CN112099531A - Distributed unmanned aerial vehicle formation form transformation method - Google Patents
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- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
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Abstract
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle flight, in particular to a method for changing formation of a distributed unmanned aerial vehicle formation.
Background
At present, unmanned aerial vehicle formation control systems are mainly divided into two types: centralized formation control and distributed formation control. The centralized formation control system has a formation control center on the ground or in the air, and the formation control center acquires formation state information of all unmanned aerial vehicles, generates a guidance instruction of each unmanned aerial vehicle, and periodically sends a corresponding guidance instruction to each unmanned aerial vehicle in the formation through a communication link. Different from a centralized formation control system, the distributed formation control system does not have a control center, and each unmanned aerial vehicle can independently generate a guidance instruction.
For centralized formation control, the formation form of the unmanned aerial vehicle formation is often required to be changed according to task requirements in the flight process of the unmanned aerial vehicle formation, and at present, the formation change of the unmanned aerial vehicle formation is usually carried out by broadcasting the position relation (called as a formation matrix) of each unmanned aerial vehicle relative to a reference unmanned aerial vehicle (called as a leader) from a ground station to the unmanned aerial vehicle formation. The prior method has the following problems: sending the formation matrix directly would bring a lot of communication overhead for the drone and the ground station. Meanwhile, due to fading characteristics of wireless communication channels, terrain factors and the like, the ground station often needs to repeatedly transmit the formation matrix for many times, which brings frequent communication interaction between the unmanned aerial vehicle and the ground station. However, due to the long distance between the unmanned aerial vehicle and the ground station and the limited transmission power of the airborne communication device, frequent and large-data-volume air-ground information interaction will reduce the reliability of the system.
Compared with the centralized type, the distributed unmanned aerial vehicle formation does not depend on a control center, better survivability is achieved, and the survival ability of the unmanned aerial vehicle formation can be effectively improved. Therefore, distributed unmanned aerial vehicle formation receives more and more extensive attention in the fields of military affairs, emergency rescue and the like. However, compared with centralized unmanned aerial vehicle formation, the related practical research of distributed unmanned aerial vehicle formation is still in a starting or even blank state.
In the formation transformation process of the unmanned aerial vehicle formation, in order to avoid collision between unmanned aerial vehicles in different formations, the unmanned aerial vehicles need to be coordinated to perform formation transformation consistently, namely, the formation is kept synchronous, and for the distributed unmanned aerial vehicle formation, the formation is synchronous due to the absence of a control center.
Disclosure of Invention
In order to solve the technical problems, the invention provides a distributed unmanned aerial vehicle formation form conversion method, and provides the distributed unmanned aerial vehicle formation form conversion method aiming at a distributed unmanned aerial vehicle formation scene, so that the problems of high communication overhead and low reliability of formation conversion information transmission and the problem of distributed formation synchronization are solved, the safety of distributed formation form conversion is enhanced, and the adaptability to communication equipment is improved.
The technical purpose of the invention is realized by the following technical scheme:
a distributed unmanned aerial vehicle formation form transformation method comprises the following steps:
s1: presetting related instructions of all formation shapes on all unmanned aerial vehicles, and numbering in sequence according to the number of the formation shapes;
s2: sending serial number signals of formation to be converted to all unmanned aerial vehicles through a control station;
s3: all unmanned aerial vehicles receive the number signals in the S2, and automatically generate a long plane and the rest unmanned aerial vehicles are wing planes according to the own instructions of the unmanned aerial vehicles in the S1;
s4: the farm machines adjust the positions thereof according to the commands thereof, and all the wing machines adjust the positions thereof by combining the commands thereof on the basis of the farm machines.
As a preferred scheme, the number of all unmanned aerial vehicles is N, wherein the number of all unmanned aerial vehicles comprises 1 long unmanned aerial vehicle and N-1 unmanned aerial vehicle; the number of formations is M, and for M1, M, the mth formation is expressed as a formation matrix
Wherein
Unmanned aerial vehicle n in mth formation0For a long machine, the centroid o point, the ox axis pointing to the northIn which oy denotes a direction of a right east, oz denotes a direction pointing to the sky perpendicular to the ground,
representing the coordinates of the unmanned aerial vehicles in the formation in a coordinate system oxyz; each unmanned aerial vehicle locally stores M formation matrixes Am}m＝1,…,M。
As a preferred scheme, each drone stores and maintains its own queue status table.
As a preferred scheme, the control station sends a queue number signal to the unmanned aerial vehicle and simultaneously sends a corresponding queue command counting signal.
As a preferred scheme, the unmanned aerial vehicle receiving the formation change instruction updates the formation number and the formation instruction count of the unmanned aerial vehicle in the local formation state table according to the content of the instruction, and the unmanned aerial vehicle forwards the updated local formation state table to other unmanned aerial vehicles.
As an optimal scheme, after receiving the formation state table forwarded by other drones, the drone judges whether to update the local formation state table by comparing the formation instruction count.
As a preferred scheme, each unmanned aerial vehicle independently detects a local formation state table, if the formation numbers of all the unmanned aerial vehicles in the table are consistent, the unmanned aerial vehicle adjusts the position of the unmanned aerial vehicle according to the formation matrix corresponding to the number in the table to complete formation transformation, otherwise, the position relation of the current formation is kept, so that the unmanned aerial vehicle has the following beneficial effects:
1) by adopting the idea of mapping the formation by the instruction number, the communication overhead brought by directly sending the formation matrix can be greatly reduced;
2) by adopting the idea of multi-machine forwarding and redundancy backup, the reliability of the transmission of the formation instruction in the formation can be effectively enhanced. Meanwhile, only a small amount of information such as formation numbers, instruction counts and the like is forwarded, so that no obvious communication overhead is brought;
3) the problem of synchronization of formation change instructions of the distributed unmanned aerial vehicle formation is effectively solved, and the safety of formation change is improved;
4) the unmanned aerial vehicle can adapt to various communication topologies, and can also complete the formation transformation function by sharing the link between the unmanned aerial vehicle and the unmanned aerial vehicle as long as the unmanned aerial vehicle receives the formation transformation command.
Drawings
FIG. 1 is a schematic diagram of a system in an embodiment of the invention;
FIG. 2 is a schematic diagram of a reference frame in an embodiment of the invention;
fig. 3 is a queue state diagram of drone n in an embodiment of the present invention.
Detailed Description
This specification and claims do not intend to distinguish between components that differ in name but not function. In the following description and in the claims, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to. "substantially" means within an acceptable error range, within which a person skilled in the art can solve the technical problem to substantially achieve the technical result.
The terms in upper, lower, left, right and the like in the description and the claims are combined with the drawings to facilitate further explanation, so that the application is more convenient to understand and is not limited to the application.
The present invention will be described in further detail with reference to the accompanying drawings.
T1, regarding the formation system of unmanned aerial vehicles, it contains N unmanned aerial vehicles in total, optionally 1 is a leader, and the remaining N-1 are bureaucratic, and the leader is only used as a reference for the formation, not a centralized control center, and does not send guidance instructions to each unmanned aerial vehicle. Taking N-3 as an example, a schematic diagram of the system is shown in fig. 1. Two arbitrary unmanned aerial vehicles all can communicate through local airborne communication equipment.
T2, M formation forms are preset, and the formation can fly according to the M formation forms in the whole flying process. For M-1, …, M, the mth type of formation is represented as a formation matrix
Wherein
With the long plane of the mth formation as a reference system, as shown in fig. 2, assume that the unmanned plane n of the mth formation0The machine is a long machine, the center of mass is o point, the ox axis points to the north, oy indicates the east, oz indicates the direction pointing to the sky perpendicular to the ground,
representing the coordinates of the drones in the formation in the coordinate system oxyz, representing a wing plane n and a long plane n0Relative positional relationship therebetween. When n is equal to n0When the temperature of the water is higher than the set temperature,
t3: each unmanned aerial vehicle locally stores M formation matrixes Am}m＝1,…,M。
T4: each drone stores and maintains a queue status table, which is shown in fig. 3, taking drone n as an example. Mainly comprises three parts: (1) numbering unmanned aerial vehicles, wherein the unmanned aerial vehicles in the formation are numbered from 1 to N; (2) and (4) numbering the formation, numbering the M preset formations from 1 to M, and representing the current formation state of the unmanned aerial vehicle. In FIG. 3, Pn(t) represents the current formation number of the unmanned plane t in the local formation state table of the unmanned plane n; (3) the queue instruction count indicates the number of times the queue is changed, e.g. the queue instruction count of the initial queue is 0, as in FIG. 3, Qn(t) represents the current formation instruction count of drone t in drone n's local formation state table.
T5: when the formation needs to be changed, an operator broadcasts and sends a formation change instruction to the unmanned aerial vehicle formation through the ground station, and the instruction comprises the formation number to be changed and the corresponding formation instruction count. The queue command count sent by the ground station is incremented every 1 queue change.
T6: and the unmanned aerial vehicle receiving the formation change instruction updates the formation number and the formation instruction count of the unmanned aerial vehicle in the local formation state table according to the content of the instruction. Meanwhile, the unmanned aerial vehicle forwards the updated local formation state table to other unmanned aerial vehicles.
And T7, after receiving the queue form state tables forwarded by other unmanned aerial vehicles, the unmanned aerial vehicles judge whether to update the local queue form state tables or not by comparing the queue form instruction counts. For example, drone n1Receives n from unmanned plane2If t is 1, …, N, in the table
Then order
If it is
Then maintain
And
and is not changed.
T8, each unmanned aerial vehicle independently detects a local formation state table, and if the formation numbers of all the unmanned aerial vehicles in the table are consistent, the unmanned aerial vehicle adjusts the position of the unmanned aerial vehicle according to the formation matrix corresponding to the numbers in the table to complete formation transformation; otherwise, the position relation of the current formation is kept.
Any one of the unmanned aerial vehicle formation in the T1 can be a long machine, wherein the long machine is only used as a reference for the formation, and is not a centralized control center.
Each drone in T2 and T3 stores not only the relative coordinates between the drone itself and the longplane, but also the relative coordinates between the other drones and the longplane in the formation.
Each drone in T2 and T3 stores not only the formation matrix of the current formation locally, but also the formation matrices of all possible formations at the same time.
Each unmanned aerial vehicle stores and maintains a formation state table in T4, not only contains the current formation number and the formation instruction count of this unmanned aerial vehicle in the table, contains the current formation number and the formation instruction count of all other unmanned aerial vehicles simultaneously.
When the formation needs to be changed in T5, an operator broadcasts and sends a formation change instruction to the unmanned aerial vehicle formation through the ground station, wherein the instruction comprises a formation number to be changed and a corresponding formation instruction count. The queue command count sent by the ground station is increased every time the queue is changed.
The unmanned aerial vehicle receiving the formation change instruction in the T6 updates the formation number and the formation instruction count of the own unmanned aerial vehicle in the local formation state table according to the content of the instruction. Meanwhile, the unmanned aerial vehicle forwards the updated local formation state table to other unmanned aerial vehicles.
And after receiving the formation state tables forwarded by other unmanned aerial vehicles, the unmanned aerial vehicle in T7 judges whether to update the local formation state tables or not by comparing the formation instruction counts.
Each unmanned aerial vehicle in the T8 independently detects a local formation state table, and if the formation numbers of all the unmanned aerial vehicles in the table are consistent, the unmanned aerial vehicle adjusts the position of the unmanned aerial vehicle according to the formation matrix corresponding to the numbers in the table to complete formation transformation; otherwise, the relative position relation of the current formation is kept.
The main innovation points are as follows:
1) by adopting the idea of mapping formation by numbers, each unmanned aerial vehicle prestores all possible formation matrixes, and only the corresponding formation numbers need to be sent when the formation is changed, so that the communication overhead brought by directly sending the formation matrixes can be greatly reduced.
2) By adopting the idea of multi-machine forwarding and redundancy backup, each unmanned aerial vehicle not only sends the formation state information of the unmanned aerial vehicle, but also assists in sending the formation state information of other unmanned aerial vehicles received by the unmanned aerial vehicle, so that the reliability of formation instruction transmission in formation can be effectively enhanced. In addition, only a small amount of information such as the formation number and the instruction count is forwarded, and thus, no significant communication overhead is caused. Meanwhile, the method can adapt to various communication topologies, and can also complete the formation transformation function only by receiving the formation transformation command by one unmanned aerial vehicle and sharing the command through the inter-machine link;
3) whether each unmanned aerial vehicle formation serial number is unanimous in detecting local formation table, every unmanned aerial vehicle independent judgement whether carries out the formation transform, has effectively solved the synchronous problem of distributed unmanned aerial vehicle formation transform instruction, improves the security of formation transform.
T1-T8 are reference numerals for convenience of description, and do not limit the present invention.
The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications of the present embodiment without inventive contribution as needed after reading the present specification, but all of them are protected by patent law within the scope of the claims of the present invention.
Claims (7)
1. A distributed unmanned aerial vehicle formation form transformation method is characterized by comprising the following steps:
s1: presetting related instructions of all formation shapes on all unmanned aerial vehicles, and numbering in sequence according to the number of the formation shapes;
s2: sending serial number signals of formation to be converted to all unmanned aerial vehicles through a control station;
s3: all unmanned aerial vehicles receive the number signals in the S2, and automatically generate a long plane and the rest unmanned aerial vehicles are wing planes according to the own instructions of the unmanned aerial vehicles in the S1;
s4: the farm machines adjust the positions thereof according to the commands thereof, and all the wing machines adjust the positions thereof by combining the commands thereof on the basis of the farm machines.
2. The method of claim 1, wherein the number of all drones is N, including 1 leader and N-1 drones; the number of formations is M, and for M1, M, the mth formation is expressed as a formation matrix
Wherein
Unmanned aerial vehicle n in mth formation0For a long machine, the centroid is point o, the ox axis points to the north, oy points to the east, oz points to the sky perpendicular to the ground,
representing the coordinates of the unmanned aerial vehicles in the formation in a coordinate system oxyz; each unmanned aerial vehicle locally stores M formation matrixes Am}m＝1,…,M。
3. The method of claim 2, wherein each drone stores and maintains its own queue status table.
4. The method for queue form conversion of distributed unmanned aerial vehicles according to claim 3, wherein the control station sends a queue form number signal to the unmanned aerial vehicles and simultaneously sends a corresponding queue form instruction count signal.
5. The method for queue form conversion of distributed unmanned aerial vehicles according to claim 4, wherein the unmanned aerial vehicle receiving the queue form conversion instruction updates the queue form number and the queue form instruction count of the unmanned aerial vehicle according to the content of the instruction, and the unmanned aerial vehicle forwards the updated local queue form state table to other unmanned aerial vehicles.
6. The method for converting the formation of the distributed unmanned aerial vehicles according to claim 5, wherein after receiving the formation state table forwarded by other unmanned aerial vehicles, the unmanned aerial vehicles judge whether to update the local formation state table by comparing the formation instruction count.
7. The method of claim 6, wherein each drone independently detects a local formation state table, and if the formation numbers of all the drones in the table are consistent, the drone adjusts its position according to the formation matrix corresponding to the numbers in the table to complete formation conversion, otherwise, the drone maintains the position relationship of the current formation.
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