CN114967730A - Cross-domain cooperative control system of air-sea unmanned cluster - Google Patents
Cross-domain cooperative control system of air-sea unmanned cluster Download PDFInfo
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Abstract
The invention discloses a cross-domain cooperative control system of a sea-air unmanned cluster, which comprises the following components: the unmanned aircraft comprises an unmanned aerial vehicle and an unmanned surface vessel; the UWB positioning unit comprises a measuring label and a base station, the measuring label detects the position and speed information of the unmanned aircraft, and the base station provides position reference for the measuring label and cooperates with the measuring label to position the unmanned aircraft; the ground control station is used for receiving the data information detected by the UWB positioning unit and calculating the speed and the expected position of the unmanned aircraft at the next moment by adopting a cross-domain cooperative cluster control algorithm according to the received information; and the ground control station is in data communication with the unmanned aircraft through the communication unit. According to the invention, through the design of position and attitude feedback, controllers, wireless communication, ground control stations and the like of multiple unmanned aircrafts, a consistency theory is applied to the cooperative control of the sea-sky heterogeneous unmanned cluster, the heterogeneous of a cross-medium two system is realized, and the capacity of joint action is greatly improved.
Description
Technical Field
The invention relates to the field of multi-agent cluster control, in particular to a cross-domain cooperative control system of an air-sea unmanned cluster.
Background
In the development process, the unmanned aerial vehicle has the defects of short cruising ability and weak loading capacity, which greatly restricts the operational efficiency, but has the advantages of large search range and long communication distance. The unmanned surface vessel as a future overwater new sharp weapon has the advantages of autonomous navigation, intelligent obstacle avoidance, long cruising ability, strong loading capacity and the like, is widely applied to the military and civil fields, and has the defects of small search range and short communication distance. If can combine the advantage of unmanned aerial vehicle and unmanned surface of water ship, constitute the unmanned system of sea-air cross-domain, just can promote the performance of system greatly, have the ability of accomplishing complicated task.
With the deepening of the requirements on automation, digitalization, clustering and intellectualization of the unmanned system, compared with a single-domain unmanned aircraft cluster, the cross-domain unmanned aircraft cluster can form stronger multi-dimensional spatial information perception capability by using the advantages of different individuals, and complete more complex work. At present, research on cross-domain cooperative control systems of sea-air heterogeneous unmanned clusters at home and abroad is still few, and most of the cross-domain cooperative control systems only aim at unmanned aerial vehicle clusters or unmanned ship clusters, so that the research on the cross-domain cooperative control systems of the sea-air heterogeneous unmanned clusters is particularly important, and is an indispensable part of future unmanned system development.
Disclosure of Invention
According to the problems existing in the prior art, the invention discloses a cross-domain cooperative control system of a sea-air unmanned cluster, which specifically comprises the following steps:
the unmanned aircraft comprises an unmanned aerial vehicle and an unmanned surface vessel;
the UWB positioning unit comprises a measuring tag and a base station, the measuring tag detects the position and speed information of the unmanned aircraft, and the base station provides a position reference for the measuring tag and cooperates with the measuring tag to position the unmanned aircraft;
the ground control station is used for receiving the data information detected by the UWB positioning unit and calculating the speed and the expected position of the unmanned aircraft at the next moment by adopting a cross-domain cooperative cluster control algorithm according to the received information;
and the ground control station is in data communication with the unmanned aircraft through the communication unit.
The ground control station receives position and speed information of a piloting unmanned aircraft and a following unmanned aircraft, calculates an expected position of the following unmanned aircraft at the next moment by adopting a cross-domain cooperative cluster control algorithm, and sends the expected position to the following unmanned aircraft, and the following unmanned aircraft runs according to the expected position;
the mathematical model of the unmanned vehicle is as follows:
wherein, i is 1, 2, …, n, n is the number of unmanned vehicles in the system, x i 、v i Respectively represent the position and velocity vectors, u, of the ith unmanned vehicle i Representing a feedback control quantity of the ith unmanned aircraft;
designing a cluster information topological structure according to the communication relation of unmanned aircrafts in a cluster, and constructing a cross-domain cooperative cluster control algorithm by the unmanned aircrafts according to the positions of the unmanned aircrafts in the topological structure:
wherein x is i ，v i Respectively represent the position and velocity vector, x, of the ith unmanned vehicle j 、v j Position and velocity vectors, d, respectively, of other unmanned vehicles in the vicinity of unmanned vehicle i ij Distance to be maintained between unmanned vehicles, v L To pilot the speed of the unmanned vehicle, a ij Is the ith row and the jth column element in the adjacency matrix.
Controllers are arranged in the center of the frame of the unmanned aerial vehicle and inside the unmanned surface vehicle, wherein the controllers detect the attitude information of the unmanned aerial vehicle, receive the instruction of the ground control station, calculate the motor control quantity according to the position and the expected position of the unmanned aerial vehicle and by adopting a PID algorithm, and accordingly drive the unmanned aerial vehicle to drive to the expected position.
The communication unit comprises a plurality of data transmission modules, the data transmission modules are base P900 data transmission radio stations, the data transmission radio stations are set to be in a networking mode and are configured to be a host radio station and a plurality of slave radio stations, the ground control station is in wired connection with the host radio station, the unmanned aircraft is in wired connection with the slave radio stations, and the ground control station is in data communication with the unmanned aircraft by adopting a Mavlin protocol.
The UWB positioning unit adopts four base stations and the measuring tag to work in a matched mode, the measuring tag detects the flight time of each base station, the distance from the tag to each base station is obtained, the position coordinate of the measuring tag is obtained through calculation, and the position coordinate of the measuring tag is transmitted to the base stations and the ground control station.
The ground control station reads attitude information, position information and speed information of the unmanned aircraft through serial port communication, communicates with the unmanned aircraft through a Mallink protocol, and transmits a calibration instruction, a speed instruction and a position instruction to the unmanned aircraft.
Due to the adoption of the technical scheme, the cross-domain cooperative control system of the sea-air unmanned cluster comprises a plurality of unmanned aircrafts which are built independently, a UWB positioning unit and a ground control station, wherein the ground control station operates a cross-domain cooperative cluster control algorithm to control the unmanned aircrafts to run in a cluster, and a consistency theory is applied to cooperative control of the sea-air heterogeneous unmanned cluster by adopting a controller, a wireless communication network, the ground control station and other equipment based on position and attitude feedback information of the plurality of unmanned aircrafts, so that the isomerism of two cross-medium systems is realized, and the capacity of joint action is greatly improved. Therefore, the method has the advantages of low cost, convenience, rapidness and high reliability, can well serve theoretical research, avoids unnecessary investment, has high practical value in the aspect of a sea-sky cross-domain unmanned system, and has very important significance for the research of cross-domain cluster control of the unmanned system.
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In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a structural block diagram of a cross-domain cooperative control system of a sea-air unmanned cluster according to the present invention;
FIG. 2 is a working schematic diagram of the cross-domain cooperative control system of the sea-air unmanned cluster of the present invention;
FIG. 3 is a diagram of the structure of the unmanned aerial vehicle and the unmanned surface vehicle according to the invention;
fig. 4 is a logic diagram of the ground control station in the working process of the invention.
Detailed Description
In order to make the technical solutions and advantages of the present invention clearer, the following makes a clear and complete description of the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention:
as shown in fig. 1 and 2, the system comprises a plurality of unmanned aircrafts which are autonomously built, a UWB positioning unit and a ground control station, wherein each unmanned aircraft comprises an unmanned aerial vehicle and an unmanned surface vessel, the ground control station reads attitude and position information of the unmanned aircrafts through a data transmission module, the ground control station calculates a control quantity of each unmanned aircraft by using a cross-domain cooperative cluster control algorithm, and sends a control instruction to each unmanned aircraft through a data transmission module to complete cluster control of the plurality of unmanned aircrafts.
As shown in fig. 3, the unmanned vehicle includes a plurality of drones and unmanned surface vessels, each quad-rotor drone includes a mechanical part, a power part and an electronic part, wherein the mechanical part is a frame of the drone, the power part includes a battery, a motor, an electric regulator and blades, and the electronic part mainly includes a flight controller, a data transmission radio station and a UWB positioning tag; the battery is settled through the bandage in unmanned aerial vehicle bottom, and cantilever end installation motor, unmanned aerial vehicle middle frame board installation electricity are transferred, flight controller, data radio station and UWB location label. Every unmanned surface of water ship contains mechanical part equally, the power part, the electronic part, wherein the hull of mechanical part unmanned surface of water ship, the power part includes the battery, including a motor, an end cap, a controller, and a cover plate, motor drive, the screw, the steering wheel, the electronic part mainly includes navigation controller, the data transmission radio station, UWB location label, place the control box at the inside front end in hull cabin, the inside navigation controller that contains of control box, mid portion installation battery, motor drive and motor are installed to the rear end, be equipped with the glue stick antenna on hull upper surface, the glue stick antenna passes through the antenna extension line and links to each other with data transmission radio station and UWB location label, propeller and steering wheel are installed to hull afterbody.
The UWB positioning unit adopts 4 base stations and multiple labels to realize space positioning, the UWB positioning is a technology for realizing accurate positioning by utilizing wireless carrier communication, and the UWB positioning unit has the advantages of stronger anti-interference capability, high positioning accuracy, higher transmission rate, wider frequency spectrum, low energy consumption, small transmitting power and the like. Meanwhile, a control console can be added to facilitate base station calibration, the unmanned aircraft and the UWB positioning tag are connected through a serial port, and coordinate information output by the tag is read in real time to serve as the spatial position coordinate of the unmanned aircraft.
As shown in fig. 4, the ground control station has the following functions besides the basic function of serial port data transmission/reception/display: the method comprises the steps of attitude display, waveform display, unmanned aircraft sensor calibration, parameter change, state information receiving of the unmanned aircraft, cluster algorithm running and control instruction sending to the unmanned aircraft. The ground control station is communicated with the unmanned aircraft by adopting a Mallink protocol, and a human-computer interaction interface of the ground control station is compiled by using Visualstudio. The ground control station is connected with the data transmission radio station through a serial port, the attitude and position information sent by the unmanned aircraft is read from the serial port, then the control quantity of the unmanned aircraft is calculated by using a clustering algorithm, and the control quantity is sent to each unmanned aircraft through the data transmission module.
The communication unit comprises a plurality of P900 data transmission radio stations, a networking mode of 1 host and a plurality of slave machines is adopted, namely the host can communicate with each slave machine, the host is connected with the ground station through a serial port, and the slave machines are connected with the controller of the unmanned aircraft through serial ports, so that the communication between the ground station and the unmanned aircraft is realized.
Further, the ground control station receives position and speed information of a piloting unmanned aircraft and a following unmanned aircraft, calculates an expected position of the following unmanned aircraft at the next moment by using a cross-domain cooperative cluster control algorithm, and sends the expected position to the following unmanned aircraft, and the following unmanned aircraft runs according to the expected position, specifically comprising the following steps:
step 1: designing a cluster information topological structure according to the communication relation of unmanned aircrafts in a cluster, constructing an actual cross-domain cooperative cluster control algorithm according to the positions of the unmanned aircrafts in the topological structure, and designing relative position deviation according to an expected formation of the cluster.
Step 2: and setting the driving track of the piloting unmanned aircraft to enable the piloting unmanned aircraft to track the expected track for navigation.
And step 3: and the following unmanned aircraft receives the position and speed information of the piloting unmanned aircraft and the position and speed of other following unmanned aircraft with interaction, and the speed of the following unmanned aircraft at the next moment and the expected position of the following moment are calculated by a cross-domain cooperative cluster control algorithm.
And 4, step 4: the unmanned aircraft receives an instruction from the ground control station, and the output quantity is acted on a motor of the unmanned aircraft or a propeller and a steering engine of the unmanned surface vehicle through PID (proportion integration differentiation) operation, so that the unmanned aircraft tracks the expected track to run, the cluster control is finally realized, and the related tasks are completed.
The step 1 specifically comprises the following steps:
the mathematical model of the unmanned vehicle alone is:
wherein, i is 1, 2, …, n, n is the number of unmanned vehicles in the system, x i ，v i Respectively represent the position and velocity vectors, u, of the ith unmanned vehicle i And (4) representing the feedback control quantity of the ith unmanned aircraft.
Designing a cluster information topological structure according to the communication relation of unmanned aircrafts in a cluster, giving an actual cross-domain cooperative cluster control algorithm according to the positions of the unmanned aircrafts in the topological structure, wherein the cross-domain cooperative cluster control algorithm is as follows:
wherein x is i ，v i Respectively represent the position and velocity vector, x, of the ith unmanned vehicle j ，v j Position and velocity vectors, d, respectively, of other unmanned vehicles in the vicinity of unmanned vehicle i ij Distance, v, to be maintained between unmanned vehicles L To pilot the speed of the unmanned vehicle, a ij Is the ith row and the jth column element in the adjacency matrix.
In the step 2: and the upper computer outputs the running track of the piloted unmanned aircraft, and sends the command to the piloted unmanned aircraft, and the piloted unmanned aircraft tracks the expected track to run through the PID controller.
According to the invention, through the design of position and attitude feedback, a controller, wireless communication, a ground control station and the like of multiple unmanned vehicles, a consistency theory is applied to cooperative control of a sea-sky heterogeneous unmanned cluster, the heterogeneous of a cross-medium two system is realized, and the capacity of joint action is greatly improved. The invention has low cost, convenience, rapidness and high reliability, can well serve theoretical research, avoids unnecessary investment and has high practical value in the aspect of a sea-sky cross-domain unmanned system.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (6)
1. A cross-domain cooperative control system of an air-sea unmanned cluster is characterized by comprising:
the unmanned aircraft comprises an unmanned aerial vehicle and an unmanned surface vessel;
the UWB positioning unit comprises a measuring tag and a base station, the measuring tag detects the position and speed information of the unmanned aircraft, and the base station provides a position reference for the measuring tag and cooperates with the measuring tag to position the unmanned aircraft;
the ground control station is used for receiving the data information detected by the UWB positioning unit and calculating the speed and the expected position of the unmanned aircraft at the next moment by adopting a cross-domain cooperative cluster control algorithm according to the received information;
and the ground control station is in data communication with the unmanned aircraft through the communication unit.
2. The system of claim 1, wherein: the ground control station receives position and speed information of a piloting unmanned aircraft and a following unmanned aircraft, calculates an expected position of the following unmanned aircraft at the next moment by adopting a cross-domain cooperative cluster control algorithm, and sends the expected position to the following unmanned aircraft, and the following unmanned aircraft runs according to the expected position;
the mathematical model of the unmanned vehicle is as follows:
wherein, i is 1, 2, …, n, n is the number of unmanned vehicles in the system, x i 、v i Respectively represent the position and velocity vectors, u, of the ith unmanned vehicle i Representing a feedback control quantity of the ith unmanned aircraft;
designing a cluster information topological structure according to the communication relation of unmanned aircrafts in a cluster, and constructing a cross-domain cooperative cluster control algorithm by the unmanned aircrafts according to the positions of the unmanned aircrafts in the topological structure:
wherein x is i ，v i Respectively represent the position and velocity vector, x, of the ith unmanned vehicle j 、v j Other unmanned vehicles respectively adjacent to the unmanned vehicle iPosition and velocity vector of d ij Distance to be maintained between unmanned vehicles, v L To pilot the speed of the unmanned vehicle, a ij Is the ith row and the jth column element in the adjacency matrix.
3. The system of claim 1, wherein: controllers are arranged in the center of the frame of the unmanned aerial vehicle and inside the unmanned surface vehicle, wherein the controllers detect the attitude information of the unmanned aerial vehicle, receive the instruction of the ground control station, calculate the motor control quantity according to the position and the expected position of the unmanned aerial vehicle and by adopting a PID algorithm, and accordingly drive the unmanned aerial vehicle to drive to the expected position.
4. The system of claim 1, wherein: the communication unit comprises a plurality of data transmission modules, the data transmission modules are base P900 data transmission radio stations, the data transmission radio stations are set to be in a networking mode and are configured to be a host radio station and a plurality of slave radio stations, the ground control station is in wired connection with the host radio station, the unmanned aircraft is in wired connection with the slave radio stations, and the ground control station is in data communication with the unmanned aircraft by adopting a Mavlin protocol.
5. The system of claim 1, wherein: the UWB positioning unit adopts four base stations and the measuring tag to work in a matched mode, the measuring tag detects the flight time of each base station, the distance from the tag to each base station is obtained, the position coordinate of the measuring tag is obtained through calculation, and the position coordinate of the measuring tag is transmitted to the base stations and the ground control station.
6. The system of claim 1, wherein: the ground control station reads attitude information, position information and speed information of the unmanned aircraft through serial port communication, communicates with the unmanned aircraft through a Mallink protocol, and transmits a calibration instruction, a speed instruction and a position instruction to the unmanned aircraft.
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