speed of a long plane, the course angle of the long plane, the longitude and latitude of the long plane, the maximum speed of a wing plane, the course angle of the wing plane and the longitude and latitude of the wing plane.
The calculation module 2 obtains a wing-plane distance and further a wing-plane position and position error based on the longimachine longitude and latitude and the wing-plane longitude and latitude.
The judging module 3 judges the position error; if the position error is greater than or equal to an error threshold, executing the first control module 4; and if the position error is smaller than the error threshold, executing the second control module 5.
The first control module 4 derives a first wing plane angular speed from the wing plane distance and the wing plane course angle, the first control module 4 also controlling the wing plane flight based on the first wing plane angular speed and the wing plane maximum speed.
The second control module 5 derives a wing plane speed from the long plane speed and the position error, the second control module 5 derives a second wing plane angular speed based on the long plane course angle, the wing plane course angle and the position error, and controls the wing plane flight based on the second wing plane angular speed and the wing plane speed.
As an alternative embodiment, the computing module 2 of the present invention includes: the device comprises a distance calculation unit, a coordinate system unit, a coordinate calculation unit and an error calculation unit.
The distance calculation unit obtains a wing plane transverse distance and a wing plane longitudinal distance based on the longitudes and the wing plane longitudes; the wing plane distances comprise both the lateral and the longitudinal direction of the wing plane.
The coordinate system unit takes the long machine as an original point, the course of the long machine is an X axis, and the overlooking transverse direction of the X axis is a Y axis, so that a coordinate system is established.
The coordinate calculation unit obtains, in combination with the coordinate system, wing-machine X-axis coordinates and wing-machine Y-axis coordinates, based on the longplane course angle, the wing-machine transverse distance and the wing-machine longitudinal distance; the bureaucratic position comprises the bureaucratic X-axis coordinates and the bureaucratic Y-axis coordinates.
The error calculation unit obtains an X-axis error based on a bureaucratic demand X coordinate and the bureaucratic X-axis coordinate; obtaining a Y-axis error based on a wing plane demand Y coordinate and the wing plane Y-axis coordinate; the position error includes the X-axis error and the Y-axis error.
As an optional implementation manner, the determining module 3 of the present invention specifically includes:
judging the Y-axis error and the error threshold, and if the Y-axis error is greater than or equal to the error threshold, executing the first control module 4; and if the Y-axis error is smaller than the error threshold, executing the second control module 5.
As an alternative embodiment, the first control module 4 of the present invention includes: the device comprises an azimuth angle calculation unit, an angle difference calculation unit, a first angular velocity calculation unit and a first control unit.
The azimuth calculation unit obtains the azimuth of a wing plane pointing to the direction of a long plane by an arctan function based on the lateral distance of the wing plane and the longitudinal distance of the wing plane.
The angle difference calculation unit derives an angle difference on the basis of the azimuth and the wing plane course angle.
Said first angular speed calculation unit deriving said first bureaucratic angular speed on the basis of said angular difference.
The first control unit controls the wing plane flight on the basis of the first wing plane angular speed and the wing plane maximum speed.
As an alternative embodiment, the second control module 5 of the present invention includes: a speed calculation unit, a second angular speed calculation unit, and a second control unit.
The speed calculation unit derives a bureaucratic speed based on the longplane speed and the X-axis error.
The second angular velocity calculation unit derives the second wing angular velocity on the basis of the wing speed, the Y-axis error, the wing course angle and the long course angle.
The second control unit controls the wing plane flight on the basis of the wing plane speed and the second wing plane angular speed.
To verify the validity of the method proposed by the present invention, the following simulation test was performed.
Setting simulation parameters as follows: the speed of the captain aircraft is 15m/s, the captain aircraft periodically flies based on an area with the length of east and west of 950m and the width of south and north of 500m, the captain aircraft takes off at any time when the captain aircraft normally flies, the captain aircraft is tracked, the formation of each 15m at the left rear part is kept, in the simulation, the error threshold value is 50, the L is 70m, and the result shows that the effect is good no matter the tracking condition or the formation keeping condition along with flying is achieved.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (10)
1. A control method of a wing plane following a leader in the formation flight of an unmanned aerial vehicle is characterized by comprising the following steps:
step S1, obtaining the speed of the leader, the heading angle of the leader, the longitude and latitude of the leader, the maximum speed of the wing plane, the heading angle of the wing plane and the longitude and latitude of the wing plane;
step S2, obtaining a wing-plane distance, and further obtaining a wing-plane position and a position error based on the longitude and latitude of the longplane and the longitude and latitude of the wing-plane;
step S3, determining the position error; if the position error is greater than or equal to the error threshold, executing step S4; if the position error is smaller than the error threshold, executing step S5;
a step S4, to obtain a first wing plane angular speed, as a function of said wing plane distance and of said wing plane course angle, to control the wing plane flight as a function of said first wing plane angular speed and of said wing plane maximum speed;
a step S5 of deriving a wing plane speed from said long plane speed and said position error, deriving a second wing plane angular speed based on said long plane course angle, said wing plane course angle and said position error, controlling wing plane flight based on said second wing plane angular speed and said wing plane speed.
2. The control method according to claim 1, wherein the step S2 includes:
step S21, obtaining a wing plane lateral distance and a wing plane longitudinal distance based on the grand plane longitude and latitude and the wing plane longitude and latitude; said wing plane distances comprise both the lateral and the longitudinal direction of the wing plane;
step S22, establishing a coordinate system by taking the long machine as an origin, taking the course of the long machine as an X axis and taking the overlooking transverse direction of the X axis as a Y axis;
a step S23, obtaining, in connection with said coordinate system, wing-machine X-axis coordinates and wing-machine Y-axis coordinates, based on said long-machine course angle, said wing-machine transverse distance and said wing-machine longitudinal distance; a wing-plane position comprising the X-axis coordinates of said wing-plane and the Y-axis coordinates of said wing-plane;
step S24, obtaining an X-axis error based on a bureaucratic demand X coordinate and said bureaucratic X-axis coordinate; obtaining a Y-axis error based on a wing plane demand Y coordinate and the wing plane Y-axis coordinate; the position error includes the X-axis error and the Y-axis error.
3. The control method according to claim 2, wherein the step S3 is specifically:
judging the Y-axis error and the error threshold, and if the Y-axis error is greater than or equal to the error threshold, executing a step S4; if the Y-axis error is smaller than the error threshold, step S5 is executed.
4. The control method according to claim 2, wherein the step S4 includes:
a step S41 of obtaining, on the basis of said transversal distance and said longitudinal distance of a wing, the azimuth of the wing pointing in the direction of the long plane, using an arctan function;
a step S42 of obtaining an angular difference based on said azimuth and said wing plane course angle;
a step S43, of deriving said first bureaucratic angular speed on the basis of said angular difference;
step S44, controlling the wing plane flight on the basis of said first wing plane angular speed and said wing plane maximum speed.
5. The control method according to claim 2, wherein the step S5 includes:
a step S51 of deriving a wing plane speed based on said long plane speed and said X axis error;
a step S52, obtaining said second wing angular speed based on said wing speed, said Y-axis error, said wing course angle and said elongator course angle;
step S53, controlling the wing plane flight on the basis of said wing plane speed and said second wing plane angular speed.
6. A control system of a wing aircraft following a leader in the formation of unmanned aerial vehicles, characterized in that it comprises:
the data acquisition module acquires the speed of the long plane, the course angle of the long plane, the longitude and latitude of the long plane, the maximum speed of the wing plane, the course angle of the wing plane and the longitude and latitude of the wing plane;
a calculation module which obtains a wing plane distance and further obtains a wing plane position and a position error based on the longitude and latitude of the grand plane and the longitude and latitude of the wing plane;
the judging module is used for judging the position error; if the position error is larger than or equal to an error threshold, executing a first control module; if the position error is smaller than the error threshold, executing a second control module;
said first control module, as a function of said wing plane distance and of said wing plane course angle, obtains a first wing plane angular speed and, as a function of said first wing plane angular speed and of said maximum wing plane speed, controls the wing plane flight;
the second control module derives a wing aircraft speed from the long aircraft speed and the position error, and it derives a second wing aircraft angular speed based on the long aircraft course angle, the wing aircraft course angle and the position error, and controls wing aircraft flight based on the second wing aircraft angular speed and the wing aircraft speed.
7. The control system of claim 6, wherein the calculation module comprises:
a distance calculation unit for obtaining a wing plane transverse distance and a wing plane longitudinal distance based on the longitudes and the wing plane longitudes; said wing plane distances comprise both the lateral and the longitudinal direction of the wing plane;
the coordinate system unit is used for establishing a coordinate system by taking the long machine as an original point, taking the course of the long machine as an X axis and taking the overlooking transverse direction of the X axis as a Y axis;
a coordinate calculation unit, which combines the coordinate system to obtain the bureaucratic X-axis coordinates and the bureaucratic Y-axis coordinates based on the longplane course angle, the bureaucratic transverse distance, and the bureaucratic longitudinal distance; a wing-plane position comprising the X-axis coordinates of said wing-plane and the Y-axis coordinates of said wing-plane;
an error calculation unit for obtaining an X-axis error based on a bureaucratic demand X coordinate and said bureaucratic X-axis coordinate; obtaining a Y-axis error based on a wing plane demand Y coordinate and the wing plane Y-axis coordinate; the position error includes the X-axis error and the Y-axis error.
8. The control system according to claim 7, wherein the determining module is specifically:
judging the Y-axis error and the error threshold, and if the Y-axis error is greater than or equal to the error threshold, executing a 'first control module'; and if the Y-axis error is smaller than the error threshold, executing a second control module.
9. The control system of claim 7, wherein the first control module comprises:
an azimuth calculation unit for obtaining the azimuth of a wing plane pointing to the direction of a wing plane by adopting an arctangent function based on the lateral distance of the wing plane and the longitudinal distance of the wing plane;
an angle difference calculation unit for obtaining an angle difference based on the azimuth and the wing plane course angle;
a first angular velocity calculation unit deriving said first bureaucratic angular velocity on the basis of said angular difference;
a first control unit controlling the wing plane flight on the basis of said first wing plane angular speed and said wing plane maximum speed.
10. The control system of claim 7, wherein the second control module comprises:
a speed calculation unit deriving a wing plane speed on the basis of said long plane speed and said X-axis error;
a second angular velocity calculation unit obtaining said second wing angular velocity based on said wing speed, said Y-axis error, said wing course angle and said leader course angle;
a second control unit controlling the wing plane flight on the basis of said wing plane speed and said second wing plane angular speed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111573289.2A CN114237298B (en) | 2021-12-21 | 2021-12-21 | Control method and system for unmanned aerial vehicle formation in-flight plane to follow long plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111573289.2A CN114237298B (en) | 2021-12-21 | 2021-12-21 | Control method and system for unmanned aerial vehicle formation in-flight plane to follow long plane |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114237298A true CN114237298A (en) | 2022-03-25 |
| CN114237298B CN114237298B (en) | 2024-04-05 |
Family
ID=80760630
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111573289.2A Active CN114237298B (en) | 2021-12-21 | 2021-12-21 | Control method and system for unmanned aerial vehicle formation in-flight plane to follow long plane |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114237298B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115542943A (en) * | 2022-10-21 | 2022-12-30 | 北京计算机技术及应用研究所 | Unmanned aerial vehicle formation maintaining control method based on active disturbance rejection controller |
| CN115639833A (en) * | 2022-07-22 | 2023-01-24 | 成都飞机工业（集团）有限责任公司 | Formation keeping control method for multi-unmanned aerial vehicle cooperative formation turning stage |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080243372A1 (en) * | 2005-01-24 | 2008-10-02 | William Kress Bodin | Navigating uavs in formation |
| CN107247459A (en) * | 2017-07-24 | 2017-10-13 | 桂林航天工业学院 | Anti-interference flight control method and device |
| WO2018028358A1 (en) * | 2016-08-06 | 2018-02-15 | 亿航智能设备（广州）有限公司 | Method, apparatus and system for implementing formation flying |
| CN108536168A (en) * | 2018-04-10 | 2018-09-14 | 拓攻（南京）机器人有限公司 | A kind of localization method of unmanned plane, device, unmanned plane and storage medium |
| CN110262553A (en) * | 2019-06-27 | 2019-09-20 | 西北工业大学 | Fixed-wing UAV Formation Flight apparatus and method based on location information |
| CN110531779A (en) * | 2019-08-02 | 2019-12-03 | 杭州电子科技大学 | A kind of unmanned plane apery collaboration flight controller and its implementation |
| CN111045450A (en) * | 2019-12-11 | 2020-04-21 | 江苏理工学院 | Double-formation team formation process guidance method for fixed-wing unmanned aerial vehicle |
| CN111176333A (en) * | 2020-04-07 | 2020-05-19 | 成都纵横自动化技术股份有限公司 | Flight control method and device, autopilot and aircraft |
| CN111880567A (en) * | 2020-07-31 | 2020-11-03 | 中国人民解放军国防科技大学 | Fixed-wing unmanned aerial vehicle formation coordination control method and device based on deep reinforcement learning |
-
2021
- 2021-12-21 CN CN202111573289.2A patent/CN114237298B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080243372A1 (en) * | 2005-01-24 | 2008-10-02 | William Kress Bodin | Navigating uavs in formation |
| WO2018028358A1 (en) * | 2016-08-06 | 2018-02-15 | 亿航智能设备（广州）有限公司 | Method, apparatus and system for implementing formation flying |
| CN107247459A (en) * | 2017-07-24 | 2017-10-13 | 桂林航天工业学院 | Anti-interference flight control method and device |
| CN108536168A (en) * | 2018-04-10 | 2018-09-14 | 拓攻（南京）机器人有限公司 | A kind of localization method of unmanned plane, device, unmanned plane and storage medium |
| CN110262553A (en) * | 2019-06-27 | 2019-09-20 | 西北工业大学 | Fixed-wing UAV Formation Flight apparatus and method based on location information |
| CN110531779A (en) * | 2019-08-02 | 2019-12-03 | 杭州电子科技大学 | A kind of unmanned plane apery collaboration flight controller and its implementation |
| CN111045450A (en) * | 2019-12-11 | 2020-04-21 | 江苏理工学院 | Double-formation team formation process guidance method for fixed-wing unmanned aerial vehicle |
| CN111176333A (en) * | 2020-04-07 | 2020-05-19 | 成都纵横自动化技术股份有限公司 | Flight control method and device, autopilot and aircraft |
| CN111880567A (en) * | 2020-07-31 | 2020-11-03 | 中国人民解放军国防科技大学 | Fixed-wing unmanned aerial vehicle formation coordination control method and device based on deep reinforcement learning |
Non-Patent Citations (8)
| Title |
|---|
| YAHUI QI 等: "Distributed Event-triggered Group Attitude Coordinated Control of Multi-spacecraft with Undirected Topology", 2020 5TH INTERNATIONAL CONFERENCE ON AUTOMATION, CONTROL AND ROBOTICS ENGINEERING, 27 November 2020 (2020-11-27), pages 1 - 5 * |
| 宗令蓓;谢凡;秦世引;: "基于MAS的无人机编队飞行智能优化控制", 航空学报, no. 05 * |
| 张彩艳 等: "基于BA无标度网络的传输容量优化策略研究", 基础科学辑, 28 February 2019 (2019-02-28), pages 1 - 20 * |
| 王正;朱兴动;: "无人机全局渐近稳定自动编队飞行控制研究", 系统仿真学报, no. 07, pages 2014 - 2017 * |
| 王正;朱兴动;张六韬;: "无人机三维空间近距编队控制模型研究", 系统仿真学报, no. 23, 5 December 2008 (2008-12-05), pages 6473 - 6476 * |
| 赵国荣;温家鑫;李晓宝;韩旭;: "三段式无人机集结制导律设计", 计算机仿真, no. 10, pages 64 - 68 * |
| 陈麒杰 等: "基于改进人工势场算法的无人机群避障算法研究", 导航定位与授时, 30 November 2020 (2020-11-30), pages 109 - 113 * |
| 魏扬;张登成;张艳华;朱和铨;郑无计;: "无人机自主编队制导律设计", 飞行力学, vol. 34, no. 02, pages 37 - 41 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115639833A (en) * | 2022-07-22 | 2023-01-24 | 成都飞机工业（集团）有限责任公司 | Formation keeping control method for multi-unmanned aerial vehicle cooperative formation turning stage |
| CN115542943A (en) * | 2022-10-21 | 2022-12-30 | 北京计算机技术及应用研究所 | Unmanned aerial vehicle formation maintaining control method based on active disturbance rejection controller |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114237298B (en) | 2024-04-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114237298A (en) | Control method and system for wing aircraft following leader in formation flight of unmanned aerial vehicle | |
| CN110001637B (en) | Unmanned vehicle path tracking control device and control method based on multipoint tracking | |
| CN110208842A (en) | Vehicle high-precision locating method under a kind of car networking environment | |
| Alonso et al. | Accurate global localization using visual odometry and digital maps on urban environments | |
| CN103217987B (en) | Agile satellite dynamic imaging posture adjustment method | |
| CN109753076A (en) | A kind of unmanned plane vision tracing implementing method | |
| CN105676865A (en) | Target tracking method, device and system | |
| CN106767786A (en) | Combined inertial nevigation computation method for attitude based on satellite communication | |
| CN110502009A (en) | The automatic driving vehicle path tracking control method estimated based on course | |
| CN105043418B (en) | A kind of quick initial coarse alignment method of inertial navigation system suitable for boat-carrying communication in moving | |
| CN103640622A (en) | Automobile direction intelligent control method and control system based on driver model | |
| CN106410410A (en) | Satellite capturing and tracking method for VSAT (Very Small Aperture Terminal) antenna system with physical level platform | |
| CN108303079B (en) | Data smoothing method for underwater USBL reverse application | |
| CN107478110A (en) | A kind of rotating missile attitude angle computational methods based on state observer | |
| CN112821029B (en) | Shipborne satellite antenna seat and shipborne satellite antenna tracking system | |
| CN111829514B (en) | Road surface working condition pre-aiming method suitable for vehicle chassis integrated control | |
| CN109506660A (en) | A kind of posture optimization calculation method for bionic navigation | |
| CN109765530A (en) | A kind of motion platform radar beam decoupling method | |
| CN106885573A (en) | Towards the motion capture system Real-time Determination of Attitude method of quadrotor | |
| CN106654531B (en) | Satellite capturing method for shipborne VSAT antenna system | |
| CN109343551A (en) | A kind of gyroplane coordinate turn control method and system | |
| CN106289156B (en) | The method of photography point solar elevation is obtained when a kind of satellite is imaged with any attitude | |
| CN112255606A (en) | Method for calculating front side-view imaging attitude angle of Geo-SAR (synthetic aperture radar) satellite based on single reflector antenna | |
| CN103968848A (en) | Navigation method and navigation system based on inertial sensor | |
| CN102800966B (en) | Wireless remote communication method between maritime buoy nodes based on beam forming technology |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |