CN106249754A - A kind of aircraft MANET the method dynamically maintaining formation state - Google Patents
A kind of aircraft MANET the method dynamically maintaining formation state Download PDFInfo
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- CN106249754A CN106249754A CN201610808432.4A CN201610808432A CN106249754A CN 106249754 A CN106249754 A CN 106249754A CN 201610808432 A CN201610808432 A CN 201610808432A CN 106249754 A CN106249754 A CN 106249754A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a kind of unmanned plane MANET the method dynamically maintaining formation state, after some unmanned planes receive instruction of forming into columns, according to forming into columns, instruction is automatically formed into columns and keeps formation state；Instruction of forming into columns is adjacent the relative position information of unmanned plane by giving each unmanned plane, completes form into columns and keep formation state.The present invention, with relative position relation each other for formation foundation, completes to form into columns, and under the effect of current relative position information, keeps formation state.When then carrying out flight regardless of the most any speed of unmanned plane, remain that the formation state of unmanned plane is constant.When giving different relative information to every unmanned plane, the switching of different formation state can be realized.Meanwhile, after the present invention gives different working modes to every unmanned plane, unmanned plane formation can be realized and realize several functions simultaneously.Formation is combined with mode of operation, i.e. can get the combined crosswise of multiple formation, multiple-working mode, increase the functional of unmanned plane formation.
Description
Technical field
The present invention relates to a kind of flying vehicles control technology, more particularly, it relates to a kind of aircraft MANET dynamically tieing up
The method holding formation state.
Background technology
When occurring natural disaster to cause traffic above-ground impassable, by aircraft, ground being carried out disaster seeking becomes
The very first time obtains the means of the condition of a disaster, generally uses helicopter or baby plane to carry out disaster seeking or materials measurement and personnel
Seek help.But owing to the spot environment of natural disaster is changeable, the factor such as unstable in high wind convection current, air-flow, cause helicopter without
Method normal safe flies, and baby plane flight speed is fast, it is difficult to accurately search.Further, carried out on a large scale by aircraft
The seeking of scope is relatively costly.
The appearance of unmanned plane alleviates flight safety and Cost Problems to a certain extent, but monomer unmanned plane is searched
Time, manual operation difficulty is big, and coverage is little, and search time is expended oversize.And multiple UAVs carries out searching with region simultaneously
Time, then cause due to operating difficulties and cannot be carried out stable formation, not only seeking effect is poor, and there is the risk of collision.
Summary of the invention
It is an object of the invention to overcome the deficiencies in the prior art, it is provided that a kind of safe and efficient automatically form into columns unmanned
Machine MANET the method dynamically maintaining formation state.
Technical scheme is as follows:
A kind of unmanned plane MANET the method dynamically maintaining formation state, after some unmanned planes receive instruction of forming into columns, root
According to forming into columns, instruction is automatically formed into columns and keeps formation state；Instruction of forming into columns is adjacent the phase of unmanned plane by giving each unmanned plane
To positional information, complete form into columns and keep formation state.
As preferably, formation instruction includes unmanned plane ID, and the relative position information associated with unmanned plane ID；Phase para-position
Confidence breath includes adjacent unmanned plane ID, and with the relative position relation of adjacent unmanned plane.
As preferably, unmanned plane is by communicating with adjacent unmanned plane, it is thus achieved that adjacent unmanned plane ID, and the most relative
Position relationship, and the relative position information in being instructed by formation adjusts flight attitude, keeps and the phase between adjacent unmanned plane
To position.
As preferably, after unmanned plane receives new formation instruction, again form into columns according to new formation instruction, and keep
Formation state.
As preferably, other unmanned planes that every unmanned plane launches in the range of a range of communication domain, with communication domain are protected
Hold communication.
As preferably, unmanned plane receives mode instruction, and updates mode of operation according to mode instruction.
As preferably, association is formed into columns and is instructed and mode instruction, and being formed into columns by unmanned plane is divided into some functional areas, it is achieved once
Flight carries out continuous print several functions search to same scope.
As preferably, the data gathered are sent to server end by unmanned plane, and server end is according to the data received, in real time
Update the mode of operation of unmanned plane.
As preferably, when automatically forming into columns, a unmanned plane is specified to be core engine by instruction of forming into columns, other unmanned planes
For formation machine, with core engine for controlling node, instruct to the transmission of formation machine.
As preferably, when automatically forming into columns, by instruction of forming into columns, all unmanned planes are set to peer node, each unmanned
Machine each receives instruction.
Beneficial effects of the present invention is as follows:
Unmanned plane MANET of the present invention the method dynamically maintaining formation state, with relative position each other
Relation is formation foundation, completes to form into columns, and under the effect of current relative position information, keeps formation state.Then the most unmanned
When the most any speed of machine carries out flight, remain that the formation state of unmanned plane is constant.When every unmanned plane is composed
Give different relative information, the switching of different formation state can be realized.Meanwhile, the present invention gives different work to every unmanned plane
After operation mode, unmanned plane formation can be realized and realize several functions simultaneously.Formation is combined with mode of operation, the most available
Multiple formation, the combined crosswise of multiple-working mode, increase the functional of unmanned plane formation.
Accompanying drawing explanation
Fig. 1 is the schematic diagram that unmanned plane is formed into columns.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is described in further detail.
The present invention is to solve that the unmanned plane of prior art is difficult to control to, it is impossible to stably keep the deficiencies such as formation state, carry
Supply a kind of unmanned plane MANET the method dynamically maintaining formation state, realize compiling with the relative position relation between unmanned plane
Team, and keep formation state, can reach formation automatically, and remain the purpose of formation state.
In the present invention, after some unmanned planes receive instruction of forming into columns, according to forming into columns, instruction is automatically formed into columns and keeps formation state；
Wherein, instruction of forming into columns is adjacent the relative position information of unmanned plane by giving each unmanned plane, completes to form into columns and keep to compile
Team's state.Such as, there are three frame unmanned planes, give the relative information relation of every unmanned plane and adjacent two unmanned planes, then exist
Under the constraint of the respective instruction of forming into columns of every unmanned plane, it is possible to remain currently without between man-machine and other two unmanned planes
Relative position relation, has reached the effect formed into columns with keep formation state.
In order to enable to carry out exactly the imparting of information for every unmanned plane, formation instruction includes unmanned plane ID, Yi Jiyu
The relative position information of unmanned plane ID association；Relative position information includes adjacent unmanned plane ID, and with the phase of adjacent unmanned plane
To position relationship.After formation instruction sends, every unmanned plane receives instruction of forming into columns, and the unmanned plane ID in being instructed by formation
Receive the formation instruction mated with self.
Owing to keeping formation state to be really a dynamic regulation process, when the unmanned plane (referred to as main frame) operated changes
After becoming flight path, other unmanned planes adjacent with main frame need to obtain the positional information of main frame, further according to relative position information
Carry out computing and regulate and the relative position relation of main frame, other not adjacent with main frame unmanned planes in like manner with adjacent unmanned plane
Keep relative position relation, reach to keep the purpose of formation state.Then obtain the positional information of adjacent unmanned plane particularly as follows: unmanned
Machine is by communicating with adjacent unmanned plane, it is thus achieved that adjacent unmanned plane ID, and relative position relation in real time, and is referred to by formation
Relative position information in order adjusts flight attitude, keeps and the relative position between adjacent unmanned plane.During enforcement, can compile
The unmanned plane that every unmanned plane is adjacent is specified in team's instruction, and is identified in order to determine every by unmanned plane ID
The relative position relation of unmanned plane, prevents from recognizing the unmanned plane of other positions in flight course and causing formation mistake, very
To collision.
The present invention can also realize aloft real-time conversion of forming into columns.After unmanned plane receives new formation instruction, root
Again form into columns according to new formation instruction, and keep formation state.As above-mentioned, formation instruction includes unmanned plane ID, and with unmanned
The relative position information of machine ID association, after unmanned plane receives the formation instruction mated with self, according to instruction location of forming into columns
To affiliated position, complete automatically to form into columns.During enforcement, during multiple stage unmanned plane during flying, control flight attitude with relative position information,
Keep the continuity to target area to search for, such as, line up single file and carry out single extensive search, line up multirow and carry out the biggest
Range searching, the concrete formation formed into columns can be controlled by formation instruction.
Every unmanned plane launches a range of communication domain, keeps communicating with other unmanned planes in the range of communication domain.Often
The narrow communication domain of platform unmanned aerial vehicle (UAV) control, covers in the premise of adjacent unmanned plane keeping, and prevents from again covering too much its
The unmanned plane that he is non-adjacent, cause find adjacent unmanned plane ID adjacent unmanned plane time overspending resource judge non-adjacent
Unmanned plane, make formation Dynamic Regulating Process and formation conversion process accelerate.
In order to realize the multiformity of unmanned plane function, unmanned plane receives mode instruction, and according to mode instruction renewal work
Pattern.Except instruction of forming into columns, unmanned plane also receives mode instruction, mode instruction for arranging the mode of operation of unmanned plane, i.e. without
The man-machine function realized when searching.
In order to realize the functional diversity that unmanned plane is formed into columns, association is formed into columns and is instructed and mode instruction, is formed into columns by unmanned plane and draws
It is divided into some functional areas, it is achieved flight carries out continuous print several functions search to same scope.The present invention is when implementing, also
The seeking prediction scheme arranged can be generated according to the combination formed into columns with mode of operation.Such as during unmanned plane arrangement multirow, first advances
The signal analysis of row objective emission, the second row carries out infrared analysis, and the third line full color image is analyzed.
As the refinement of seeking function, the data gathered are sent to server end by unmanned plane, and server end is according to reception
Data, the mode of operation of real-time update unmanned plane, as the data according to feedback carry out work to specific certain or several unmanned planes
Operation mode updates, to be applicable to search in real time requirement.
Communication between unmanned plane can use different mode to carry out, when automatically forming into columns, by instruction appointment one of forming into columns
Platform unmanned plane is core engine, and other unmanned planes are formation machine, with core engine for controlling node, to the transmission instruction of formation machine.Or,
By forming into columns, all unmanned planes are set to peer node by instruction, and each unmanned plane each receives instruction.
As it is shown in figure 1, corresponding method of the present invention, unmanned plane except basic configuration flight attitude control module,
Flight instruments, power set, satellite positioning module, communication module, be also provided with relative position detection module, mode of operation mould
Block, seeking information overlay module.Flight attitude control module is by controlling flight instruments and power set, it is achieved to unmanned plane
Direction and the control of speed.Relative position detection module is connected with flight attitude control module, for instructing nothing by forming into columns
Man-machine it is controlled.Communication module and operating mode module, seeking information overlay module, for realizing the reception to mode of operation
With renewal.And server end is set, as control centre, send, to unmanned plane, form into columns instruction and mode instruction, or other refer to
Order, receives the data of unmanned plane feedback simultaneously, according to implementing demand, in real time to the corresponding instruction of unmanned plane feedback.
Above-described embodiment is intended merely to the present invention is described, and is not used as limitation of the invention.As long as according to this
Bright technical spirit, be changed above-described embodiment, modification etc. all will fall in the range of the claim of the present invention.
Claims (10)
1. a unmanned plane MANET and dynamically maintain formation state method, it is characterised in that some unmanned planes receive form into columns
After instruction, according to forming into columns, instruction is automatically formed into columns and keeps formation state；Instruction of forming into columns is adjacent by giving each unmanned plane
The relative position information of unmanned plane, completes form into columns and keep formation state.
Unmanned plane MANET the most according to claim 1 the method dynamically maintaining formation state, it is characterised in that form into columns
Instruction includes unmanned plane ID, and the relative position information associated with unmanned plane ID；Relative position information includes adjacent unmanned plane
ID, and with the relative position relation of adjacent unmanned plane.
Unmanned plane MANET the most according to claim 2 the method dynamically maintaining formation state, it is characterised in that unmanned
Machine is by communicating with adjacent unmanned plane, it is thus achieved that adjacent unmanned plane ID, and relative position relation in real time, and is referred to by formation
Relative position information in order adjusts flight attitude, keeps and the relative position between adjacent unmanned plane.
Unmanned plane MANET the most according to claim 3 the method dynamically maintaining formation state, it is characterised in that work as nothing
After human-machine interface receives new formation instruction, again form into columns according to new formation instruction, and keep formation state.
Unmanned plane MANET the most according to claim 3 the method dynamically maintaining formation state, it is characterised in that every
Unmanned plane launches a range of communication domain, keeps communicating with other unmanned planes in the range of communication domain.
Unmanned plane MANET the most according to claim 1 the method dynamically maintaining formation state, it is characterised in that unmanned
Machine receives mode instruction, and updates mode of operation according to mode instruction.
Unmanned plane MANET the most according to claim 6 the method dynamically maintaining formation state, it is characterised in that association
Forming into columns and instruct and mode instruction, being formed into columns by unmanned plane is divided into some functional areas, it is achieved same scope is carried out even by flight
Continuous several functions search.
Unmanned plane MANET the most according to claim 6 the method dynamically maintaining formation state, it is characterised in that unmanned
The data gathered are sent to server end by machine, and server end is according to the data received, the mode of operation of real-time update unmanned plane.
9. according to the unmanned plane MANET described in claim 1 or 6 and dynamically maintain formation state method, it is characterised in that
When automatically forming into columns, specifying a unmanned plane to be core engine by instruction of forming into columns, other unmanned planes are formation machine, with core engine
For controlling node, to the transmission instruction of formation machine.
10. according to the unmanned plane MANET described in claim 1 or 6 and dynamically maintain formation state method, it is characterised in that
When automatically forming into columns, by forming into columns, all unmanned planes are set to peer node by instruction, and each unmanned plane each receives instruction.
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| CN201610808432.4A CN106249754A (en) | 2016-09-07 | 2016-09-07 | A kind of aircraft MANET the method dynamically maintaining formation state |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106255087A (en) * | 2016-09-09 | 2016-12-21 | 重庆零度智控智能科技有限公司 | Network-building method and device |
| CN106990789A (en) * | 2017-04-11 | 2017-07-28 | 北京机械设备研究所 | A kind of rapid reconnaissance method of special environment Reconnaissance system and special environment |
| CN109407694A (en) * | 2017-08-18 | 2019-03-01 | 清华大学 | Unmanned plane formation control method, readable storage medium storing program for executing, equipment and unmanned plane |
| CN109510655A (en) * | 2017-09-15 | 2019-03-22 | 中国科学院光电研究院 | Near space platform oriented mission formation networking distributed collaboration flight control method |
| CN109991999A (en) * | 2019-03-29 | 2019-07-09 | 郑州信大捷安信息技术股份有限公司 | Unmanned plane formation self aligning system and method |
| CN110068335A (en) * | 2019-04-23 | 2019-07-30 | 中国人民解放军国防科技大学 | Unmanned aerial vehicle cluster real-time positioning method and system under GPS rejection environment |
| CN110162092A (en) * | 2019-06-10 | 2019-08-23 | 哈尔滨理工大学 | A kind of multiple no-manned plane formation plant protection operation method |
| CN110597294A (en) * | 2019-10-14 | 2019-12-20 | 深圳市元征科技股份有限公司 | Unmanned aerial vehicle and cluster system thereof |
| CN113220032A (en) * | 2021-05-17 | 2021-08-06 | 浙江安防职业技术学院 | Unmanned aerial vehicle cluster control method and device, unmanned aerial vehicle and storage medium |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106255087A (en) * | 2016-09-09 | 2016-12-21 | 重庆零度智控智能科技有限公司 | Network-building method and device |
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| CN109407694A (en) * | 2017-08-18 | 2019-03-01 | 清华大学 | Unmanned plane formation control method, readable storage medium storing program for executing, equipment and unmanned plane |
| CN109510655A (en) * | 2017-09-15 | 2019-03-22 | 中国科学院光电研究院 | Near space platform oriented mission formation networking distributed collaboration flight control method |
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| CN109991999B (en) * | 2019-03-29 | 2021-10-29 | 郑州信大捷安信息技术股份有限公司 | Unmanned aerial vehicle formation self-positioning system and method |
| CN110068335A (en) * | 2019-04-23 | 2019-07-30 | 中国人民解放军国防科技大学 | Unmanned aerial vehicle cluster real-time positioning method and system under GPS rejection environment |
| CN110162092A (en) * | 2019-06-10 | 2019-08-23 | 哈尔滨理工大学 | A kind of multiple no-manned plane formation plant protection operation method |
| CN110597294A (en) * | 2019-10-14 | 2019-12-20 | 深圳市元征科技股份有限公司 | Unmanned aerial vehicle and cluster system thereof |
| CN113220032A (en) * | 2021-05-17 | 2021-08-06 | 浙江安防职业技术学院 | Unmanned aerial vehicle cluster control method and device, unmanned aerial vehicle and storage medium |
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Effective date of registration: 20190924 Address after: Room 803-1, No. 371 Xingxing Road, Xiaoshan Economic and Technological Development Zone, Hangzhou, Zhejiang 310000 Applicant after: Yaoling Artificial Intelligence (Zhejiang) Co., Ltd. Address before: Hangzhou City, Zhejiang province 310000 Binjiang District Albert Road, building 2 Room 202 rainbow heights Applicant before: Chen Fei Applicant before: Gao You Su |
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