CN109799842A - A kind of multiple no-manned plane sequence flight control method - Google Patents
A kind of multiple no-manned plane sequence flight control method Download PDFInfo
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Abstract
The invention discloses a kind of multiple no-manned plane sequence flight control method, each unmanned plane is generated previously according to unmanned plane sequence flight scenario and includes the 4D track of space coordinate and time coordinate, and be directed respectively into the flight control system of each unmanned plane；When carrying out sequence flight, it controls using active control and passively the control method combined: communicating under normal circumstances, each unmanned plane flies according to earth station to the way point information that each unmanned plane is sent in real time, to realize the active control of multiple no-manned plane sequence flight；In communication abnormality, the flight control system of each unmanned plane controls the unmanned plane according to the 4D track imported in advance, so that the passive control of multiple no-manned plane sequence flight is realized, until signal intelligence restores normal.Compared with prior art, the present invention has higher safety and control flexibility.
Description
Technical field
The present invention relates to a kind of multiple no-manned plane sequence flight control methods, belong to multiple no-manned plane sequence flight control technology neck
Domain.
Background technique
In recent years, with the fast development of artificial intelligence, unmanned plane (UAV, Unmanned Aerial Vehicle) control
Technical field processed is also advanced by leaps and bounds, and the relevant technologies are more and more mature, attracts the quotient for surely belonging to the flight of unmanned plane sequence of people's eyeball
Industry performance.The flight of unmanned plane sequence refers to the formation array or pattern for being pre-designed out multiple no-manned plane combination, then successively will be each
The position destination of formation or the corresponding every frame unmanned plane of pattern imports in UAV Flight Control System, and last each unmanned plane will be by
The specified destination that successively flies to according to flight directive completes the arrangement and transformation of formation.
It is static or quasi-static that unmanned plane sequence demonstration flight at present mainly has the high-power RGB lamp of UAV flight to carry out
Light show and the higher more dynamic evolution of difficulty.Unmanned plane dynamic sequence flight need to solve time service with it is synchronous, navigation and
Multiple problems such as positioning, data, communication and anti-interference, path coordination.With current sensor technology, intelligent control technology, letter
The high speed development of integration technology and wireless communication technique is ceased, the flight of unmanned plane sequence becomes easy realization, but also occurs simultaneously
For many critical issues, such as the control strategy for currently realizing the flight of multiple no-manned plane sequence, safety issue becomes
It is more prominent, and the critical issue and technology " bottleneck " of the following unmanned plane sequence demonstration flight success or failure.
It will receive uncontrollable such environmental effects such as magnetic field, weather and exotic when unmanned plane during flying, so that
The multiple no-manned plane sequence flight for needing to communicate becomes more difficult, and security risk coefficient is also very big.Multiple no-manned plane sequence flies at present
Row mainly designs destination using 3D airmanship, is then sent out in real time to unmanned plane online by one-to-many wireless communication module
The destination of queue flight plan is sent, respectively instruction is finally executed by unmanned plane and forms desired pattern.It will appear in the process
Many also insurmountable problems of current techniques, such as current multiple no-manned plane sequence flight destination are intensive, cause it is computationally intensive,
Complexity is high, at present also without a special unmanned aerial vehicle flight path planning software；There are also communication be easy interrupt, cause earth station without
Method sends instruction, and all unmanned planes can be out of control, and risk can not be estimated.
Summary of the invention
The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and to provide a kind of with greater security
Multiple no-manned plane sequence flight control method.
The present invention specifically uses following technical scheme to solve above-mentioned technical problem:
A kind of multiple no-manned plane sequence flight control method generates each unmanned plane packet previously according to unmanned plane sequence flight scenario
The 4D track of space coordinate and time coordinate is included, and is directed respectively into the flight control system of each unmanned plane；Carrying out sequence flight
When, it controls using active control and passively the control method combined: communicating under normal circumstances, each unmanned plane is according to earth station
The way point information sent in real time to each unmanned plane flies, to realize the active control of multiple no-manned plane sequence flight；Logical
Believe under abnormal conditions, the flight control system of each unmanned plane controls the unmanned plane according to the 4D track imported in advance
System, so that the passive control of multiple no-manned plane sequence flight is realized, until signal intelligence restores normal.
It is preferably, described that generate each unmanned plane previously according to unmanned plane sequence flight scenario include sitting space coordinate and time
Target 4D track, specific as follows: obtaining each unmanned plane according to sequence flight pattern first is including space coordinate and time coordinate
4D coordinate system in initial 4D track, then the initial 4D track of each unmanned plane is modified by way of animation simulation.
It is further preferred that carrying out the animation simulation using Blender animation software.
Further, described that the initial 4D track of each unmanned plane is modified by way of animation simulation, specifically
It is as follows:
Step1: under Animation window scheme, unmanned plane model is added according to unmanned plane quantity, and carry out sequence volume
Number；
Step2: according to the presetting time, the setting of frame per second is carried out；
Step3: it is inserted into key frame at initial frame, according to unmanned plane safe flight apart from neat exhaust position, and protects
Deposit position coordinates；
Step4: the sequence flight pattern that should be shown according to specified time is distinguished by the conversion relation of frame per second and time
It is inserted into key frame, by unmanned plane layout at corresponding pattern, save location coordinate；
Step5: when all configuration designs finish, Blender just cooks up unmanned plane optimal flight paths automatically, is moved
Draw emulation；
Step6: under Scripting window scheme, carrying out writing for shell script, carries out a unmanned plane every 5 frames
The reading of position coordinates and time calculates flying speed according to the time and judges track realizability and whether can reach synchronization,
Judge whether to collide according to setting safety distance threshold, to carry out track amendment；
Step7: every frame unmanned plane is exported with the file format to match under earth station's multiple no-manned plane sequence offline mode
4D destination.
Preferably, the active control and the control method combined is passively controlled, specifically includes the following steps:
Step1: setting initial value j=k=s=0；
Step2: earth station sends kth onlinet,iA destination；
Step3: judging whether unmanned plane UAV receives heartbeat packet, and Yes then goes to Step4；No then judges in communication
It is disconnected, execute Step8；
Step4: the UAV for receiving heartbeat packet can respond earth station, send answer signal, go to Step5；
Step5: earth station judges whether to receive the answer signal of all UAV, and Yes, then UAV carries out sequence flight, leads to
Letter is normal, goes to Step6；No, then communication disruption, goes to Step8；
Step6: all UAV are switched to Active Control Mode, and j=j+1, s=0；
Step7: earth station sends kth onlinet+k,i+jA destination, and go to Step3；
Step8: earth station forbids sending kth+i destinations, and 5s is waited not communicate with UAV；
Step9: all UAV automatically switch to passive control model；
Step10: judge that j and s whether simultaneously for 0, Yes, then goes to Step11；No then goes to Step12；
Step11:s=1, UAV are with kt+k,iDestination flight, if kt+k,iFor the last one destination, then Step14 is gone to；It is no
Then, Step13 is gone to；
Step12:k=k+1, j=0 go to Step11；
Step13: earth station, to carry out communication check, goes to signal specific is sent under UAV passive control model
Step3；
Step14: landing, end sequence flight.
Preferably, real time communication is carried out using wireless Mesh netword between earth station and each unmanned plane.
Further, when carrying out sequence flight, the flight control system of each unmanned plane is returned using dynamic PID position control
Road controls itself flying speed, and the dynamic PID position control loop obtains itself flying speed V according to the following formula:
Wherein, e (t) is location error, Δ tdIt flies to the remaining time of target destination for the unmanned plane, KI、KDIt is given
Constant.
Further, when carrying out sequence flight, the flight control system of each unmanned plane will be by that will utilize flight control computer
The time of acquisition carries out data fusion with the time obtained using GNSS, to obtain the more accurate time.The data fusion is excellent
Select the data fusion based on Kalman filter.
Compared with prior art, technical solution of the present invention has the advantages that
1) it proposes unmanned plane 4D trajectory planning, realizes the synchronism and simultaneity of the transformation of multiple no-manned plane sequence flight formation；
2) multiple no-manned plane sequence flight 4D track Simulation and modification method make the destination design cycle short, it is easy to operate and
Flexibly, calculation amount is small；
2) passive control methods are proposed, the danger that may cause in flight course by communication disruption is solved, substantially increases
The safety of sequence flight；
3) main passive mixing control can eliminate the deficiency of passive control and active control simultaneously.For example, can solve passively to control
The low memory problem of system reduces hardware requirement.
Detailed description of the invention
Fig. 1 is a kind of active control strategies flow diagram of existing multiple no-manned plane sequence flight；
Fig. 2 is passive control strategy flow diagram proposed by the present invention；
Fig. 3 is the static PID position control loop structural schematic diagram of existing UAV Flight Control System；
Fig. 4 is the dynamic PID position control loop structural schematic diagram for the UAV Flight Control System that the present invention designs；
Fig. 5 is the schematic illustration that 10 frame unmanned plane 4D tracks are generated according to unmanned plane sequence flight scenario；
Fig. 6 is multiple no-manned plane sequence flight 4D track revision program flow chart；
Fig. 7 is the network topology structure schematic diagram of wireless mesh ad hoc network；
Fig. 8 is that can transmit signal by other 4 communication links when UAV02 is interrupted with earth station's direct communication to show
It is intended to；
Fig. 9 is the main passive active control mixed in control program of the present invention and the track contrast schematic diagram passively controlled；
Figure 10 is the flow diagram that the master that multiple no-manned plane sequence of the invention is flown passively mixes control；
Figure 11 is that the master that multiple no-manned plane sequence of the invention is flown passively mixes the online avoidance schematic diagram in controlling.
Specific embodiment
For deficiency present in existing multiple no-manned plane sequence flight control technology, the invention proposes one kind to be navigated based on 4D
The passive control strategy of multiple no-manned plane sequence flight of mark, and combined with existing active control strategies, it is according to signal intelligence
It is no it is normal flexibly switched in active and passive control strategy, on the one hand maintain the flexibility of traditional active control, another party
Face can carry out automatically sequence flight according to preset 4D track in communication abnormality again, effectively increase the safety of sequence flight
With the adaptability to environment.
Specifically, multiple no-manned plane sequence flight control method of the invention, previously according to unmanned plane sequence flight scenario
It generates each unmanned plane and includes the 4D track of space coordinate and time coordinate, and be directed respectively into the flight control system of each unmanned plane；
When carrying out sequence flight, the control method combined is controlled using active control and passively: communicating under normal circumstances, each nothing
It is man-machine to fly according to earth station to the way point information that each unmanned plane is sent in real time, to realize the flight of multiple no-manned plane sequence
Active control；In communication abnormality, the flight control system of each unmanned plane is according to the 4D track imported in advance to this
Unmanned plane is controlled, so that the passive control of multiple no-manned plane sequence flight is realized, until signal intelligence restores normal.
For the ease of public understanding, technical solution of the present invention is described in detail with reference to the accompanying drawing:
Fig. 1 shows a kind of active control strategies of existing multiple no-manned plane sequence flight, according to multiple no-manned plane sequence
Configuration design obtains preliminary 3D destination, is then modified by 3D animation simulation to destination, then earth station is according to amendment
3D destination afterwards carries out online active control to each unmanned plane, and is carried out according to the barrier or collision that are likely to occur to destination
Online modification.Active control can import flight destination in real time, change track at any time, not need to occupy very big memory headroom.
Emergency situations and danger for appearance can also evade in time.But active control whole process relies on wireless communication to carry out instruction biography
Defeated, once communication abnormality, huge confusion will occur in entire flight sequence, have high risk.
In order to solve this problem, present invention firstly provides passive control strategies as shown in Figure 2, first according to sequence
Flight pattern obtains each unmanned plane initial 4D track in the 4D coordinate system for including space coordinate and time coordinate, then by dynamic
The mode for drawing emulation is modified the initial 4D track of each unmanned plane, and revised 4D track is directed respectively into corresponding unmanned plane
Flight control system, the flight control system of each unmanned plane is controlled according to 4D track, to realize multiple no-manned plane sequence
Flight.
Using above-mentioned passive control strategy, unmanned plane, which does not need communication, to carry out sequence according to the flight plan imported in advance
Column flight, but because the limited memory of unmanned aerial vehicle onboard flight control system just becomes difficult to when facing a large amount of destination data
It realizes, it is higher to hardware requirement, and to the accident occurred in flight course (such as flight collision has external flying object close)
When, it can not evade in time, there is very big flight risk.
Therefore, the present invention flies above-mentioned multiple no-manned plane sequence based on 4D track passive control strategy and existing active
Whether control strategy combines, normally flexibly switched in active and passive control strategy according to signal intelligence, on the one hand can be real
The synchronism of the evolution of existing multiple no-manned plane sequence flight, and well solve the danger that may cause by communication abnormality；Separately
On the one hand, the presence of Active Control Method alleviates simultaneously but also the 4D destination passively controlled can design more sparse
The problem of airborne winged control memory headroom deficiency, reduce hardware requirement, and then great played active control and passively controlled
Superiority, control process are more convenient flexible.
Multiple no-manned plane sequence flight control method of the invention specifically includes the following contents:
(1) multiple no-manned plane 4D trajectory planning and design method
Trajectory planning refers to that under the conditions of particular constraints, searching movable body meets certain performance from initial point to target point and refers to
Mark optimal motion profile.Multiple no-manned plane 4D trajectory planning of the present invention refers to by longitude, latitude, height and time
Meet in the case that all UAV can reach precise synchronization to the time of next destination from current destination in 4 dimension spaces of composition
Flight path.The flight control system of current unmanned aerial vehicle onboard mainly has position control loop, speed control loop, posture
Control loop and rotation speed control loop, as shown in figure 3, wherein position control loop is carried out according to desired locations and physical location
The static PID control of closed loop, obtains desired speed:
Wherein KP,KI, KDBe given constant, e (t) is location error, in multiple no-manned plane sequence flight can not according to when
Between control flying speed to reach simultaneity.Therefore, the present invention in response to this problem carries out based on the time position control loop
Dynamic PID controller design, obtain real-time flight speed:
KI=constant；
KD=constant；
Wherein Δ tdIt flies to the remaining time of target destination for UAV.It is controlled as shown in figure 4, being flown by earth station to UAV
Target destination (the x that system was sent in advance will fly tod, yd, zd, td), expectation, which is calculated, with UAV real time position (x, y, z, t) flies
Scanning frequency degree (vx,d, vy,d, vz,d), speed control loop, gesture stability circuit are sequentially entered, and then control UAV flight.But because of UAV
The current time that included GPS is read is not that very accurately, there are certain errors, therefore flight control computer real-time time is combined to carry out base
In the data fusion of Kalman filter (EKF), the correct time t at current time is obtained, the dynamic of position control loop is carried out
PID control and adjusting, realize the synchronism of unmanned plane sequence flight.
By taking 10 frame unmanned planes as an example, any one multiple no-manned plane sequence flight pattern (such as NUAA letter) is designed, to track
It is designed with timing node, as shown in Figure 5.
(2) multiple no-manned plane 4D track Simulation and modification method
For 4D track Simulation primarily to the detection flight time, whether flying speed is in UAV given threshold, and is flying
Whether row will appear collision in the process, to be modified.Therefore, flown first according to two adjacent destinations of design by UAV maximum
Scanning frequency degree and minimum flying speed calculate minimum interval Δ tminWith maximum time interval Δ tmax, then design time interval delta
T needs to meet (1.1 Δ tmin≤Δtd≤Δtmax), then setting time is judged, to determine whether to meet UAV flight
It is required that carrying out time complexity curve, expectation flying speed is then obtained by design time.Dynamic simulation is finally carried out, is carried out every 5 frames
The detection of once safety distance (| SUAV,i-SUAV,k|>Dsafe), SUAV,i、SUAV,kRespectively i-th, the position of k-th UAV, DsafeFor
Preset safe distance is then modified distance coefficient Dc, is put when there is the distance between any two framves UAV less than safe distance
Big entire sequence flying distance, and recycle and judge and correct, export 4D destination file.Whole flow process is as shown in Figure 6.
Blender animation simulation software is the cross-platform all-round three-dimensional animation making software of a open source, provide from modeling,
Animation, rendering, to a series of flash such as audio processing, video clipping makes solutions at material.The present invention is by it
Two functions of Animation and Scripting carry out the emulation of 4D virtual Track and amendment of multiple no-manned plane sequence flight, specific to walk
It is rapid as follows:
Step1: under Animation window scheme, unmanned plane model is added according to unmanned plane quantity, and carry out sequence volume
Number, such as 01,02 ...；
Step2: the setting of frame per second (using initial frame as time 0s), is carried out, general setting is 1s according to the presetting time
=25fps；
Step3: it is inserted into key frame at initial frame, according to unmanned plane safe flight apart from neat exhaust position, and protects
Deposit position coordinates；
Step4: the sequence flight pattern that should be shown according to specified time is distinguished by the conversion relation of frame per second and time
It is inserted into key frame, by unmanned plane layout at corresponding pattern, save location coordinate；
Step5: when all configuration designs finish, Blender just cooks up unmanned plane optimal flight paths automatically, is moved
Draw emulation；
Step6: under Scripting window scheme, writing for shell script is carried out, program flow diagram is as shown in Figure 6；
Every 5 frames carry out a UAV position coordinates and time reading, according to the time calculate flying speed judge track realizability with
And whether synchronization can be reached, judge whether to collide according to setting safety distance threshold, to carry out track amendment；
Step7: the 4D boat of every frame UAV is exported with the file format to match under earth station's multiple no-manned plane sequence offline mode
Point.
(3) the unmanned plane 4D track introduction method based on ground station software
(such as UAV01, UAV02 ...) is numbered to the unmanned plane of sequence flight, then utilizes USB data line connection ground
Emulation is numbered corresponding 4D destination and imported in the UAV Flight Control System accordingly numbered by face station, and observes earth station's map
The flight track of upper display is confirmed whether to import successfully to make secondary import operation, guarantees errorless.
(4) based on the multi-computer communication technology of wireless mesh ad hoc network
Mesh networking is rapid, convenient and maintenance is flexible, and the distance the short more is easy to get high bandwidth, and transmission speed is faster, energy
Very good solution multimachine is in communication with each other problem.Using the fully connected topology of mesh networking, as shown in fig. 7, topology may be implemented
The effect of redundancy, and the collaboration flight performance between unmanned plane is stronger.AP (Access Point) point in mesh network is logical
Often there is a plurality of available link, can effectively avoid Single Point of Faliure in this way, i.e., when there is communication failure in some node (AP), then
Data can be automatically rerouted to the normal adjacent node of communication and be transmitted, and so on, data packet can be with root
The case where according to network, continues to route to next node nearest therewith and is transmitted, until reaching final destination.Cause
This can be very good to solve the problems, such as certain the frame unmanned plane of sequence in-flight occurs can not direct communication with earth station.As shown in figure 8,
Assuming that UAV02 and earth station can not direct communication, then UAV02 can 1., 2., 3., 4. 4 communication links be appointed by shown in figure
It anticipates one and carries out signal transmission, redundancy significant effect.
(5) unmanned machine synchronizing unlocking and a key take off control method
It before sequence flight, needs to be unlocked operation to all unmanned planes, to detect UAV Communication and fuselage state is
It is no good.Synchronous remote control is realized to unmanned plane in such a way that a remote controler is to the multiple receivers of frequency, then carries out a key solution
Lock and a key take off control.
(6) the passive mixing control method of master of multiple no-manned plane sequence flight
As shown in figure 9, only using passive control mould in communication abnormality due to using main passive hybrid control strategy
Formula, therefore less destination can be used in the 4D track for importing unmanned plane, thus alleviate the problem of airborne winged control memory headroom deficiency,
Reduce hardware requirement；When communicating normal, finer 4D track can be used to carry out active control to unmanned plane for earth station.Actively
It is realized whether the switching of control model and passive control model is normal by judgement communication, basic control flow Cheng Rutu
Shown in 10, specifically include:
Step1: setting initial value j=k=s=0；
Step2: earth station sends kth onlinet,iA destination；
Step3: judging whether UAV receives heartbeat packet, and Yes then goes to Step4；No then judges communication disruption, executes
Step8；
Step4: the UAV for receiving heartbeat packet can respond earth station, send answer signal, go to Step5；
Step5: earth station judges whether to receive the answer signal of all UAV, and Yes, then UAV carries out sequence flight, leads to
Letter is normal, goes to Step6；No, then communication disruption, goes to Step8；
Step6: all UAV are switched to Active Control Mode, and j=j+1, s=0；
Step7: earth station sends kth onlinet+k,i+jA destination, and go to Step3；
Step8: earth station forbids sending kth+i destinations, and 5s is waited not communicate with UAV；
Step9: all UAV automatically switch to passive control model；
Step10: whether j and s is judged simultaneously for 0, i.e. (if (j==0&&s==0)), Yes then goes to Step11；
No then goes to Step12；
Step11:s=1, UAV are with kt+k,iDestination flight, if kt+k,iFor the last one destination, then Step14 is gone to；It is no
Then, Step13 is gone to；
Step12:k=k+1, j=0 go to Step11；
Step13: earth station, to carry out communication check, goes to signal specific is sent under UAV passive control model
Step3；
Step14: landing, end sequence flight.
, it can be achieved that online automatic obstacle avoidance function, in face of precipitate unknown object or is under Active Control Mode
The unmanned plane that will likely be collided can change destination in advance, correct track to evade danger, as shown in figure 11.
Claims (9)
1. a kind of multiple no-manned plane sequence flight control method, which is characterized in that generated previously according to unmanned plane sequence flight scenario
Each unmanned plane includes the 4D track of space coordinate and time coordinate, and is directed respectively into the flight control system of each unmanned plane；Into
When row sequence flight, the control method combined is controlled using active control and passively: communicating under normal circumstances, each unmanned plane
It flies according to earth station to the way point information that each unmanned plane is sent in real time, to realize the active of multiple no-manned plane sequence flight
Control；In communication abnormality, the flight control system of each unmanned plane according to the 4D track imported in advance to this nobody
Machine is controlled, so that the passive control of multiple no-manned plane sequence flight is realized, until signal intelligence restores normal.
2. method as described in claim 1, which is characterized in that it is described previously according to unmanned plane sequence flight scenario generate it is each nobody
Machine includes the 4D track of space coordinate and time coordinate, specific as follows: obtaining each unmanned plane according to sequence flight pattern first and exists
Initial 4D track in 4D coordinate system including space coordinate and time coordinate, then to each unmanned plane by way of animation simulation
Initial 4D track be modified.
3. method as claimed in claim 2, which is characterized in that carry out the animation simulation using Blender animation software.
4. method as claimed in claim 3, which is characterized in that it is described by way of animation simulation to the initial 4D of each unmanned plane
Track is modified, specific as follows:
Step1: under Animation window scheme, unmanned plane model is added according to unmanned plane quantity, and carry out sequence number；
Step2: according to the presetting time, the setting of frame per second is carried out；
Step3: it is inserted into key frame at initial frame, according to unmanned plane safe flight apart from neat exhaust position, and saves position
Set coordinate；
Step4: the sequence flight pattern that should be shown according to specified time is inserted into respectively by the conversion relation of frame per second and time
Key frame, by unmanned plane layout at corresponding pattern, save location coordinate；
Step5: when all configuration designs finish, Blender just cooks up unmanned plane optimal flight paths automatically, and it is imitative to carry out animation
Very；
Step6: under Scripting window scheme, carrying out writing for shell script, carries out a unmanned plane position every 5 frames
The reading of coordinate and time calculates flying speed according to the time and judges track realizability and whether can reach synchronization, according to
Setting safety distance threshold judges whether to collide, to carry out track amendment；
Step7: the 4D boat of every frame unmanned plane is exported with the file format to match under earth station's multiple no-manned plane sequence offline mode
Point.
5. method as described in claim 1, which is characterized in that the active control and the control method combined is passively controlled,
Specifically includes the following steps:
Step1: setting initial value j=k=s=0；
Step2: earth station sends kth onlinet,iA destination；
Step3: judging whether unmanned plane UAV receives heartbeat packet, and Yes then goes to Step4；No then judges communication disruption, holds
Row Step8；
Step4: the UAV for receiving heartbeat packet can respond earth station, send answer signal, go to Step5；
Step5: earth station judges whether to receive the answer signal of all UAV, and Yes, then UAV carries out sequence flight, and communication is just
Often, Step6 is gone to；No, then communication disruption, goes to Step8；
Step6: all UAV are switched to Active Control Mode, and j=j+1, s=0；
Step7: earth station sends kth onlinet+k,i+jA destination, and go to Step3；
Step8: earth station forbids sending kth+i destinations, and 5s is waited not communicate with UAV；
Step9: all UAV automatically switch to passive control model；
Step10: judge that j and s whether simultaneously for 0, Yes, then goes to Step11；No then goes to Step12；
Step11:s=1, UAV are with kt+k,iDestination flight, if kt+k,iFor the last one destination, then Step14 is gone to；Otherwise, it goes to
Step13；
Step12:k=k+1, j=0 go to Step11；
Step13: earth station, to carry out communication check, goes to Step3 to signal specific is sent under UAV passive control model；
Step14: landing, end sequence flight.
6. method as described in claim 1, which is characterized in that carried out in fact between earth station and each unmanned plane using wireless Mesh netword
Shi Tongxin.
7. method as described in claim 1, which is characterized in that when carrying out sequence flight, the flight control system of each unmanned plane
Itself flying speed is controlled using dynamic PID position control loop, the dynamic PID position control loop is under
Formula obtains itself flying speed V:
Wherein, e (t) is location error, Δ tdIt flies to the remaining time of target destination for the unmanned plane, KI、KDIt is to permanent
Number.
8. method as described in claim 1, which is characterized in that when carrying out sequence flight, the flight control system of each unmanned plane
By the way that data fusion will be carried out using the time that flight control computer obtains and the time obtained using GNSS, to obtain more accurately
Time.
9. method as claimed in claim 8, which is characterized in that the data fusion is that the data based on Kalman filter are melted
It closes.
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