CN116700356B - Unmanned aerial vehicle command control system and method - Google Patents
Unmanned aerial vehicle command control system and method Download PDFInfo
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Abstract
The invention relates to the technical field of command control, in particular to an unmanned aerial vehicle command control system and method, comprising the following steps: the system comprises a tracking data acquisition module, a data management center, a fault information analysis module, a collaborative tracking planning module and a command control management module, wherein the tracking data acquisition module is used for acquiring unmanned aerial vehicle information and tracking target information for target tracking, the data management center is used for storing and managing all acquired information, the fault information analysis module is used for analyzing the moving track of the fault unmanned aerial vehicle when the unmanned aerial vehicle breaks down, the collaborative tracking planning module is used for planning and selecting a proper unmanned aerial vehicle to be collaborative for terminal selection, the command control management module is used for commanding and controlling the terminal selected unmanned aerial vehicle to be collaborative to track the target tracked by the fault unmanned aerial vehicle, the current resources are utilized for continuously tracking the tracking target of the fault unmanned aerial vehicle, the loss time of the tracking target information is shortened, the unmanned aerial vehicle is not required to be additionally arranged to participate in tracking the target, and the resource cost is reduced.
Description
Technical Field
The invention relates to the technical field of command control, in particular to an unmanned aerial vehicle command control system and method.
Background
Along with the progress of scientific technology, unmanned aerial vehicles are increasingly widely applied, and the unmanned aerial vehicle can recognize, detect and track targets by combining a flight control system and a related algorithm through carrying high-definition cameras on the unmanned aerial vehicle;
however, the existing unmanned aerial vehicle command control method still has some disadvantages: the unmanned aerial vehicle occasionally can fail when carrying out target tracking, the loss of target information is easy to cause, the repair of the failed unmanned aerial vehicle needs a certain time, the loss of target information is further prolonged, the situation that a plurality of unmanned aerial vehicles track respective targets together can be utilized to temporarily take over the failed unmanned aerial vehicle for tracking targets, the existing resources can not be utilized flexibly in the prior art, the proper unmanned aerial vehicle is selected for continuously tracking the tracked targets of the failed unmanned aerial vehicle, and the resource cost of target tracking is reduced while the loss time of the tracked target information is shortened.
Therefore, there is a need for an unmanned aerial vehicle command control system and method to solve the above problems.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle command control system and method, which are used for solving the problems in the background technology.
In order to solve the technical problems, the invention provides the following technical scheme: a drone commander control system, the system comprising: the system comprises a tracking data acquisition module, a data management center, a fault information analysis module, a collaborative tracking planning module and a command control management module;
the output end of the tracking data acquisition module is connected with the input end of the data management center, the output end of the data management center is connected with the input ends of the fault information analysis module and the collaborative tracking planning module, the output end of the fault information analysis module is connected with the input end of the collaborative tracking planning module, and the output end of the collaborative tracking planning module is connected with the input end of the command control management module;
the tracking data acquisition module acquires unmanned aerial vehicle information and tracking target information for target tracking, and all acquired information is transmitted to the data management center;
storing and managing all collected information through the data management center;
when the unmanned aerial vehicle fails, the fault information analysis module analyzes the movement track of the failed unmanned aerial vehicle;
planning and selecting a proper unmanned aerial vehicle to be cooperated for terminal selection through the cooperation tracking planning module;
and commanding and controlling the unmanned aerial vehicle to be cooperated selected by the terminal to track the target tracked by the fault unmanned aerial vehicle through the command control management module.
Further, the tracking data acquisition module comprises an unmanned aerial vehicle positioning unit and a fault information acquisition unit;
the output ends of the unmanned aerial vehicle positioning unit and the fault information acquisition unit are connected with the input end of the data management center;
the unmanned aerial vehicle positioning unit is used for positioning an unmanned aerial vehicle for tracking a target;
the fault information acquisition unit is used for judging that the corresponding unmanned aerial vehicle breaks down when the unmanned aerial vehicle which has tracked the target transmits the signal interruption of the target information, and acquiring the positioned historical position information of the corresponding fault unmanned aerial vehicle and the target position information received by the terminal when the signal interruption occurs.
Further, the fault information analysis module comprises a fault information retrieving unit and a track analysis unit;
the input end of the fault information calling unit is connected with the output end of the data management center, and the output end of the fault information calling unit is connected with the output end of the track analysis unit;
the fault information calling unit is used for calling historical position information of the fault unmanned aerial vehicle and target position information received by the terminal when the signal is interrupted, and transmitting the called information to the track analysis unit;
the track analysis unit is used for analyzing historical position information of the unmanned aerial vehicle and analyzing a moving track of the unmanned aerial vehicle before the fault.
Further, the collaborative tracking planning module comprises a position information retrieving unit, a collaborative effective analysis unit and a collaborative object screening unit;
the input end of the position information calling unit is connected with the output ends of the track analysis unit and the data management center, the output end of the position information calling unit is connected with the input end of the collaborative effective analysis unit, and the output end of the collaborative effective analysis unit is connected with the input end of the collaborative object screening unit;
the position information calling unit is used for calling the position information of the unmanned aerial vehicle to be cooperated, which does not detect the target to be tracked when the unmanned aerial vehicle fails;
the cooperative effective analysis unit is used for judging whether a target tracked by the fault unmanned aerial vehicle is in a detection range of the unmanned aerial vehicle to be cooperated or not when the signal is interrupted, screening out the unmanned aerial vehicle to be cooperated of which the target is in the detection range, and if more than one unmanned aerial vehicle to be cooperated is screened out, analyzing the cooperative effective degree of the screened unmanned aerial vehicle to be cooperated;
if the number of the screened unmanned aerial vehicles to be cooperated is 1, sending an instruction to the corresponding unmanned aerial vehicle to be cooperated to control the unmanned aerial vehicle to track the target tracked by the fault unmanned aerial vehicle, and transmitting the tracked target information to the terminal;
the collaborative object screening unit is used for comparing the collaborative effectiveness degree of different unmanned aerial vehicles to be collaborative, grouping the unmanned aerial vehicles to be collaborative according to the collaborative effectiveness degree, analyzing the overall collaborative effectiveness degree of each group of unmanned aerial vehicles, screening out a group of unmanned aerial vehicles to be collaborative with the highest overall collaborative effectiveness degree for terminal selection, sending the corresponding group of unmanned aerial vehicle information to be collaborative to the terminal, and reminding the terminal to select the final collaborative object.
Further, the command control management module comprises a control instruction sending unit, a target tracking unit and a tracking information transmission unit;
the input end of the control instruction sending unit is connected with the output end of the collaborative object screening unit, the output end of the control instruction sending unit is connected with the input end of the target tracking unit, and the output end of the target tracking unit is connected with the input end of the tracking information transmission unit;
the control instruction sending unit is used for sending a target tracking control instruction to the final cooperative object;
the target tracking unit is used for controlling the final cooperative object to track the target tracked by the fault unmanned aerial vehicle.
The unmanned aerial vehicle command control method comprises the following steps:
s1: collecting unmanned aerial vehicle information and tracking target information for target tracking;
s2: when the unmanned aerial vehicle fails, analyzing the movement track of the failed unmanned aerial vehicle;
s3: retrieving and analyzing movement track information of the unmanned aerial vehicle to be coordinated, and analyzing the coordination effectiveness degree of the unmanned aerial vehicle to be coordinated;
s4: planning and screening out a proper unmanned aerial vehicle to be cooperated for terminal selection;
s5: and commanding and controlling the unmanned aerial vehicle to be cooperated selected by the terminal to track the target tracked by the fault unmanned aerial vehicle.
Further, in step S1: acquiring position information of an unmanned aerial vehicle for tracking a target, judging that a corresponding unmanned aerial vehicle fails when a signal of the target information transmitted by the unmanned aerial vehicle tracked is interrupted, performing track simulation on the unmanned aerial vehicle, establishing a two-dimensional model, and acquiring a position coordinate set (A, B) = { (A) after the failed unmanned aerial vehicle moves in the past 1 ，B 1 )，(A 2 ，B 2 )，…，(A m ，B m ) And the m represents the past moving times of the fault unmanned aerial vehicle, the target position coordinates received by the terminal when the signal is acquired are (x, y), the unmanned aerial vehicle position information for tracking the target together with the fault unmanned aerial vehicle is acquired, the tracking targets of different unmanned aerial vehicles are different, and the detection range information of all unmanned aerial vehicles is acquired.
Further, in step S2: position coordinate information of the fault unmanned aerial vehicle after m times of movement is called, and a movement vector coordinate set of the fault unmanned aerial vehicle is obtained to be { (A) 1 -A 0 ，B 1 -B 0 )，(A 2 -A 1 ，B 2 -B 1 )，…，(A i -A i-1 ，B i -B i-1 )，…，(A m -A m-1 ，B m -B m-1 ) (A) wherein 0 ，B 0 ) Representing the initial position coordinates of the failed unmanned aerial vehicle according to the formula beta i ＝arccos[(A i -A i-1 )/[(A i -A i-1 ) 2 +(B i -B i-1 ) 2 ] 1/2 Calculating the included angle beta between random motion vector and horizontal positive direction i Wherein (A) i -A i-1 ，B i -B i-1 ) Representing the ith movement vector coordinate of the fault unmanned aerial vehicle to obtain a set of included angles of the m-time movement vector of the fault unmanned aerial vehicle and the horizontal positive direction as beta= { beta 1 ，β 2 ，…，β i ，…，β m And obtaining the comprehensive included angle (sigma) between the movement vector of the fault unmanned aerial vehicle and the horizontal positive direction m i＝1 β i )/m；
The method comprises the steps of analyzing historical movement tracks of the unmanned aerial vehicle with faults, comparing the estimated overall movement direction of the unmanned aerial vehicle with the movement direction of the unmanned aerial vehicle with faults, screening out one of proper reference data of the unmanned aerial vehicle with faults by using the comparison result, wherein the closer the overall movement direction is to the movement direction of the unmanned aerial vehicle with faults, the more similar the movement tracks of the unmanned aerial vehicle with faults are, and the more similar the movement tracks of the unmanned aerial vehicle with faults are, the more similar the unmanned aerial vehicle with faults are to be tracked, the more the unmanned aerial vehicle with faults is screened out, so that the original movement track of the unmanned aerial vehicle with faults is not changed, the more the unmanned aerial vehicle with faults is controlled to track the trace target with faults temporarily, and the influence of the trace target with faults to be tracked by the unmanned aerial vehicle with faults is reduced.
Further, in step S3: the method comprises the steps that position information of a target to be tracked, which is not detected when a fault unmanned aerial vehicle breaks down, of the unmanned aerial vehicle to be cooperated and detection range information of the unmanned aerial vehicle are acquired, and the detection range of the random unmanned aerial vehicle to be cooperated is acquired as follows: if the range of the circular region with (E, G) as the center and the radius R is [ (E-x) 2 +(G-y) 2 ] 1/2 R is not more than R, the targets tracked by the failed unmanned aerial vehicle are in the detection range corresponding to the unmanned aerial vehicle to be cooperated when the signal is interrupted, the unmanned aerial vehicle to be cooperated with the targets in the detection range is screened out, and n screened unmanned aerial vehicles to be cooperated are obtained>1, extracting the moving position information of n unmanned aerial vehicles to be coordinated from an initial position, and analyzing to obtain a comprehensive included angle set of the moving vectors of the n unmanned aerial vehicles to be coordinated and the horizontal positive direction, wherein the comprehensive included angle set is theta= { theta 1 ，θ 2 ，…，θ n The comprehensive included angle calculation mode of the movement vectors of the n unmanned aerial vehicles to be cooperated with the horizontal positive direction is the same as the comprehensive included angle calculation mode of the movement vectors of the fault unmanned aerial vehicle with the horizontal positive direction, and the straight line distance set of the target tracked by the fault unmanned aerial vehicle and the n unmanned aerial vehicles to be cooperated with when the signal is interrupted is obtained to be d= { d 1 ，d 2 ，…，d n Calculating the synergy validity degree W of a selected unmanned plane to be cooperated according to the following formula j ：
W j ＝1/[d j ×|(∑ m i＝1 β i )/m-θ j |]；
Wherein d j Representing the linear distance theta between a target tracked by a fault unmanned aerial vehicle and a random unmanned aerial vehicle to be cooperated when a signal is interrupted j Representing the comprehensive included angle between the motion vector of one unmanned aerial vehicle to be cooperated and the horizontal positive direction, and obtaining n screened cooperative effective degree sets of the unmanned aerial vehicles to be cooperated as W= { W 1 ，W 2 ，…，W j ，…，W n }。
Further, in step S4: the cooperative effective degree is arranged according to the sequence from big to small, n unmanned aerial vehicles to be cooperated are divided into k groups according to the arranged cooperative effective degree, the cooperative effective degree of the former group of unmanned aerial vehicles is larger than that of the latter group, and a random grouping result is obtained: the sum of the cooperative valuess of each group of unmanned aerial vehicles to be cooperative in k groups is Z= { Z 1 ，Z 2 ，…，Z k According to formula H } e ＝[(∑ k f＝1 (Z f -(∑ k f＝1 Z f )/f) 2 )/k] 1/2 Calculating goodness H of random grouping result e Wherein Z is f The method comprises the steps of representing the sum of the cooperative effective degrees of the f groups of unmanned aerial vehicles to be cooperated in the k groups in the e groups, selecting the grouping result with the highest goodness as the reference data of the proper unmanned aerial vehicle to be cooperated, screening out the grouping result with the highest goodness, and selecting the group of unmanned aerial vehicles to be cooperated with the largest sum of the cooperative effective degrees for terminal selection;
in step S5: after the terminal selects the unmanned aerial vehicle to be coordinated as a final coordinated object, a target tracking control instruction is sent to the final coordinated object, and the final coordinated object is controlled to track the target tracked by the failed unmanned aerial vehicle;
according to the method, the moving direction comparison result of the unmanned aerial vehicle to be coordinated and the distance parameter of the tracking target of the unmanned aerial vehicle to be coordinated are combined, the more similar the moving direction is, the closer the distance between the unmanned aerial vehicle to be coordinated and the tracking target is, the more approximate the unmanned aerial vehicle to be coordinated is, the cooperative effective degree of the unmanned aerial vehicle to be coordinated is judged, for the situation that more than one unmanned aerial vehicle to be coordinated exists, the unmanned aerial vehicles to be coordinated are selected to be grouped according to the cooperative effective degree, the grouping result with the largest comprehensive difference of the effective degrees among groups is selected to be used as screening reference data, the screened unmanned aerial vehicle tracking target with the largest cooperative effective degree is not directly selected, a part of unmanned aerial vehicles are screened out for terminal selection, the final cooperative object is selected together according to system data analysis and human factors, and the adaptation degree of the selection result is artificially improved;
the existing unmanned aerial vehicle tracking target which is used for tracking the target together and does not track the target which needs to be tracked is selected, so that the tracking target of the unmanned aerial vehicle with the fault is beneficial to reducing the information loss time of the tracking target and simultaneously reducing the resource cost.
Compared with the prior art, the invention has the following beneficial effects:
according to the invention, when the information of the tracked target is lost due to the failure of the unmanned aerial vehicle, the existing unmanned aerial vehicle which tracks the target together and does not track the target needing to be tracked is selected to track the tracked target of the unmanned aerial vehicle, so that the information loss time of the tracked target is shortened, and the resource cost is reduced;
the method has the advantages that the historical movement track of the fault unmanned aerial vehicle is analyzed, the overall movement direction of the fault unmanned aerial vehicle is estimated, the overall movement direction of the fault unmanned aerial vehicle is compared with the movement direction of the unmanned aerial vehicle to be cooperated, the comparison result is used as one of the reference data for screening out the proper unmanned aerial vehicle to be cooperated, the original movement track of the unmanned aerial vehicle to be cooperated is not changed, the target to be tracked of the fault unmanned aerial vehicle is controlled to be tracked temporarily on the established track, the movement track of the unmanned aerial vehicle is not required to be changed while the information loss time of the target to be tracked of the fault unmanned aerial vehicle is reduced, and the influence of the target to be tracked of the temporary target to be tracked of the fault unmanned aerial vehicle is reduced;
combining the comparison result of the movement direction of the unmanned aerial vehicle to be cooperated with the movement direction of the fault unmanned aerial vehicle and the distance parameter of the tracking target of the unmanned aerial vehicle to be cooperated with the fault unmanned aerial vehicle, analyzing the synergic effectiveness degree of the unmanned aerial vehicle to be cooperated, for screening out the proper unmanned aerial vehicle to be cooperated under the condition that more than one unmanned aerial vehicle to be cooperated exists, selecting the grouping result with the largest comprehensive difference of the effectiveness degrees among groups as screening reference data, thereby being beneficial to improving the reference value of the screened unmanned aerial vehicle to be cooperated for terminal selection, not directly selecting the unmanned aerial vehicle tracking target with the largest synergic effectiveness degree, but screening out a part of unmanned aerial vehicles for terminal selection, being beneficial to jointly selecting the final synergic object by combining system data analysis and human factors, and improving the adaptation degree of the selection result by human participation.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
FIG. 1 is a block diagram of an unmanned aerial vehicle command and control system of the present invention;
fig. 2 is a flow chart of a method of unmanned aerial vehicle command control of the present invention.
Detailed Description
The preferred embodiments of the present invention will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present invention only, and are not intended to limit the present invention.
The invention is further described below with reference to fig. 1-2 and the specific embodiments.
Example 1: as shown in fig. 1, this embodiment provides an unmanned aerial vehicle command control system, the system includes: the system comprises a tracking data acquisition module, a data management center, a fault information analysis module, a collaborative tracking planning module and a command control management module;
the output end of the tracking data acquisition module is connected with the input end of the data management center, the output end of the data management center is connected with the input ends of the fault information analysis module and the collaborative tracking planning module, the output end of the fault information analysis module is connected with the input end of the collaborative tracking planning module, and the output end of the collaborative tracking planning module is connected with the input end of the command control management module;
the unmanned aerial vehicle information and the tracking target information for target tracking are acquired through a tracking data acquisition module, and all acquired information is transmitted to a data management center;
storing and managing all acquired information through a data management center;
when the unmanned aerial vehicle fails, analyzing the movement track of the failed unmanned aerial vehicle through a failure information analysis module;
planning and selecting a proper unmanned aerial vehicle to be cooperated for terminal selection through a cooperation tracking planning module;
and commanding and controlling the unmanned aerial vehicle to be cooperated selected by the terminal to track the target tracked by the fault unmanned aerial vehicle through the command control management module.
The tracking data acquisition module comprises an unmanned aerial vehicle positioning unit and a fault information acquisition unit;
the output ends of the unmanned aerial vehicle positioning unit and the fault information acquisition unit are connected with the input end of the data management center;
the unmanned aerial vehicle positioning unit is used for positioning an unmanned aerial vehicle for tracking a target;
the fault information acquisition unit is used for judging that the corresponding unmanned aerial vehicle breaks down when the unmanned aerial vehicle which has tracked the target transmits the signal interruption of the target information, and acquiring the positioned historical position information of the corresponding fault unmanned aerial vehicle and the target position information received by the terminal when the signal interruption occurs.
The fault information analysis module comprises a fault information calling unit and a track analysis unit;
the input end of the fault information calling unit is connected with the output end of the data management center, and the output end of the fault information calling unit is connected with the output end of the track analysis unit;
the fault information calling unit is used for calling the historical position information of the fault unmanned aerial vehicle and the target position information received by the terminal when the signal is interrupted, and transmitting the called information to the track analysis unit;
the track analysis unit is used for analyzing historical position information of the unmanned aerial vehicle and analyzing a moving track of the unmanned aerial vehicle before the fault.
The collaborative tracking planning module comprises a position information calling unit, a collaborative effective analysis unit and a collaborative object screening unit;
the input end of the position information calling unit is connected with the output ends of the track analysis unit and the data management center, the output end of the position information calling unit is connected with the input end of the collaborative effective analysis unit, and the output end of the collaborative effective analysis unit is connected with the input end of the collaborative object screening unit;
the position information calling unit is used for calling the position information of the unmanned aerial vehicle to be cooperated, which does not detect the target to be tracked when the unmanned aerial vehicle fails;
the cooperative effective analysis unit is used for judging whether the target tracked by the fault unmanned aerial vehicle is in the detection range of the unmanned aerial vehicle to be cooperated or not when the signal is interrupted, screening out the unmanned aerial vehicle to be cooperated of which the target is in the detection range, and if more than one unmanned aerial vehicle to be cooperated is screened out, analyzing the cooperative effective degree of the screened unmanned aerial vehicle to be cooperated;
if the number of the screened unmanned aerial vehicles to be cooperated is 1, directly sending an instruction to the corresponding unmanned aerial vehicle to be cooperated to control the unmanned aerial vehicle to track the target tracked by the fault unmanned aerial vehicle, and transmitting the tracked target information to the terminal;
the collaborative object screening unit is used for comparing the collaborative effectiveness degree of different unmanned aerial vehicles to be collaborative, grouping the unmanned aerial vehicles to be collaborative according to the collaborative effectiveness degree, analyzing the overall collaborative effectiveness degree of each group of unmanned aerial vehicles, screening out a group of unmanned aerial vehicles to be collaborative with the highest overall collaborative effectiveness degree for terminal selection, sending the corresponding group of unmanned aerial vehicle information to be collaborative to the terminal, and reminding the terminal to select the final collaborative object.
The command control management module comprises a control instruction sending unit, a target tracking unit and a tracking information transmission unit;
the input end of the control instruction sending unit is connected with the output end of the collaborative object screening unit, the output end of the control instruction sending unit is connected with the input end of the target tracking unit, and the output end of the target tracking unit is connected with the input end of the tracking information transmission unit;
the control instruction sending unit is used for sending a target tracking control instruction to the final cooperative object;
the target tracking unit is used for controlling the final cooperative object to track the target tracked by the fault unmanned aerial vehicle.
Example 2: as shown in fig. 2, the present embodiment provides an unmanned aerial vehicle command control method, which is implemented based on the command control system in the embodiment, and specifically includes the following steps:
s1: collecting unmanned aerial vehicle information and tracking target information for target tracking;
s2: when the unmanned aerial vehicle fails, analyzing the movement track of the failed unmanned aerial vehicle;
s3: retrieving and analyzing movement track information of the unmanned aerial vehicle to be coordinated, and analyzing the coordination effectiveness degree of the unmanned aerial vehicle to be coordinated;
s4: planning and screening out a proper unmanned aerial vehicle to be cooperated for terminal selection;
s5: and commanding and controlling the unmanned aerial vehicle to be cooperated selected by the terminal to track the target tracked by the fault unmanned aerial vehicle.
In step S1: acquiring position information of an unmanned aerial vehicle for tracking a target, judging that a corresponding unmanned aerial vehicle fails when a signal of the target information transmitted by the unmanned aerial vehicle tracked is interrupted, performing track simulation on the unmanned aerial vehicle, establishing a two-dimensional model, and acquiring a position coordinate set (A, B) = { (A) after the failed unmanned aerial vehicle moves in the past 1 ，B 1 )，(A 2 ，B 2 )，…，(A m ，B m ) M represents the past moving times of the fault unmanned aerial vehicle, the target position coordinates received by the terminal when the signal is acquired are (x, y), the unmanned aerial vehicle position information which is used for carrying out target tracking together with the fault unmanned aerial vehicle is acquired, the tracking targets of different unmanned aerial vehicles are different, and the detection range information of all unmanned aerial vehicles is acquired;
for example: collect (a, B) = { (a) 1 ，B 1 )，(A 2 ，B 2 )，(A 3 ，B 3 )}＝{(10，10)，
(30, 40), (50, 50) }, the target position coordinates received by the terminal when the signal is acquired is interrupted are (x, y) = (52, 60).
In step S2: position coordinate information of the fault unmanned aerial vehicle after m times of movement is called, and a movement vector coordinate set of the fault unmanned aerial vehicle is obtained to be { (A) 1 -A 0 ，B 1 -B 0 )，(A 2 -A 1 ，B 2 -B 1 )，(A 3 -A 2 ，B 3 -B 2 ) = { (6, 4), (20, 30), (20, 10) }, where (a) 0 ，B 0 )＝(4，6)，(A 0 ，
B 0 ) Representing the initial position coordinates of the failed unmanned aerial vehicle according to the formula beta i ＝arccos[(A i -A i-1 )/[(A i -A i-1 ) 2 +(B i -B i-1 ) 2 ] 1/2 Calculating the included angle beta between random motion vector and horizontal positive direction i ，0<β i <Pi, where (A) i -A i-1 ，B i -B i-1 ) Representing the ith movement vector coordinate of the fault unmanned aerial vehicle to obtain a set of included angles of the m-time movement vector of the fault unmanned aerial vehicle and the horizontal positive direction as beta= { beta 1 ，β 2 ，β 3 = {0.59,0.98,0.46}, in units of: radian, and obtaining the comprehensive included angle (sigma) between the movement vector of the fault unmanned aerial vehicle and the horizontal positive direction m i＝1 β i )/m≈0.68。
In step S3: the method comprises the steps that position information of a target to be tracked, which is not detected when a fault unmanned aerial vehicle breaks down, of the unmanned aerial vehicle to be cooperated and detection range information of the unmanned aerial vehicle are acquired, and the detection range of the random unmanned aerial vehicle to be cooperated is acquired as follows: if the range of the circular region with (E, G) as the center and the radius R is [ (E-x) 2 +(G-y) 2 ] 1/2 R is not more than R, the target tracked by the fault unmanned aerial vehicle is in the detection range corresponding to the unmanned aerial vehicle to be cooperated when the signal is interrupted, the unmanned aerial vehicle to be cooperated with the target in the detection range is screened out, and the screened out unmanned aerial vehicle is obtainedTo-be-coordinated unmanned aerial vehicle is divided into n, n>1, mobile position information of n unmanned aerial vehicles to be coordinated from an initial position is called, and a comprehensive included angle set of n=7 mobile vectors of the unmanned aerial vehicles to be coordinated and a horizontal positive direction is obtained through analysis, wherein the comprehensive included angle set is theta= { theta 1 ，θ 2 ，θ 3 ，θ 4 ，θ 5 ，θ 6 ，θ 7 The comprehensive included angle calculation mode of the n unmanned aerial vehicles to be cooperated with the horizontal positive direction is the same as that of the unmanned aerial vehicle to be failed, and the straight line distance set of the target tracked by the unmanned aerial vehicle to be cooperated with the n unmanned aerial vehicles when the signal is interrupted is obtained to be d= { d 1 ，d 2 ，d 3 ，d 4 ，d 5 ，d 6 ，d 7 The synergy effective degree W of the unmanned aerial vehicle to be cooperated, which is randomly selected according to the following formula, is calculated according to the } = {100, 200, 120, 122, 105, 96, 52} j ：
W j ＝1/[d j ×|(∑ m i＝1 β i )/m-θ j |]；
Wherein d j Representing the linear distance theta between a target tracked by a fault unmanned aerial vehicle and a random unmanned aerial vehicle to be cooperated when a signal is interrupted j Representing the comprehensive included angle between the motion vector of one unmanned aerial vehicle to be cooperated and the horizontal positive direction, and obtaining n screened cooperative effective degree sets of the unmanned aerial vehicles to be cooperated as W= { W 1 ，W 2 ，W 3 ，W 4 ，W 5 ，W 6 ，W 7 }＝{0.022，0.004，0.014，0.015，0.095，0.174，0.042}。
In step S4: the cooperative effective degree is arranged according to the sequence from big to small, n unmanned aerial vehicles to be cooperated are divided into k=3 groups according to the arranged cooperative effective degree, the cooperative effective degree of the unmanned aerial vehicles in the former group is larger than that of the unmanned aerial vehicles in the latter group, and a random grouping result is obtained: the sum of the cooperative valuess of each group of unmanned aerial vehicles to be cooperative in k groups is Z= { Z 1 ，Z 2 ，Z 3 } = {0.269,0.093,0.004}, according to formula H e ＝[(∑ k f＝1 (Z f -(∑ k f＝1 Z f )/f) 2 )/k] 1/2 Calculating goodness H of random grouping result e Approximately 0.11, where Z f The sum of the cooperative effective degrees of the f groups of unmanned aerial vehicles to be cooperated in the k groups in the e groups of grouping results is represented, the grouping result with the highest goodness is selected as the reference data of the proper unmanned aerial vehicle to be cooperated, and the group of unmanned aerial vehicles to be cooperated with the highest goodness, which has the highest sum of the cooperative effective degrees, is selected as follows: w (W) 5 And W is 6 Corresponding unmanned aerial vehicles to be coordinated send corresponding two unmanned aerial vehicle information to be coordinated to a terminal for terminal selection;
in step S5: after the terminal selects the unmanned aerial vehicle to be coordinated as the final coordinated object, a target tracking control instruction is sent to the final coordinated object, and the final coordinated object is controlled to track the target tracked by the failed unmanned aerial vehicle.
Finally, it should be noted that: the foregoing is merely a preferred example of the present invention, and the present invention is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present invention has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. An unmanned aerial vehicle command control system, its characterized in that: the system comprises: the system comprises a tracking data acquisition module, a data management center, a fault information analysis module, a collaborative tracking planning module and a command control management module;
the output end of the tracking data acquisition module is connected with the input end of the data management center, the output end of the data management center is connected with the input ends of the fault information analysis module and the collaborative tracking planning module, the output end of the fault information analysis module is connected with the input end of the collaborative tracking planning module, and the output end of the collaborative tracking planning module is connected with the input end of the command control management module;
the tracking data acquisition module acquires unmanned aerial vehicle information and tracking target information for target tracking, and all acquired information is transmitted to the data management center;
storing and managing all collected information through the data management center;
when the unmanned aerial vehicle fails, the fault information analysis module analyzes the movement track of the failed unmanned aerial vehicle;
planning and selecting a proper unmanned aerial vehicle to be cooperated for terminal selection through the cooperation tracking planning module;
the command control management module commands and controls the unmanned aerial vehicle to be cooperated selected by the terminal to track the target tracked by the fault unmanned aerial vehicle;
the tracking data acquisition module comprises an unmanned aerial vehicle positioning unit and a fault information acquisition unit;
the output ends of the unmanned aerial vehicle positioning unit and the fault information acquisition unit are connected with the input end of the data management center;
the unmanned aerial vehicle positioning unit is used for positioning an unmanned aerial vehicle for tracking a target;
the fault information acquisition unit is used for judging that the corresponding unmanned aerial vehicle breaks down when the unmanned aerial vehicle which has tracked the target transmits the signal interruption of the target information, and acquiring the positioned historical position information of the corresponding fault unmanned aerial vehicle and the target position information received by the terminal when the signal interruption occurs;
the fault information analysis module comprises a fault information retrieval unit and a track analysis unit;
the input end of the fault information calling unit is connected with the output end of the data management center, and the output end of the fault information calling unit is connected with the output end of the track analysis unit;
the fault information calling unit is used for calling historical position information of the fault unmanned aerial vehicle and target position information received by the terminal when the signal is interrupted, and transmitting the called information to the track analysis unit;
the track analysis unit is used for analyzing historical position information of the unmanned aerial vehicle and analyzing a moving track of the unmanned aerial vehicle before the fault;
the collaborative tracking planning module comprises a position information retrieving unit, a collaborative effective analysis unit and a collaborative object screening unit;
the input end of the position information calling unit is connected with the output ends of the track analysis unit and the data management center, the output end of the position information calling unit is connected with the input end of the collaborative effective analysis unit, and the output end of the collaborative effective analysis unit is connected with the input end of the collaborative object screening unit;
the position information calling unit is used for calling the position information of the unmanned aerial vehicle to be cooperated, which does not detect the target to be tracked when the unmanned aerial vehicle fails;
the cooperative effective analysis unit is used for judging whether a target tracked by the fault unmanned aerial vehicle is in a detection range of the unmanned aerial vehicle to be cooperated or not when the signal is interrupted, screening out the unmanned aerial vehicle to be cooperated of which the target is in the detection range, and if more than one unmanned aerial vehicle to be cooperated is screened out, analyzing the cooperative effective degree of the screened unmanned aerial vehicle to be cooperated;
the collaborative object screening unit is used for comparing the collaborative effectiveness degree of different unmanned aerial vehicles to be collaborative, grouping the unmanned aerial vehicles to be collaborative according to the collaborative effectiveness degree, analyzing the overall collaborative effectiveness degree of each group of unmanned aerial vehicles, screening out a group of unmanned aerial vehicles to be collaborative with the highest overall collaborative effectiveness degree for terminal selection, sending the corresponding group of unmanned aerial vehicle information to be collaborative to the terminal, and reminding the terminal to select the final collaborative object.
2. The unmanned aerial vehicle command and control system of claim 1, wherein: the command control management module comprises a control instruction sending unit and a target tracking unit;
the input end of the control instruction sending unit is connected with the output end of the collaborative object screening unit, and the output end of the control instruction sending unit is connected with the input end of the target tracking unit;
the control instruction sending unit is used for sending a target tracking control instruction to the final cooperative object;
the target tracking unit is used for controlling the final cooperative object to track the target tracked by the fault unmanned aerial vehicle.
3. The unmanned aerial vehicle command control method is characterized by comprising the following steps of: the method comprises the following steps:
s1: collecting unmanned aerial vehicle information and tracking target information for target tracking;
s2: when the unmanned aerial vehicle fails, analyzing the movement track of the failed unmanned aerial vehicle;
s3: retrieving and analyzing movement track information of the unmanned aerial vehicle to be coordinated, and analyzing the coordination effectiveness degree of the unmanned aerial vehicle to be coordinated;
s4: planning and screening out a proper unmanned aerial vehicle to be cooperated for terminal selection;
s5: and commanding and controlling the unmanned aerial vehicle to be cooperated selected by the terminal to track the target tracked by the fault unmanned aerial vehicle.
4. A method of unmanned aerial vehicle command control according to claim 3, wherein: in step S1: acquiring position information of an unmanned aerial vehicle for tracking a target, judging that a corresponding unmanned aerial vehicle fails when a signal of the target information transmitted by the unmanned aerial vehicle tracked is interrupted, performing track simulation on the unmanned aerial vehicle, establishing a two-dimensional model, and acquiring a position coordinate set (A, B) = { (A) after the failed unmanned aerial vehicle moves in the past 1 ，B 1 )，(A 2 ，B 2 )，…，(A m ，B m ) And the m represents the past moving times of the fault unmanned aerial vehicle, the target position coordinates received by the terminal when the signal is acquired are (x, y), the unmanned aerial vehicle position information for tracking the target together with the fault unmanned aerial vehicle is acquired, the tracking targets of different unmanned aerial vehicles are different, and the detection range information of all unmanned aerial vehicles is acquired.
5. The unmanned aerial vehicle command and control method of claim 4, wherein: in step S2: calling and fetchingThe position coordinate information of the fault unmanned aerial vehicle after m times of movement is obtained, and the coordinate set of the movement vector of the fault unmanned aerial vehicle is { (A) 1 -A 0 ，B 1 -B 0 )，(A 2 -A 1 ，B 2 -B 1 )，…，(A i -A i-1 ，B i -B i-1 )，…，(A m -A m-1 ，B m -B m-1 ) (A) wherein 0 ，B 0 ) Representing the initial position coordinates of the failed unmanned aerial vehicle according to the formula beta i ＝arccos[(A i -A i-1 )/[(A i -A i-1 ) 2 +(B i -B i-1 ) 2 ] 1/2 Calculating the included angle beta between random motion vector and horizontal positive direction i Wherein (A) i -A i-1 ，B i -B i-1 ) Representing the ith movement vector coordinate of the fault unmanned aerial vehicle to obtain a set of included angles of the m-time movement vector of the fault unmanned aerial vehicle and the horizontal positive direction as beta= { beta 1 ，β 2 ，…，β i ，…，β m And obtaining the comprehensive included angle (sigma) between the movement vector of the fault unmanned aerial vehicle and the horizontal positive direction m i＝1 β i )/m。
6. The unmanned aerial vehicle command and control method of claim 5, wherein: in step S3: the method comprises the steps that position information of a target to be tracked, which is not detected when a fault unmanned aerial vehicle breaks down, of the unmanned aerial vehicle to be cooperated and detection range information of the unmanned aerial vehicle are acquired, and the detection range of the random unmanned aerial vehicle to be cooperated is acquired as follows: if the range of the circular region with (E, G) as the center and the radius R is [ (E-x) 2 +(G-y) 2 ] 1/2 R is not more than R, the targets tracked by the failed unmanned aerial vehicle are in the detection range corresponding to the unmanned aerial vehicle to be cooperated when the signal is interrupted, the unmanned aerial vehicle to be cooperated with the targets in the detection range is screened out, and n screened unmanned aerial vehicles to be cooperated are obtained>1, extracting the moving position information of n unmanned aerial vehicles to be coordinated from an initial position, and analyzing to obtain a comprehensive included angle set of the moving vectors of the n unmanned aerial vehicles to be coordinated and the horizontal positive direction, wherein the comprehensive included angle set is theta= { theta 1 ，θ 2 ，…，θ n The method comprises the steps that when a signal is interrupted, a set of linear distances between a target tracked by a fault unmanned aerial vehicle and n unmanned aerial vehicles to be cooperated is obtained, wherein d= { d 1 ，d 2 ，…，d n Calculating the synergy validity degree W of a selected unmanned plane to be cooperated according to the following formula j ：
W j ＝1/[d j ×|(∑ m i＝1 β i )/m-θ j |]；
Wherein d j Representing the linear distance theta between a target tracked by a fault unmanned aerial vehicle and a random unmanned aerial vehicle to be cooperated when a signal is interrupted j Representing the comprehensive included angle between the motion vector of one unmanned aerial vehicle to be cooperated and the horizontal positive direction, and obtaining n screened cooperative effective degree sets of the unmanned aerial vehicles to be cooperated as W= { W 1 ，W 2 ，…，W j ，…，W n }。
7. The unmanned aerial vehicle command and control method of claim 6, wherein: in step S4: the cooperative effective degree is arranged according to the sequence from big to small, n unmanned aerial vehicles to be cooperated are divided into k groups according to the arranged cooperative effective degree, and a random grouping result is obtained as follows: the sum of the cooperative valuess of each group of unmanned aerial vehicles to be cooperative in k groups is Z= { Z 1 ，Z 2 ，…，Z k According to formula H } e ＝[(∑ k f＝1 (Z f -(∑ k f＝1 Z f )/f) 2 )/k] 1/2 Calculating goodness H of random grouping result e Wherein Z is f The method comprises the steps of representing the sum of the cooperative effective degrees of the f groups of unmanned aerial vehicles to be cooperated in the k groups in the e groups of grouping results, selecting the grouping result with the highest goodness as the reference data of the proper unmanned aerial vehicle to be cooperated, screening out the grouping result with the highest goodness, and selecting a group of unmanned aerial vehicles to be cooperated with the largest sum of the cooperative effective degrees for terminal selection;
in step S5: after the terminal selects the unmanned aerial vehicle to be coordinated as the final coordinated object, a target tracking control instruction is sent to the final coordinated object, and the final coordinated object is controlled to track the target tracked by the failed unmanned aerial vehicle.
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