CN115857553A - Adjustment method for formation of circular unmanned aerial vehicles - Google Patents
Adjustment method for formation of circular unmanned aerial vehicles Download PDFInfo
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Abstract
The invention discloses an adjusting method for formation of circular unmanned aerial vehicles, which comprises a plurality of positioning unmanned aerial vehicles and a plurality of cluster unmanned aerial vehicles: step 1, positioning an unmanned aerial vehicle at the circle center to obtain an expected formation of a formation of the round unmanned aerial vehicles needing to be adjusted; obtaining the position range of the allowable deviation of each cluster unmanned aerial vehicle on the expected formation according to a Monte Carlo method; step 2, the positioning unmanned aerial vehicle at the circle center sends a flight instruction and a target coordinate to the positioning unmanned aerial vehicle on the circumference; enabling the positioning unmanned aerial vehicle on the circumference to fly to a target coordinate; step 3, positioning the unmanned aerial vehicle at the circle center, and calculating the current coordinate of each cluster unmanned aerial vehicle; step 4, the positioning unmanned aerial vehicle at the circle center sends the current coordinate corresponding to the positioning unmanned aerial vehicle and the position range of the allowable deviation on the expected formation to each cluster unmanned aerial vehicle; and 5, moving each cluster unmanned aerial vehicle to the allowable deviation position range on the expected formation according to the actual coordinate of each cluster unmanned aerial vehicle, and finishing the adjustment of the formation of the unmanned aerial vehicles.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to an adjusting method for formation of circular unmanned aerial vehicles.
Background
Compared with a plurality of unmanned aerial vehicles, the formation of unmanned aerial vehicles is widely applied to the military and civil fields due to the high working efficiency. However, for unmanned aerial vehicle formation with special task requirements, formation shape conversion is often required under special conditions, otherwise, corresponding tasks cannot be completed, so that the research on the adjustment of the formation shape of the unmanned aerial vehicle formation is of great significance; unmanned aerial vehicle formation is applied to emergency rescue field usually, carries out condition investigation fast, on a large scale through the high definition video acquisition equipment on the unmanned aerial vehicle formation, in time transmits the site conditions back commander portion, makes the accurate grasp site conditions of commander portion ability.
At present, the space positioning mode of the unmanned aerial vehicle is mainly realized by a global positioning system (such as a GPS system and a Beidou system) so as to obtain the position information of the unmanned aerial vehicle; the disadvantage of this method is that the positioning accuracy is not high, because the satellites are far from the ground and the signal strength is low; and technical indexes such as transmission frequency are public data, so that the positioning of the unmanned aerial vehicle is easily influenced by external interference (such as complex electromagnetic environment, noise and the like), and the actual formation and the expected formation deviate when the formation of the unmanned aerial vehicle cluster is changed.
Disclosure of Invention
The invention aims to provide an adjusting method for formation of circular unmanned aerial vehicles, which solves the technical problems that the positioning of the unmanned aerial vehicles is influenced and the actual formation and the expected formation deviate when the formation of unmanned aerial vehicle clusters is changed because the space positioning mode of the unmanned aerial vehicles is easily interfered in the prior art.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a method for adjusting formation of circular unmanned aerial vehicles comprises a plurality of cluster unmanned aerial vehicles and a plurality of positioning unmanned aerial vehicles; the plurality of cluster unmanned aerial vehicles are used for monitoring a target area, and the plurality of positioning unmanned aerial vehicles are used for positioning the unmanned aerial vehicles in formation; one positioning unmanned aerial vehicle is positioned at the circle center position of the unmanned aerial vehicle formation; the other positioning unmanned aerial vehicles and all the cluster unmanned aerial vehicles are uniformly distributed at corresponding positions of the circular formation in the circumferential direction around the positioning unmanned aerial vehicle at the circle center; all unmanned aerial vehicles are at the same height; when the formation of the unmanned aerial vehicle needs to be adjusted, the formation of the unmanned aerial vehicle is realized through the following steps:
step 1, positioning an unmanned aerial vehicle at the circle center to obtain an expected formation of a formation of the round unmanned aerial vehicles needing to be adjusted;
obtaining the position range of the allowable deviation of each cluster unmanned aerial vehicle on the expected formation according to a Monte Carlo method;
step 2, the positioning unmanned aerial vehicle at the circle center sends a flight instruction and a target coordinate corresponding to the flight instruction to the positioning unmanned aerial vehicle on the circumference; enabling the positioning unmanned aerial vehicle on the circumference to fly to a target coordinate and be located at a corresponding position without deviation on an expected formation;
step 3, calculating the current coordinate of each cluster unmanned aerial vehicle according to the positioning unmanned aerial vehicles on the circumference by the positioning unmanned aerial vehicles at the circle center;
step 4, the positioning unmanned aerial vehicle at the circle center sends the current coordinate corresponding to the positioning unmanned aerial vehicle and the allowable deviation position range on the expected formation to each cluster unmanned aerial vehicle;
step 5, each cluster unmanned aerial vehicle moves to the position range of the allowable deviation on the expected formation according to the actual coordinate of the cluster unmanned aerial vehicle, and the adjustment of the formation of the unmanned aerial vehicles is completed;
step 6, setting the adjustment time of the unmanned aerial vehicle formation as T, after T seconds, positioning the unmanned aerial vehicles at the circle centers, and calculating the current coordinates of each cluster unmanned aerial vehicle again; and when the current coordinate of the corresponding cluster unmanned aerial vehicle is not in the position range of the allowable deviation, sending the current coordinate and the flight instruction corresponding to the current coordinate to the corresponding cluster unmanned aerial vehicle, and continuously adjusting the position of the cluster unmanned aerial vehicle until the cluster unmanned aerial vehicle is in the position range of the allowable deviation.
According to the invention, the actual coordinates of all cluster unmanned aerial vehicles are calculated through the circle center unmanned aerial vehicle; calculating the position range of the allowed deviation of each cluster unmanned aerial vehicle on the expected formation through a Monte Carlo method; enabling each cluster unmanned aerial vehicle to move to a position range of allowable deviation on an expected formation according to the actual coordinate of the cluster unmanned aerial vehicle, and finishing deviation rectification; therefore, each cluster unmanned aerial vehicle can adjust the flight position according to the data received by the cluster unmanned aerial vehicle; therefore, the method can complete formation change without continuous and long-time signal transmission, and overcomes the defect that the actual formation and the expected formation deviate when the formation of the unmanned aerial vehicle cluster is changed due to inaccurate positioning in a space positioning mode.
The position range of the allowable deviation of the cluster unmanned aerial vehicle is obtained by a Monte Carlo method; therefore, when the formation of the unmanned aerial vehicle is adjusted, the operator can set a reasonable position range which allows deviation according to the nature of the task; make unmanned aerial vehicle formation can high-efficient, practical completion corresponding task.
Furthermore, the number of the positioning unmanned aerial vehicles is 3, and each positioning unmanned aerial vehicle is provided with a GPS receiver; each positioning unmanned aerial vehicle is provided with a camera, and each camera is arranged on the corresponding positioning unmanned aerial vehicle through a camera holder; the camera pan-tilt is driven by a motor, so that the camera can rotate 360 degrees; install angle sensor on the output shaft of motor for the rotation angle of monitoring camera, angle sensor and corresponding location unmanned aerial vehicle's controller electric connection.
When calculating the actual coordinates of the cluster unmanned aerial vehicles, at least 3 positioning unmanned aerial vehicles are needed to calculate the actual coordinates of the cluster unmanned aerial vehicles; so set up 3 location unmanned aerial vehicles out of economic consideration, one sets up in the centre of a circle position of circular formation, and two are located the circumference of circular formation.
Further, the method for calculating the actual coordinates of the cluster unmanned aerial vehicle comprises the following steps:
3.1, establishing a planar rectangular coordinate system XOY, wherein the world coordinate at the origin of coordinates O is obtained by a GPS receiver, and all unmanned aerial vehicles are positioned in a first quadrant of the planar rectangular coordinate system; the method comprises the steps that position coordinates of a circle center positioning unmanned aerial vehicle and two positioning unmanned aerial vehicles on the circumference are obtained by a GPS receiver corresponding to the position coordinates, and then the position coordinates are converted into relative coordinates on a plane rectangular coordinate system XOY relative to a coordinate origin; the relative coordinate of the unmanned aerial vehicle positioned at the circle center is marked as B (x) 2 ，y 2 ) (ii) a The relative coordinates of two positioning unmanned planes on the circumference are respectively marked as A (x) 1 ，y 1 ) And C (x) 3 ，y 3 ) A, B, C are not in the same line;
step 3.2, setting cluster unmanned aerial vehicles needing to calculate coordinates, wherein the relative coordinates are D (x) D ，y D ) (ii) a A. Connecting lines of positions of three unmanned aerial vehicles at positions B and D form a delta ADB, a circumscribed circle of the delta ADB is set as a circle M, and a coordinate of a point M is recorded as (x) 4 ，y 4 ) The radius of the circle M is denoted as r 1 (ii) a B. Connecting lines of positions of three unmanned aerial vehicles at C and D form delta BCD, a circumscribed circle of the delta BCD is set as a circle N, and coordinates of a point N are recorded as (x) 5 ，y 5 ) The radius of the circle N is denoted as r 2 (ii) a Obtaining ^ ADB = alpha DEG and ^ BDC = beta DEG through three cameras for positioning the unmanned aerial vehicle; the circles determined by the point D meeting the condition of ≤ ADB = α ° have two cases, the centers of the circles are respectively located at two sides of the segment AB on the perpendicular bisector of A, B, and the two circles are respectively marked as the circle M 1 And the circle M 2 Circle M 1 Has a center coordinate of M 1 (x 41 ，y 41 ) Circle M 2 Has a circle center coordinate of M 2 (x 42 ，y 42 ) And < A M 1 B＝∠A M 2 B =2 α °; circle M 1 And the circle M 2 The possible positions of three points intersected with the circle B, one is point A, and the other two are points D, and are marked as D 1 (x D1 ，y D1 ) And D 2 (x D2 ，y D2 ) (ii) a There are two cases of circles determined by a point D meeting ═ BDC = β °, the centers of which are located on both sides of the segment BC on the perpendicular bisector line B, C, respectively, and the two circles are respectively recorded as circles N 1 And circle N 2 Circle N 1 Has a center coordinate of N 1 (x 51 ，y 51 ) Circle N 2 Has a center coordinate of N 2 (x 52 ，y 52 ) And < B N 1 C＝∠B N 2 C =2 β °; circle N 1 And circle N 2 Intersects the circle B at three points, one point is C and the other point is D 2 (x D2 ，y D2 ) And the other is denoted by D 3 (x D3 ，y D3 ) (ii) a Setting a circle M 1 And the circle M 2 Each circle of (1) and circle N 1 And circle N 2 Each circle in (c) has two intersections, which are in turn denoted as point G (x) G ，y G ) And point S (x) S ，y S ) (ii) a The straight line MN and the straight line SG intersect at a point E (x) 0 ,y 0 )；
Step 3.3, calculating the radius of the circle M and the radius of the circle N;
step 3.4, calculate point M (x) 4 ，y 4 ) And point N (x) 5 ，y 5 ) The coordinates of (a);
step 3.5, calculating the length of the MN, and calculating the slopes of the MN and the SG;
note that the slope of MN is k 1 The slope of SG is k 2 Then, there are:
step 3.6, calculating coordinates (x) of the E point 0 ,y 0 )：
In the formula:
step 3.7, calculate Point G (x) G ，y G ) And point S (x) S ，y S ) Coordinates;
in the formula: GE 2 ＝r 1 2 -(x 0 -x 4 ) 2 -(y 0 -y 4 ) 2 ；
Step 3.8, exclude Point G (x) G ，y G ) And point S (x) S ，y S ) Neutral point B (x) 2 ，y 2 ) A coincident point; the possible coordinates of the other points are points D, and are marked as D 4 (x D4 ，y D4 )；
3.9, introducing information of a third corner to determine a unique D point coordinate;
setting cos & lt ADC = q and & lt ADC = alpha ° + beta °;
possible coordinates D of point D 4 (x D4 ，y D4 ) For a plurality of the vectors, calculating each ^ A D 4 The cosine value of C is given by,
when q = w, the corresponding D 4 (x D4 ，y D4 ) The coordinates of (2) are the coordinates of the point D;
step 3.10, repeating the steps 3.2 to 3.9, and calculating the relative coordinate D (x) of the unmanned aerial vehicle of the next cluster D ，y D ) Until the relative coordinates D (x) of all cluster unmanned planes are calculated D ，y D )。
In the prior art, signal transmission in a space positioning mode is easily interfered, so that when the formation of an unmanned aerial vehicle cluster is changed, the actual formation and the expected formation deviate; when the positioning method is implemented, the circle center positioning unmanned aerial vehicle is in a relatively static state; each cluster unmanned aerial vehicle can move towards the position range of the allowable deviation in an accelerated manner according to the actual coordinate of the cluster unmanned aerial vehicle; therefore, long-time and continuous signal receiving is not needed, and the cluster unmanned aerial vehicle can move to the corresponding position as long as corresponding data are transmitted to the cluster unmanned aerial vehicle.
Further, the method for obtaining the position range of the allowable deviation of the cluster unmanned aerial vehicle by the monte carlo method comprises the following steps:
step 1.1, establishing a plane rectangular coordinate system X 'O' Y ', wherein the origin of coordinates is located at the circle center of a circular expected formation, a positive half shaft of an X' shaft passes through a coordinate point where a positioning unmanned aerial vehicle is located on the circumference, and the positive half shaft of a Y 'shaft is located on the left side of the X' shaft;
setting the radius of a circular expected formation of unmanned aerial vehicles as R; the number of the unmanned aerial vehicles is d, and d is an even number;
two positioning unmanned aerial vehicles are arranged on the circumference, wherein one positioning unmanned aerial vehicle is positioned on the positive half shaft of the X axis, and the position is marked as a point H (R, 0); the other positioning unmanned aerial vehicle is positioned at any other position on the circular expected formation;
numbering the unmanned aerial vehicles on the circumference, wherein the number of the unmanned aerial vehicle positioned on the positive half shaft of the X axis is 0, and then numbering the other unmanned aerial vehicles on the circumference in reverse time, namely 1, 2, 3 and … …;
step 1.2, calculating the position coordinate of the cluster unmanned aerial vehicle on the expected formation without deviation, and setting the cluster unmanned aerial vehicle with the serial number of e, wherein the position coordinate without deviation is J (x) 6 ，y 6 )，
Step 1.3, a square lattice with the length of f is arranged, the point at the central position of the lattice is coincided with the point J, and the point in the lattice is marked as O (x) 7 ，y 7 ) The dots in the lattice satisfy (x) 7 -x 6 ) 2 +(y 7 -y 6 ) 2 ＜r 2 R is a positive number; t system
In the dot matrix, a rectangular plane coordinate system X ', O ', Y ' is established with point J as the origin of coordinates, the right side of the point O ' is the positive half axis of the X ' axis, the upper side of the point O ' is the positive half axis of the Y ' axis, and the coordinates of point O in the coordinate system are set as (i, J);
step 1.4, setting O ij (x 7 ，y 7 ) The coordinates of the ith column and jth row point in the lattice are expressed, then
Step 1.5, calculating the value of [ HJB ], and recording the value as theta 1 °；
Step 1.6, setting the value of & HOB as theta 2 °；
According to the cosine theorem:
in the formula
Step 1.7, then calculate cos θ 1 °-cosθ 2 Value of when | cos θ 1 °-cosθ 2 When the degree is less than or equal to 0.05, the corresponding O ji (x 7 ，y 7 ) The position is the position of the allowed deviation of the corresponding cluster unmanned aerial vehicle, otherwise, the position is the position with large deviation;
step 1.8, repeating steps 1.4 to 1.7, judging all points in the dot matrix, and allowing the point O of deviation ji (x 7 ，y 7 ) Forming a set X, wherein the set X is the position range of the allowable deviation of the corresponding cluster unmanned aerial vehicle;
step 1.9, calculating the allowable deviation position range of the next cluster unmanned aerial vehicle, and setting the number of the next cluster unmanned aerial vehicle as e; and (5) repeating the step 1.2 to the step 1.8 until the position ranges of the allowable deviation of all the cluster unmanned planes are obtained.
Obtaining the position range of the allowable deviation of the cluster unmanned aerial vehicle by a Monte Carlo method, and providing a direction for the movement of the cluster unmanned aerial vehicle; the invention can adjust the formation without continuously sending signals to the cluster unmanned aerial vehicle for a long time; therefore, the problem that the signal is easily interfered by the outside world in the transmission process can be avoided; meanwhile, a proper position range can be selected according to the property of the task to be executed, so that the unmanned aerial vehicle formation can efficiently and practically complete the corresponding task.
The invention has the beneficial effects that:
1. according to the invention, the actual coordinates of all cluster unmanned aerial vehicles are calculated through the circle center unmanned aerial vehicle; calculating the position range of the allowed deviation of each cluster unmanned aerial vehicle on the expected formation through a Monte Carlo method; enabling each cluster unmanned aerial vehicle to move to a position range of allowable deviation on an expected formation according to the actual coordinate of the cluster unmanned aerial vehicle, and finishing deviation rectification; therefore, each cluster unmanned aerial vehicle can adjust the flight position according to the data received by the cluster unmanned aerial vehicle; therefore, the method can complete formation shape conversion without continuous and long-time signal transmission, and overcomes the defect that the actual formation shape and the expected formation shape deviate when the formation shape of the unmanned aerial vehicle cluster is converted due to inaccurate positioning in a space positioning mode.
2. The position range of the allowable deviation of the cluster unmanned aerial vehicle is obtained by a Monte Carlo method; therefore, when the formation of the unmanned aerial vehicle is adjusted, the operator can set a reasonable position range which allows deviation according to the nature of the task; make the unmanned aerial vehicle formation can high-efficient, practical completion corresponding task.
Drawings
Fig. 1 shows a schematic diagram of circumscribed circles M and N when calculating the actual coordinates of point D.
Fig. 2 shows a schematic diagram of the position relationship between the point G and the point S when calculating the actual coordinates of the point D.
Fig. 3 shows a schematic diagram of the calculation of the range of positions of the cluster drones' allowable deviation according to the monte carlo method.
Fig. 4 shows a table of distance deviations from their target positions after each drone has been adjusted during the actual inspection in the third embodiment.
Fig. 5 shows a table of angular deviations from their target positions after adjustment of each drone during actual inspection in the third embodiment.
Fig. 6 shows a flow chart of the unmanned aerial vehicle formation adjustment method.
Fig. 7 shows a flowchart of a method for calculating the actual coordinates of the cluster drones.
Fig. 8 shows a flow chart for obtaining a location range of the cluster drones allowable deviation according to the monte carlo method.
Detailed Description
The following provides a detailed description of the embodiments of the present invention, and the technical solutions of the present invention are clearly and completely described with reference to the accompanying drawings. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
The first embodiment is as follows:
as shown in fig. 6, a method for adjusting formation of circular drones includes 7 clustered drones and 3 positioning drones; 7 cluster unmanned aerial vehicles are used for monitoring a target area, and 3 positioning unmanned aerial vehicles are used for positioning the unmanned aerial vehicles in a formation mode; one positioning unmanned aerial vehicle is positioned at the circle center of the unmanned aerial vehicle formation; the other positioning unmanned aerial vehicles and all the cluster unmanned aerial vehicles are uniformly distributed at corresponding positions of the circular formation in the circumferential direction around the positioning unmanned aerial vehicle at the circle center; all unmanned aerial vehicles are at the same height; when the formation of the unmanned aerial vehicle needs to be adjusted, the formation of the unmanned aerial vehicle is realized through the following steps:
step 1, positioning an unmanned aerial vehicle at the circle center to obtain an expected formation of a formation of the round unmanned aerial vehicles needing to be adjusted;
obtaining the position range of the allowable deviation of each cluster unmanned aerial vehicle on the expected formation according to a Monte Carlo method;
in this embodiment, the positioning unmanned aerial vehicle at the center of circle obtains the expected formation and also obtains the position range of the allowable deviation of each cluster unmanned aerial vehicle.
Step 2, the positioning unmanned aerial vehicle at the circle center sends a flight instruction and a target coordinate corresponding to the flight instruction to the positioning unmanned aerial vehicle on the circumference; enabling the positioning unmanned aerial vehicle on the circumference to fly to a target coordinate and be located at a corresponding position without deviation on an expected formation;
in this embodiment, the adjusting method for positioning the drone on the circumference is the prior art, that is, the actual coordinate of the drone is determined by using a global positioning system, and meanwhile, the destination coordinate is sent, and then the drone is moved to a corresponding position without deviation.
Step 3, calculating the current coordinate of each cluster unmanned aerial vehicle according to the positioning unmanned aerial vehicles on the circumference by the positioning unmanned aerial vehicles at the circle center;
step 4, the positioning unmanned aerial vehicle at the circle center sends the current coordinate corresponding to the positioning unmanned aerial vehicle and the position range of the allowable deviation on the expected formation to each cluster unmanned aerial vehicle;
step 5, each cluster unmanned aerial vehicle moves to the position range of the allowable deviation on the expected formation according to the actual coordinate of the cluster unmanned aerial vehicle, and the adjustment of the formation of the unmanned aerial vehicles is completed;
in this embodiment, each cluster unmanned aerial vehicle randomly selects one coordinate point in the allowable deviation position range as a target coordinate, so that the cluster unmanned aerial vehicle moves to the target coordinate according to the current coordinate of the cluster unmanned aerial vehicle.
Step 6, setting the adjustment time of the unmanned aerial vehicle formation as T, after T minutes, positioning the unmanned aerial vehicles at the circle centers, and calculating the current coordinates of each cluster unmanned aerial vehicle again; and when the current coordinate of the corresponding cluster unmanned aerial vehicle is not in the position range of the allowable deviation, sending the current coordinate and the flight instruction corresponding to the current coordinate to the corresponding cluster unmanned aerial vehicle, and continuously adjusting the position of the cluster unmanned aerial vehicle until the cluster unmanned aerial vehicle is in the position range of the allowable deviation.
Example two:
as shown in fig. 7, the method for calculating the actual coordinates of the cluster unmanned aerial vehicles includes:
3.1, establishing a planar rectangular coordinate system XOY, wherein the world coordinate at the origin of coordinates O is obtained by a GPS receiver, and all unmanned aerial vehicles are positioned in a first quadrant of the planar rectangular coordinate system; the position coordinates of the positioning unmanned aerial vehicle at the circle center and the two positioning unmanned aerial vehicles on the circumference are obtained by the corresponding GPS receivers, and then the position coordinates are converted into relative coordinates on a plane rectangular coordinate system XOY relative to the origin of coordinates;
as shown in FIG. 1, the relative coordinates of the unmanned aerial vehicle located at the center of the circle are marked as B (x) 2 ，y 2 ) (ii) a Opposition of two positioning drones on the circumferenceThe coordinates are respectively marked as A (x) 1 ，y 1 ) And C (x) 3 ，y 3 ) A, B, C are not in the same line;
in this embodiment, the drones are flying in the first quadrant of the rectangular plane coordinate system XOY.
In this embodiment, unmanned aerial vehicle is located the both sides of B department unmanned aerial vehicle with C department, and the three is not on same straight line, and the ordinate of point A and some C all is greater than the ordinate of B point.
In this embodiment, A, B and C department all install the camera on three unmanned aerial vehicles, and the camera passes through the camera cloud platform to be installed on unmanned aerial vehicle, and the camera cloud platform is by motor drive, realizes 360 rotations of camera cloud platform, installs angle sensor on the output shaft of motor for the turned angle of monitoring camera cloud platform, angle sensor and corresponding unmanned aerial vehicle's controller electric connection.
For example, when the angle of ≤ ADB is obtained, firstly, the camera of the drone at position a is aligned with the drone at position B, then the camera is rotated towards the drone at position D until the camera is aligned with the drone at position D, the angle of rotation of the rotating shaft is the angle of ≤ DAB, and the camera of the drone at position B is utilized in the same way to obtain the angle of ≤ ABD, and the angle of ≤ ADB is obtained because the sum of the internal angles of the triangle is 180 °; the angle of ^ BDC can be obtained by the same method.
Step 3.2, setting cluster unmanned aerial vehicles needing to calculate coordinates, wherein the relative coordinates are D (x) D ，y D ) (ii) a A. Connecting lines of positions of three unmanned aerial vehicles at positions B and D form a delta ADB, a circumscribed circle of the delta ADB is set as a circle M, and a coordinate of a point M is recorded as (x) 4 ，y 4 ) The radius of the circle M is denoted as r 1 (ii) a B. Connecting lines of positions of three unmanned aerial vehicles at C and D form delta BCD, a circumscribed circle of the delta BCD is set as a circle N, and coordinates of a point N are recorded as (x) 5 ，y 5 ) The radius of the circle N is denoted as r 2 (ii) a Obtaining ^ ADB = alpha DEG and ^ BDC = beta DEG through three cameras for positioning the unmanned aerial vehicle;
as shown in fig. 2, the circle defined by point D meeting ≈ ADB = α ° has two cases, the centers of which are respectively located on both sides of the AB segment on the perpendicular bisector of A, B,two circles are respectively marked as circle M 1 And the circle M 2 Circle M 1 Has a circle center coordinate of M 1 (x 41 ，y 41 ) Circle M 2 Has a circle center coordinate of M 2 (x 42 ，y 42 ) And < A M 1 B＝∠A M 2 B =2 α °; circle M 1 And the circle M 2 The possible positions of three points intersected with the circle B, one is point A, and the other two are points D, and are marked as D 1 (x D1 ，y D1 ) And D 2 (x D2 ，y D2 ) (ii) a There are two cases of circles determined by a point D meeting ═ BDC = β °, the centers of which are located on both sides of the segment BC on the perpendicular bisector line B, C, respectively, and the two circles are respectively recorded as circles N 1 And circle N 2 Circle N 1 Has a center coordinate of N 1 (x 51 ，y 51 ) Circle N 2 Has a center coordinate of N 2 (x 52 ，y 52 ) And < B N 1 C＝∠B N 2 C =2 β °; circle N 1 And circle N 2 Intersects the circle B at three points, one point is C and the other point is D 2 (x D2 ，y D2 ) And the other is denoted by D 3 (x D3 ，y D3 ) (ii) a Setting a circle M 1 And the circle M 2 Each circle of (1) and circle N 1 And circle N 2 Each circle in (a) has two intersection points, which are in turn denoted as point G (x) G ，y G ) And point S (x) S ，y S ) (ii) a The straight line MN and the straight line SG intersect at a point E (x) 0 ,y 0 )；
In the present embodiment, there are two possibilities due to the circle M, i.e., the circle M 1 (x 41 ，y 41 ) And the circle M 2 (x 42 ，y 42 ) (ii) a There are two possibilities for circle N, circle N 1 (x 51 ，y 51 ) And circle N 2 (x 52 ，y 52 ) (ii) a So that the circle M 1 (x 41 ，y 41 ) And the circle M 2 (x 42 ，y 42 ) Middle circle, and circle N 1 (x 51 ，y 51 ) And circle N 2 (x 52 ，y 52 ) In the middle two-by-two combination (M) 1 N 1 ，M 1 N 2 ，M 2 N 1 ，M 2 N 2 ) Each combination results in two intersections, i.e., point G (x) G ，y G ) And point S (x) S ，y S ) A total of four points G and four points S are obtained,
step 3.3, calculating the radius of the circle M and the radius of the circle N;
step 3.4, calculate point M (x) 4 ，y 4 ) And point N (x) 5 ，y 5 ) The coordinates of (a);
in this embodiment, M 1 Has the coordinates of
M 2 Has the coordinates of
N 1 Has the coordinate of->
N 2 Has the coordinate of->
Step 3.5, calculating the length of the MN, and calculating the slopes of the MN and the SG;
note that the slope of MN is k 1 The slope of SG is k 2 Then, there are:
step 3.6, calculating the coordinate (x) of the E point 0 ,y 0 )：
In the formula:
step 3.7, calculate Point G (x) G ，y G ) And point S (x) S ，y S ) Coordinates;
in the formula: GE 2 ＝r 1 2 -(x 0 -x 4 ) 2 -(y 0 -y 4 ) 2 ；
In the present embodiment, the above calculation formula is applied to the circle M 1 And circle N 1 When intersecting, circle M 1 And circle N 2 When intersecting, the circle M 2 And circle N 1 When intersecting, circle M 2 And circle N 2 At the intersection, the corresponding intersection point, point G (x) G ，y G ) And point S (x) S ，y S ) And in the process of calculating the coordinates.
Step 3.8, exclude Point G (x) G ，y G ) And point S (x) S ，y S ) Neutral point B (x) 2 ，y 2 ) A coincident point; the possible coordinates of the other points are points D, which are all marked as D 4 (x D4 ，y D4 )；
3.9, introducing information of a third corner to determine a unique D point coordinate;
setting cos & lt ADC = q and & lt ADC = alpha ° + beta °;
possible coordinates D of point D 4 (x D4 ，y D4 ) For a plurality of the vectors, calculating each ^ A D 4 The cosine value of C is given by,
when q = w, the corresponding D 4 (x D4 ，y D4 ) The coordinate of (2) is the coordinate of the point D;
step 3.10, repeating the steps 3.2 to 3.9, and calculating the relative coordinate D (x) of the unmanned aerial vehicle of the next cluster D ，y D ) Until the relative coordinates D (x) of all cluster unmanned planes are calculated D ，y D )。
Example three:
as shown in fig. 3 and 8, the method for obtaining the position range of the allowable deviation of the cluster drone by the monte carlo method includes:
step 1.1, establishing a plane rectangular coordinate system X 'O' Y ', wherein the origin of coordinates is located at the circle center of a circular expected formation, a positive half shaft of an X' shaft passes through a coordinate point where a positioning unmanned aerial vehicle is located on the circumference, and the positive half shaft of a Y 'shaft is located on the left side of the X' shaft;
in the present embodiment, the directions of the X-axis positive half shaft and the X-axis positive half shaft are the same, and the directions of the Y-axis positive half shaft and the Y-axis positive half shaft are the same.
As shown in fig. 3, the radius of the circular expected formation of the drones is 100; the number of unmanned aerial vehicles is 10;
two positioning unmanned aerial vehicles are arranged on the circumference, wherein one positioning unmanned aerial vehicle is positioned on the positive half shaft of the X axis and is marked as a point H (100,0), and the other positioning unmanned aerial vehicle is positioned at any other position on the circular expected formation;
numbering the unmanned aerial vehicles on the circumference, wherein the number of the unmanned aerial vehicle positioned on the positive half shaft of the X axis is 0, and then numbering the other unmanned aerial vehicles on the circumference in reverse time, namely 1, 2, 3 and … …;
step 1.2, calculating the position coordinate of the cluster unmanned aerial vehicle on the expected formation without deviation, and setting the number ase clustered drone with position coordinate of J (x) without deviation 6 ，y 6 )，
Step 1.3, a square lattice with the length of f =12 is provided, the point at the central position of the lattice is coincided with the point J, and the point in the lattice is marked as O (x) 7 ，y 7 ) The dots in the lattice satisfy (x) 7 -x 6 ) 2 +(y 7 -y 6 ) 2 ＜15 2 ；`
In the dot matrix, a rectangular plane coordinate system X ' O ' Y ' is established with point J as the origin of coordinates, the right side of the point O ' is the positive half axis of the X ' axis, the upper side of the point O ' is the positive half axis of the Y ' axis, and the coordinates of point O in the coordinate system are (i, J);
in the present embodiment, the directions of the X ″ axis positive semi-axis and the X 'axis positive semi-axis are the same, and the directions of the Y ″ axis positive semi-axis and the Y' axis positive semi-axis are the same.
Step 1.4, setting O ij (x 7 ，y 7 ) The coordinates of the ith column and jth row point in the lattice are expressed, then
Step 1.5, calculating the value of [ HJB ], and recording the value as theta 1 °；
θ 1 °＝70
Step 1.6, setting the value of & HOB as theta 2 °；
According to the cosine theorem:
in the formula
Step 1.7, then calculate cos θ 1 °-cosθ 2 Value of when | cos θ 1 °-cosθ 2 When the degree is less than or equal to 0.05, the corresponding O ji (x 7 ，y 7 ) The position is the position of the allowed deviation of the corresponding cluster unmanned aerial vehicle, otherwise, the position is the position with large deviation;
step 1.8, then repeating steps 1.4 to 1.7, judging all points in the dot matrix, and allowing the point O of deviation ji (x 7 ，y 7 ) Forming a set X, wherein the set X is the position range of the allowable deviation of the corresponding cluster unmanned aerial vehicle;
step 1.9, calculating the allowable deviation position range of the next cluster unmanned aerial vehicle, and setting the number of the next cluster unmanned aerial vehicle as e; and (5) repeating the step 1.2 to the step 1.8 until the position ranges of the allowable deviation of all the cluster unmanned planes are obtained.
In this embodiment, the point in the set X is located in a planar rectangular coordinate system X 'O' Y ', and the origin of coordinates O' is located at the center of the desired circular formation; the coordinate point of the origin of coordinates O' in the rectangular plane coordinate system XOY is B (x) 2 ，y 2 ) And converting point coordinates in a plane rectangular coordinate system X ' O ' Y ' in the set X into relative coordinates in a plane rectangular coordinate system XOY, and then transmitting the converted relative coordinates to the corresponding cluster unmanned aerial vehicles by the positioning unmanned aerial vehicle at the circle center for formation adjustment.
Before the unmanned aerial vehicle formation is adjusted, the flight speeds of all unmanned aerial vehicles are not changed and are in a relatively static state; when the unmanned aerial vehicle is adjusted, the flying speed of the positioning unmanned aerial vehicle at the circle center is unchanged, and the two positioning unmanned aerial vehicles on the circumference accelerate and move to the corresponding positions on the expected formation; then determining the actual coordinates of all clustered unmanned aerial vehicles according to the method; after the corresponding cluster unmanned aerial vehicle obtains the position range of the allowable deviation and the actual coordinates of the cluster unmanned aerial vehicle, the cluster unmanned aerial vehicle starts to accelerate to move to the corresponding position range to finish deviation correction; after the unmanned aerial vehicles change the formation, the positioning unmanned aerial vehicle at the circle center positions each cluster unmanned aerial vehicle according to the method, and whether each cluster unmanned aerial vehicle completes adjustment is checked; if the adjustment is not finished, sending the corresponding actual coordinate and the position range of the allowable deviation to the corresponding cluster unmanned aerial vehicle, and carrying out adjustment again until the deviation correction is finished; if the adjustment is completed, the whole unmanned aerial vehicle formation can accelerate or turn to move to the target area together.
By using the method of the above embodiment, the actual inspection is performed; during inspection, the formation of the unmanned aerial vehicles is in an open area, the global positioning system can realize accurate and timely signal transmission, namely the signal transmission is not interfered by the outside world, the radius of the expected formation of the circular unmanned aerial vehicles is 100 meters, 10 unmanned aerial vehicles are provided, deviation exists in the initial process of 10 unmanned aerial vehicles, and the 10 unmanned aerial vehicles are all provided with a GPS receiver;
after 7 unmanned aerial vehicles are adjusted by the method and uniformly distributed on the circumference, the unmanned aerial vehicles are positioned by a global positioning system in the prior art, and the deviation between the actual formation and the expected formation is measured.
As shown in fig. 4 and 5, it can be seen that after each drone is adjusted, the distance deviation from its target position does not exceed 0.01 meter (distance JO in fig. 3); the angular deviation is about 3 deg. at the maximum (i.e. theta in fig. 3) 1 Theta and DEG 2 Deviation of degrees) indicating that the method is highly accurate.
According to the invention, the positioning unmanned aerial vehicle is provided with the GPS receiver, the flight controller, the gyroscope, the magnetic compass and the like, the cluster unmanned aerial vehicle does not need to be provided with the GPS receiver, so that the cost can be reduced, and on the other hand, the position of the formation can be adjusted only by the positioning unmanned aerial vehicle sending signals and the rest cluster unmanned aerial vehicles passively receiving signals, so that the interference of the external environment on the adjustment of the formation of the unmanned aerial vehicles is avoided.
The foregoing is a more detailed description of the present invention that is presented in conjunction with specific embodiments, and the practice of the invention is not to be considered limited to those descriptions. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (4)
1. A method for adjusting formation of circular unmanned aerial vehicles is characterized by comprising a plurality of cluster unmanned aerial vehicles and a plurality of positioning unmanned aerial vehicles;
the plurality of cluster unmanned aerial vehicles are used for monitoring a target area, and the plurality of positioning unmanned aerial vehicles are used for positioning the unmanned aerial vehicles in formation;
one positioning unmanned aerial vehicle is positioned at the circle center of the unmanned aerial vehicle formation; the other positioning unmanned aerial vehicles and all the cluster unmanned aerial vehicles are uniformly distributed at corresponding positions of the circular formation in the circumferential direction around the positioning unmanned aerial vehicle at the circle center; all unmanned aerial vehicles are at the same height;
when the formation of the unmanned aerial vehicle needs to be adjusted, the formation of the unmanned aerial vehicle is realized through the following steps:
step 1, positioning an unmanned aerial vehicle at the circle center to obtain an expected formation of a formation of the round unmanned aerial vehicles needing to be adjusted;
obtaining the position range of the allowable deviation of each cluster unmanned aerial vehicle on the expected formation according to a Monte Carlo method;
step 2, the positioning unmanned aerial vehicle at the circle center sends a flight instruction and a target coordinate corresponding to the flight instruction to the positioning unmanned aerial vehicle on the circumference; enabling the positioning unmanned aerial vehicle on the circumference to fly to a target coordinate and be located at a corresponding position without deviation on an expected formation;
step 3, calculating the current coordinate of each cluster unmanned aerial vehicle by the positioning unmanned aerial vehicle at the circle center according to the positioning unmanned aerial vehicles on the circumference;
step 4, the positioning unmanned aerial vehicle at the circle center sends the current coordinate corresponding to the positioning unmanned aerial vehicle and the position range of the allowable deviation on the expected formation to each cluster unmanned aerial vehicle;
step 5, each cluster unmanned aerial vehicle moves to the position range of the allowable deviation on the expected formation according to the actual coordinate of the cluster unmanned aerial vehicle, and the adjustment of the formation of the unmanned aerial vehicles is completed;
step 6, setting the adjustment time of the unmanned aerial vehicle formation as T, after T seconds, positioning the unmanned aerial vehicles at the circle centers, and calculating the current coordinates of each cluster unmanned aerial vehicle again;
and when the current coordinate of the corresponding cluster unmanned aerial vehicle is not in the position range of the allowable deviation, sending the current coordinate and the flight instruction corresponding to the current coordinate to the corresponding cluster unmanned aerial vehicle, and continuously adjusting the position of the cluster unmanned aerial vehicle until the cluster unmanned aerial vehicle is in the position range of the allowable deviation.
2. The method for adjusting formation of circular unmanned aerial vehicles according to claim 1, wherein the number of the positioning unmanned aerial vehicles is 3, and each positioning unmanned aerial vehicle is provided with a GPS receiver;
each positioning unmanned aerial vehicle is provided with a camera, and each camera is arranged on the corresponding positioning unmanned aerial vehicle through a camera holder;
the camera pan-tilt is driven by a motor, so that the camera can rotate 360 degrees;
install angle sensor on the output shaft of motor for the rotation angle of monitoring camera, angle sensor and corresponding location unmanned aerial vehicle's controller electric connection.
3. The method for adjusting formation of round unmanned aerial vehicles according to claim 2,
the method for calculating the actual coordinates of the cluster unmanned aerial vehicles comprises the following steps:
3.1, establishing a planar rectangular coordinate system XOY, wherein the world coordinate at the origin of coordinates O is obtained by a GPS receiver, and all unmanned aerial vehicles are positioned in a first quadrant of the planar rectangular coordinate system;
the position coordinates of the positioning unmanned aerial vehicle at the circle center and the two positioning unmanned aerial vehicles on the circumference are obtained by the corresponding GPS receivers, and then the position coordinates are converted into relative coordinates on a plane rectangular coordinate system XOY relative to the origin of coordinates;
the relative coordinate of the unmanned aerial vehicle positioned at the circle center is recorded as B (x) 2 ，y 2 ) (ii) a Two on the circumferenceThe relative coordinates of the positioning unmanned aerial vehicle are respectively marked as A (x) 1 ，y 1 ) And C (x) 3 ，y 3 ) A, B, C are not in the same line;
step 3.2, setting cluster unmanned aerial vehicles needing coordinate calculation, wherein the relative coordinate is D (x) D ，y D )；
A. Connecting the positions of the three unmanned aerial vehicles at the positions B and D to form a delta ADB, setting the circumscribed circle of the delta ADB as a circle M, and recording the coordinate of the point M as (x) 4 ，y 4 ) The radius of the circle M is denoted as r 1 ；
B. Connecting lines of positions of three unmanned aerial vehicles at C and D form delta BCD, a circumscribed circle of the delta BCD is set as a circle N, and coordinates of a point N are recorded as (x) 5 ，y 5 ) The radius of the circle N is denoted as r 2 ；
Obtaining ^ ADB = alpha DEG and ^ BDC = beta DEG through three cameras for positioning the unmanned aerial vehicle;
the circle determined by the point D meeting the condition of ^ ADB = alpha DEG has two conditions, the circle centers of the circles are respectively positioned at two sides of the AB line segment on the perpendicular bisector of A, B, and the two circles are respectively recorded as a circle M 1 And the circle M 2 Circle M 1 Has a circle center coordinate of M 1 (x 41 ，y 41 ) Circle M 2 Has a circle center coordinate of M 2 (x 42 ，y 42 ) And < A M 1 B＝∠A M 2 B =2 α °; circle M 1 And the circle M 2 The possible positions of three points intersected with the circle B, one is point A, and the other two are points D, and are marked as D 1 (x D1 ，y D1 ) And D 2 (x D2 ，y D2 )；
There are two cases of circles determined by a point D meeting ═ BDC = β °, the centers of which are located on both sides of the segment BC on the perpendicular bisector line B, C, respectively, and the two circles are respectively recorded as circles N 1 And circle N 2 Circle N 1 Has a center coordinate of N 1 (x 51 ，y 51 ) Circle N 2 Has a center coordinate of N 2 (x 52 ，y 52 ) And < B N 1 C＝∠B N 2 C =2 β °; circle N 1 And circle N 2 Intersects the circle B at three points, one point is C and the other point is D 2 (x D2 ，y D2 ) And the other is denoted by D 3 (x D3 ，y D3 )；
Setting a circle M 1 And the circle M 2 Each circle of (1) and circle N 1 And circle N 2 Each circle in (c) has two intersections, which are in turn denoted as point G (x) G ，y G ) And point S (x) S ，y S )；
The straight line MN and the straight line SG intersect at a point E (x) 0 ,y 0 )；
Step 3.3, calculating the radius of the circle M and the radius of the circle N; for convenience of calculation, M 1 And M 2 By M instead of N 1 And N 2 Is replaced by N;
step 3.4, calculate point M (x) 4 ，y 4 ) And point N (x) 5 ，y 5 ) The coordinates of (a);
step 3.5, calculating the length of the MN, and calculating the slopes of the MN and the SG;
let the slope of MN be k 1 The slope of SG is k 2 Then, there are:
step 3.6, calculating coordinates (x) of the E point 0 ,y 0 )：
In the formula:
/>
step 3.7, calculate Point G (x) G ，y G ) And point S (x) S ，y S ) Coordinates;
in the formula: GE 2 ＝r 1 2 -(x 0 -x 4 ) 2 -(y 0 -y 4 ) 2 ；
Step 3.8, exclude Point G (x) G ，y G ) And point S (x) S ，y S ) Neutral point B (x) 2 ，y 2 ) A coincident point; the possible coordinates of the other points are points D, which are all marked as D 4 (x D4 ，y D4 )；
Step 3.9, introducing information of a third corner to determine a unique D point coordinate;
setting cos & lt ADC = q and & lt ADC = alpha ° + beta °;
possible coordinates D of point D 4 (x D4 ，y D4 ) For a plurality of the vectors, calculating each ^ A D 4 The cosine value of C is given by,
when q = w, the corresponding D 4 (x D4 ，y D4 ) The coordinate of (2) is the coordinate of the point D;
step 3.10, repeating the steps 3.2 to 3.9, and calculating the relative coordinate of the next cluster unmanned aerial vehicleD(x D ，y D ) And calculating the relative coordinates of all cluster unmanned aerial vehicles.
4. The method for adjusting formation of round drones according to claim 3, wherein the method for obtaining the position range of the allowable deviation of the cluster drones by the Monte Carlo method comprises:
step 1.1, establishing a plane rectangular coordinate system X 'O' Y ', wherein the origin of coordinates is located at the circle center of a circular expected formation, a positive half shaft of an X' shaft passes through a coordinate point where a positioning unmanned aerial vehicle is located on the circumference, and the positive half shaft of a Y 'shaft is located on the left side of the X' shaft;
setting the radius of a circular expected formation of unmanned aerial vehicles as R; the number of the unmanned aerial vehicles is d, and d is an even number;
two positioning unmanned aerial vehicles are arranged on the circumference, wherein one unmanned aerial vehicle is positioned on the positive half shaft of the X shaft, and the position is marked as a point H (R, 0); the other positioning unmanned aerial vehicle is positioned at any other position on the circular expected formation;
numbering the unmanned aerial vehicles on the circumference, wherein the number of the unmanned aerial vehicle positioned on the positive half shaft of the X axis is 0, and then numbering the other unmanned aerial vehicles on the circumference in reverse time, namely 1, 2, 3 and … …;
step 1.2, calculating the position coordinate of the cluster unmanned aerial vehicle on the expected formation without deviation, and setting the cluster unmanned aerial vehicle with the serial number of e, wherein the position coordinate without deviation is J (x) 6 ，y 6 )，
Step 1.3, a square lattice with the length of f is arranged, the point at the central position of the lattice is coincided with the point J, and the point in the lattice is marked as O (x) 7 ，y 7 ) The dots in the lattice satisfy (x) 7 -x 6 ) 2 +(y 7 -y 6 ) 2 ＜r 2 R is a positive number; ' Qiyi
In the dot matrix, a rectangular plane coordinate system X ' O ' Y ' is established with point J as the origin of coordinates, the right side of the point O ' is the positive half axis of the X ' axis, the upper side of the point O ' is the positive half axis of the Y ' axis, and the coordinates of point O in the coordinate system are (i, J);
step 1.4, setting O ij (x 7 ，y 7 ) The coordinates of the ith column and the jth row point in the lattice are expressed, then
Step 1.5, calculating the value of [ HJB ], and recording the value as theta 1 °；
Step 1.6, setting the value of & HOB as theta 2 °；
According to the cosine theorem:
in the formula
Step 1.7, then calculate cos θ 1 °-cosθ 2 Value of when | cos θ 1 °-cosθ 2 When the degree is less than or equal to 0.05, the corresponding O ji (x 7 ，y 7 ) The position is the position of the allowed deviation of the corresponding cluster unmanned aerial vehicle, otherwise, the position is the position with large deviation;
step 1.8, repeating steps 1.4 to 1.7, judging all points in the dot matrix, and allowing the point O of deviation ji (x 7 ，y 7 ) Forming a set X, wherein the set X is the position range of the allowable deviation of the corresponding cluster unmanned aerial vehicle;
step 1.9, calculating the allowable deviation position range of the next cluster unmanned aerial vehicle, and setting the number of the next cluster unmanned aerial vehicle as e; and (4) repeating the step 1.2 to the step 1.8 until the position ranges of the allowable deviation of all the cluster unmanned planes are obtained.
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