CN108508907A - Smooth trajectory control system when unmanned plane formation formation converts - Google Patents
Smooth trajectory control system when unmanned plane formation formation converts Download PDFInfo
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- CN108508907A CN108508907A CN201810101481.3A CN201810101481A CN108508907A CN 108508907 A CN108508907 A CN 108508907A CN 201810101481 A CN201810101481 A CN 201810101481A CN 108508907 A CN108508907 A CN 108508907A
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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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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A kind of smooth trajectory control system when being converted the present invention provides unmanned plane formation formation, including earth station controller, unmanned plane are formed into columns, and the earth station controller is connect with the unmanned plane formation wireless signal, the beneficial effects of the present invention are：The method for realizing smooth trajectory is simpler；It is received in unmanned plane more efficient on way point information；Working efficiency higher.
Description
【Technical field】
A kind of a kind of track when being converted the present invention relates to air vehicle technique field more particularly to unmanned plane formation formation is flat
Sliding control system.
【Background technology】
In recent years, the development of unmanned plane was paid attention to by many countries.By development for many years, nowadays unmanned plane has been
There are 300 Multiple Types.Miniaturization, intelligence, clustering, digitlization are the developing direction of the following unmanned plane.
In modern war, operational environment becomes increasingly complex, and fighting range is more and more wider, and combat duty tends to diversification,
Various air defense technologies are increasingly perfect so that completing task by single unmanned plane becomes hardly possible.It is formed into columns using unmanned plane
Execution task can not only provide the ammunition for destroying target enough, and can be the case where certain unmanned planes are found to destroy
Under by remaining unmanned plane formation continue to execute task, substantially increase the possibility of completion task.Therefore, in order to adapt to future
Challenge, other than improving the function and effectiveness of single machine, it is also necessary to develop significantly more efficient unmanned plane and form into columns management tissue and control
Method processed, it is the key concept of the unmanned plane cooperation task development proposed in recent years that unmanned plane, which is formed into columns, but is formed into columns in unmanned plane
In terms of the TRAJECTORY CONTROL of formation transformation, controlled there is no reliable method.
【Invention content】
Unmanned plane is solved present invention aims at solution to form into columns during carrying out formation transformation or the line of flight, by
The stall problem occurred is sent in destination；It solves due to the extraneous unpredictable factor such as network, caused destination is carrying out
Some aircrafts cannot receive the problem of destination when update；It solves unmanned plane and forms into columns carrying out formation transformation or the line of flight
In the process, due between aircraft difference with caused by speed issue unmanned plane form into columns can not be synchronous problem deficiency and provide
A kind of novel unmanned plane formation formation transformation when smooth trajectory control system.
The present invention is achieved through the following technical solutions：A kind of smooth trajectory control when unmanned plane formation formation transformation
System processed, including earth station controller, unmanned plane are formed into columns, and the earth station controller connects with the unmanned plane formation wireless signal
It connects.
Further, the unmanned plane formation includes the nothing that several can be communicated wirelessly with earth station controller respectively
It is man-machine.
Further, the unmanned plane includes unmanned plane shell, battery, circuit board, and the battery, circuit board are located at described
Unmanned plane enclosure interior is additionally provided with several unmanned plane during flying modules on the unmanned plane shell, and the circuit board includes wireless communication
Number receiving module, wireless signal transmitting module, processor, GPS positioning module, obstacle detection module, the wireless signal connect
Module, wireless signal transmitting module, GPS positioning module, obstacle detection module is received to connect with the processor signal, it is described
Unmanned plane during flying module is connect with the processor signal.
Further, the earth station controller includes controller signals transmitting module, controller signals receiving module, control
Device processor processed, the controller signals transmitting module, controller signals receiving module with the controller processor signal
Connection, the controller signals receiving module receive that unmanned plane wireless signal transmitting module launches according to GPS positioning mould
The unmanned plane location information of block positioning；Every frame unmanned plane during the controller signals transmitting module is formed into columns to unmanned plane sends boat
Point information；After the reception of wireless signals module of the unmanned plane receives way point information, way point information is sent at unmanned plane
Manage device, the unmanned plane update processor way point information.
Further, the earth station controller updates way point information at regular intervals, and by newer way point information
It is sent to unmanned plane by controller signals transmitting module.
Further, the way point information includes the velocity information of location information and the every frame unmanned plane destination flight of control.
It forms into columns in use, preparing unmanned plane, unmanned planes more than 10 framves of preparation is formed into columns, and is carried out on after preflight check
Electricity, and connect with earth station；To fly-send to each unmanned plane in forming into columns, and by earth station's dramatization, drama shows
The way point information of unmanned plane after writing completion, is sent to each unmanned plane in forming into columns by the aircraft trace that unmanned plane is formed into columns,
Each unmanned plane during i.e. unmanned plane is formed into columns flies the route given according to drama；Each unmanned plane receives way point information, and
The update of destination is carried out, after earth station sends way point information, each unmanned plane in formation starts to receive destination, still, due to
The external world such as network unpredictable factor, for destination when every wheel updates, not all unmanned plane can receive the destination of oneself,
Therefore, in practical operation, after excessively taking turns destination update, the destination of all unmanned planes is updated, that is, is ensured every
Frame unmanned plane can receive way point information；The speed of each destination is controlled.In flight course, unmanned plane differs
Cause property causes the rhythm between unmanned plane inconsistent, therefore, in practical operation, by controlling every frame unmanned plane destination flight
Speed makes aircraft synchronize；Judge whether the present state of flight of unmanned plane is consistent.Pass through way point information update, destination speed control
After system, judge whether the state of all unmanned planes is consistent using information such as speed, the positions of every frame unmanned plane；If state one
It causes, then it represents that each unmanned plane that unmanned plane is formed into columns reaches designated state；If state is inconsistent, back to transmission way point information
Step updates one time again, until the state of all unmanned planes reaches unanimously；Complete smooth trajectory control.
The beneficial effects of the present invention are：
(1) realize that the method for smooth trajectory is simpler, compared with previous control system, by transmitting destination letter in advance
The simpler reality of method of smooth trajectory when breath, more wheel update destinations, control destination speed make unmanned plane formation formation convert
With；
(2) more efficient on unmanned plane reception way point information, when each unmanned plane formed into columns to unmanned plane transmits destination,
Using taking turns newer mode, it is ensured that every frame unmanned plane can receive the way point information of earth station's transmission, compare conventional method more
It is more efficient；
(3) whether working efficiency higher after update and the speed control of completing all destinations, then carries out drone status
Consistent judgement indicates that unmanned plane reaches designated state if consistent, completes smooth trajectory control.
【Description of the drawings】
Fig. 1 is smooth trajectory control system architecture schematic diagram when unmanned plane formation formation of the present invention converts；
Fig. 2 is unmanned plane structural schematic diagram of the present invention；
Fig. 3 is earth station controller structural schematic diagram of the present invention；
Fig. 4 is that unmanned plane destination of the present invention update diagram is intended to；
Fig. 5 is the smooth trajectory control system figure that unmanned plane of the present invention is formed into columns when converting formation；
Reference numeral：1, earth station controller；11, controller signals transmitting module；12, controller signals receiving module；
13, controller processor；2, unmanned plane is formed into columns；21, unmanned plane；210, unmanned plane shell；211, battery；212, circuit board；
2120, reception of wireless signals module；2121, wireless signal transmitting module；2122, processor；2123, GPS positioning module；
2124, obstacle detection module；213, unmanned plane during flying module.
【Specific implementation mode】
Below in conjunction with the accompanying drawings and specific implementation mode is described further the present invention：
As shown in figure 1, figure 2, figure 3, figure 4 and figure 5, smooth trajectory control system when a kind of unmanned plane formation formation transformation,
Including earth station controller 1, unmanned plane formation 2, the earth station controller 1 is connect with the unmanned plane 2 wireless signals of formation.
Preferably, the unmanned plane formation 2 includes the nothings that several can be communicated wirelessly with earth station controller 1 respectively
Man-machine 21.
Preferably, the unmanned plane 21 includes unmanned plane shell 210, battery 211, circuit board 212, the battery 211, electricity
Road plate 212 is located inside the unmanned plane shell 210, and several unmanned plane during flying modules are additionally provided on the unmanned plane shell 210,
The circuit board 212 includes reception of wireless signals module 2120, wireless signal transmitting module 2121, processor 2122, GPS positioning
Module 2123, obstacle detection module 2124, the reception of wireless signals module 2120, wireless signal transmitting module 2121, GPS
Locating module 2123, obstacle detection module 2124 are connect with 2122 signal of the processor, the unmanned plane during flying module
It is connect with 2122 signal of the processor.
Preferably, the earth station controller 1 includes controller signals transmitting module 11, controller signals receiving module
12, controller processor 13, the controller signals transmitting module 11, controller signals receiving module 12 with the controller
13 signal of processor connects, and the controller signals receiving module 12 receives the transmitting of 21 wireless signal transmitting module 2121 of unmanned plane
21 location information of unmanned plane positioned according to GPS positioning module 2123 to come over；The controller signals transmitting module 11 is to nothing
Every frame unmanned plane 21 in man-machine formation 2 sends way point information 3；The reception of wireless signals module 2120 of the unmanned plane 21 receives
To after way point information 3, way point information 3 is sent to unmanned plane processor, the unmanned plane update processor way point information 3.
Preferably, the earth station controller 1 updates way point information 3 at regular intervals, and by newer way point information 3
It is sent to unmanned plane 21 by controller signals transmitting module 11.
Preferably, the way point information 3 includes the velocity information of location information and the every frame unmanned plane destination flight of control.
In use, preparing unmanned plane formation 2, unmanned plane formation 2 more than 10 framves of preparation carries out on after preflight check
Electricity, and connect with earth station controller 1；To fly-send to each unmanned plane in forming into columns, and be write by earth station controller 1
Drama, drama are the aircraft trace for being demonstrated by unmanned plane formation 2, and after writing completion, the way point information of unmanned plane is sent to
Each unmanned plane in each unmanned plane in formation, i.e. unmanned plane formation 2 will fly according to the route that drama gives；It is each nobody
Machine receives way point information, and carries out the update of destination, after earth station controller 1 sends way point information, in formation it is each nobody
Machine starts to receive destination, and still, due to the extraneous unpredictable factor such as network, destination is when every wheel updates, not all nothing
The man-machine destination that can receive oneself, therefore, in practical operation, after excessively taking turns destination update, all unmanned planes
Destination is updated, that is, ensures that every frame unmanned plane can receive way point information；The speed of each destination is controlled,
In flight course, the inconsistency of unmanned plane causes the rhythm between unmanned plane inconsistent, therefore, in practical operation, leads to
The speed for controlling every frame unmanned plane destination flight is crossed, aircraft is made to synchronize；Judge whether the present state of flight of unmanned plane is consistent, leads to
It crosses after way point information update, destination speed control, judges all unmanned planes using information such as speed, the positions of every frame unmanned plane
State it is whether consistent；If state consistency, then it represents that each unmanned plane that unmanned plane is formed into columns reaches designated state；If state is not
Unanimously, then it returns to transmission way point information step to update again one time, until the state of all unmanned planes reaches unanimously；It is complete
It is controlled at smooth trajectory.
According to the disclosure and teachings of the above specification, those skilled in the art in the invention can also be to above-mentioned embodiment party
Formula carries out change and modification appropriate.Therefore, the invention is not limited in specific implementation modes disclosed and described above, to this
Some modifications and changes of invention should also be as falling into the scope of the claims of the present invention.In addition, although this specification
In used some specific terms, these terms are merely for convenience of description, does not limit the present invention in any way.
Claims (6)
1. smooth trajectory control system when a kind of unmanned plane formation formation transformation, it is characterised in that：Including earth station controller,
Unmanned plane is formed into columns, and the earth station controller is connect with the unmanned plane formation wireless signal.
Smooth trajectory control system when 2. unmanned plane formation formation converts according to claim 1, it is characterised in that：It is described
Unmanned plane formation includes the unmanned plane that several can be communicated wirelessly with earth station controller respectively.
Smooth trajectory control system when 3. unmanned plane formation formation converts according to claim 2, it is characterised in that：It is described
Unmanned plane includes unmanned plane shell, battery, circuit board, and the battery, circuit board are located at the unmanned plane enclosure interior, the nothing
Several unmanned plane during flying modules are additionally provided on man-machine shell, the circuit board includes reception of wireless signals module, wireless signal hair
Penetrate module, processor, GPS positioning module, obstacle detection module, the reception of wireless signals module, wireless signal transmission mould
Block, GPS positioning module, obstacle detection module are connect with the processor signal, the unmanned plane during flying module with it is described
Processor signal connects.
Smooth trajectory control system when 4. unmanned plane formation formation converts according to claim 1, it is characterised in that：It is described
Earth station controller includes controller signals transmitting module, controller signals receiving module, controller processor, the controller
Signal emission module, controller signals receiving module are connect with the controller processor signal, and the controller signals connect
It receives module and receives the unmanned plane position letter positioned according to GPS positioning module that unmanned plane wireless signal transmitting module launches
Breath；Every frame unmanned plane during the controller signals transmitting module is formed into columns to unmanned plane sends way point information；The unmanned plane
After reception of wireless signals module receives way point information, way point information is sent to unmanned plane processor, the unmanned plane processing
Device updates way point information.
Smooth trajectory control system when 5. unmanned plane formation formation converts according to claim 1, it is characterised in that：It is described
Earth station controller updates way point information at regular intervals, and newer way point information is passed through controller signals transmitting module
It is sent to unmanned plane.
Smooth trajectory control system when 6. unmanned plane formation formation converts according to claim 4, it is characterised in that：It is described
Way point information includes the velocity information of location information and the every frame unmanned plane destination flight of control.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2017207259586 | 2017-06-21 | ||
| CN201720725958 | 2017-06-21 |
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| CN108508907A true CN108508907A (en) | 2018-09-07 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111290430A (en) * | 2020-02-17 | 2020-06-16 | 一飞智控(天津)科技有限公司 | Unmanned aerial vehicle formation dance step uploading transmission control system and method and intelligent terminal |
| CN112015203A (en) * | 2020-09-07 | 2020-12-01 | 深圳大漠大智控技术有限公司 | Unmanned aerial vehicle cluster trajectory tracking method and system |
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