CN111880557A - Unmanned aerial vehicle cluster formation flight control method and device - Google Patents
Unmanned aerial vehicle cluster formation flight control method and device Download PDFInfo
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Abstract
The invention relates to a method and a device for controlling formation flight of unmanned aerial vehicle clusters, comprising the following steps: determining a yaw angle and a flight rate of the following unmanned aerial vehicles in the unmanned aerial vehicle cluster formation based on the flight trajectory of the piloted unmanned aerial vehicles in the unmanned aerial vehicle cluster formation; controlling the following unmanned aerial vehicles in the unmanned aerial vehicle cluster formation according to the yaw angle and the flight rate of the following unmanned aerial vehicles in the unmanned aerial vehicle cluster formation; the invention can realize real-time maintenance and real-time configuration of the unmanned aerial vehicle cluster formation form and improve the flexibility of the cluster formation form conversion.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle control, in particular to a method and a device for controlling formation flight of unmanned aerial vehicle clusters.
Background
Unmanned aerial vehicles are increasingly widely applied in various fields such as cargo delivery, disaster resistance rescue, communication relay, investigation and patrol. In order to efficiently complete high-strength complex tasks, autonomous cooperation of the unmanned aerial vehicle cluster gradually becomes a feasible and mature mainstream solution. In the process of cluster movement of the unmanned aerial vehicle, formation flying is adopted, so that wind resistance is reduced, and oil consumption is saved.
The most widely applied formation control algorithm at present is a leader-follower method, namely, a certain relative distance is kept between a follower following unmanned aerial vehicle follower and a leader navigating unmanned aerial vehicle in an unmanned aerial vehicle cluster, and the unmanned aerial vehicle cluster flies along the motion trail of the leader navigating unmanned aerial vehicle. The method has the advantages that the cooperative mode is simple, the communication traffic does not increase along with the change of the cluster scale, and the defects that the formation speed of the cluster formation is slow, the formation maintaining effect is poor and the formation conversion flexibility is low.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to control the following unmanned aerial vehicle in real time through the obtained velocity vector of the following unmanned aerial vehicle, namely the yaw angle and the flight rate, and solve the problems of low formation speed of the unmanned aerial vehicle cluster formation, poor formation shape maintaining effect and low formation shape conversion flexibility.
The purpose of the invention is realized by adopting the following technical scheme:
the invention provides an unmanned aerial vehicle cluster formation flight control method, which is improved in that the method comprises the following steps:
determining a yaw angle and a flight rate of the following unmanned aerial vehicles in the unmanned aerial vehicle cluster formation based on the flight trajectory of the piloted unmanned aerial vehicles in the unmanned aerial vehicle cluster formation;
and controlling the following unmanned aerial vehicles in the unmanned aerial vehicle cluster formation according to the yaw angle and the flight rate of the following unmanned aerial vehicles in the unmanned aerial vehicle cluster formation.
Preferably, the above determining the yaw angle and the flight rate of the following drones in the cluster formation of drones based on the flight trajectory of the piloted drones in the cluster formation of drones includes:
when the flight track of the piloting unmanned aerial vehicle is a straight line, determining a yaw angle of the following unmanned aerial vehicle according to an included angle between the acquired flight track and the due north direction and a transverse distance between the following unmanned aerial vehicle and the piloting unmanned aerial vehicle, and determining the flight rate of the following unmanned aerial vehicle according to the flight rate of the piloting unmanned aerial vehicle and the acquired longitudinal distance between the following unmanned aerial vehicle and the piloting unmanned aerial vehicle;
when the flight track of the piloting unmanned aerial vehicle is a circular arc, determining the yaw angle of the following unmanned aerial vehicle according to the acquired included angle between the line of the following unmanned aerial vehicle and the circle center and the due north direction, and determining the flight rate of the following unmanned aerial vehicle according to the flight rate of the piloting unmanned aerial vehicle, the flight radius of the piloting unmanned aerial vehicle and the acquired included angle between the line of the following unmanned aerial vehicle and the circle center and the line of the piloting unmanned aerial vehicle and the circle center.
Further, the aforesaid is according to the contained angle of flight orbit and the due north direction who acquires and the lateral distance who follows unmanned aerial vehicle and pilot unmanned aerial vehicle and confirms the yaw angle who follows unmanned aerial vehicle, includes:
determining the following unmanned aerial vehicle yaw angle byf：
In the formula, yawlineIs the included angle between the flight track and the due north direction,
to follow the maximum adjustment of the yaw angle of the drone,yawto follow the convergence speed control of the yaw angle of the drone,yaw∈[0,1]，ydifffor following the horizontal distance of unmanned aerial vehicle and pilot unmanned aerial vehicle, delta y is following unmanned aerial vehicle and pilot unmanned aerial vehicle's horizontal distance target value.
Further, the aforesaid is according to the flight rate of pilot unmanned aerial vehicle and the vertical distance who acquires follow unmanned aerial vehicle and pilot unmanned aerial vehicle and is confirmed the flight rate who follows unmanned aerial vehicle, includes:
determining the flight velocity v of the following drone according to the formulaf：
In the formula, vlTo pilot the flight rate of the drone,
to follow the maximum adjustment in the rate of flight of the drone,
v∞in order to follow the maximum flight rate of the drone,vto follow the convergent speed control of the unmanned aerial vehicle flight rate,v∈[0,1]，xdiffin order to follow the longitudinal distance between the drone and the piloting drone,and delta x is a longitudinal distance target value of the following unmanned aerial vehicle and the piloting unmanned aerial vehicle.
Furthermore, the included angle yaw between the flight path and the due north direction is determined according to the following formulaline：
In the formula, qnDue to the north component of the direction vector of the flight path, qeIs the righteast component of the flight trajectory direction vector,
further, determining the transverse distance y between the following unmanned aerial vehicle and the piloting unmanned aerial vehicle according to the following formuladiffAnd a longitudinal distance xdiff：
In the formula, yawlineThe angle between the flight path and the north direction, nlAnd elRespectively a north coordinate and an east coordinate, n, of the piloted unmanned plane in a north-east coordinate systemfAnd efRespectively the north coordinate and the east coordinate of the following unmanned aerial vehicle in a north-east coordinate system.
Further, the aforesaid is confirmed according to the contained angle of following unmanned aerial vehicle and centre of a circle line and true north direction that acquires and follows unmanned aerial vehicle's yaw angle includes:
determining the following unmanned aerial vehicle yaw angle byf：
In the formula, thetafTo follow the angle between the connecting line of the unmanned plane and the circle center and the true north direction, rf＝rl-ρΔy，rfTo follow the flight radius of the drone, rlIn order to pilot the flight radius of the drone,
ρ is the flight direction of the flight trajectory,
dist is the distance between the unmanned aerial vehicle and the center of the flight path, cnAnd ceRespectively a north coordinate and an east coordinate of the center of a flight path under a north-east coordinate system, nfAnd efRespectively a north coordinate and an east coordinate under a north-east coordinate system following the unmanned aerial vehicle,yawto follow the convergence speed control of the yaw angle of the drone,yaw∈[0,1]。
further, the aforesaid is according to the flight rate of pilot unmanned aerial vehicle, the flight radius of pilot unmanned aerial vehicle and the contained angle of following unmanned aerial vehicle and centre of a circle line and pilot unmanned aerial vehicle and centre of a circle line that acquire and confirm the flight rate of following unmanned aerial vehicle, include:
obtaining the difference value between the included angle between the following unmanned aerial vehicle and the circle center connecting line and the piloting unmanned aerial vehicle and the circle center connecting line and the target included angle
Based on the
Determining the flight speed v of the following unmanned aerial vehicle according to the following formulaf：
In the formula, rf＝rl-ρΔy，rfTo follow the flight radius of the drone, rlRadius of flight for piloting unmanned aerial vehicle, vlTo pilot the flight rate of the drone,
for following the maximum adjustment of the flight rate of the drone, v∞To follow the maximum flight rate of the drone.
Further, an included angle theta between a connecting line of the following unmanned aerial vehicle and the circle center and the due north direction is determined according to the following formulaf：
In the formula, cnAnd ceRespectively a north coordinate and an east coordinate of the center of a flight path under a north-east coordinate system, nfAnd efRespectively the north coordinate and the east coordinate of the following unmanned aerial vehicle under a north-east coordinate system,
further, an included angle between a connection line of the following unmanned aerial vehicle and the circle center and a connection line of the piloting unmanned aerial vehicle and the circle center is determined according to the following formula
In the formula, nlAnd elRespectively a north coordinate and an east coordinate, n, of the piloted unmanned plane in a north-east coordinate systemfAnd efNorth and east coordinates, c, respectively, of the following drone in a north-east coordinate systemnAnd ceRespectively are the north coordinate and the east coordinate of the circle center of the flight path under a north-east coordinate system, dist is the distance between the following unmanned aerial vehicle and the circle center,
further, the difference value between the included angle between the following unmanned aerial vehicle and the circle center connecting line and the piloting unmanned aerial vehicle and the circle center connecting line and the target included angle is obtained
The method comprises the following steps:
determining a judgment value omega of the front-back position relation of the following unmanned aerial vehicle and the piloting unmanned aerial vehicle according to the following formula:
ω＝sign[(el-ce)nf-(nl-cn)ef+nlce-elcn]
in the formula, nlAnd elRespectively a north coordinate and an east coordinate, n, of the piloted unmanned plane in a north-east coordinate systemfAnd efNorth and east coordinates, c, respectively, of the following drone in a north-east coordinate systemnAnd ceRespectively representing a north coordinate and an east coordinate of the circle center of a flight track under a north-east coordinate system, wherein sign is a symbolic function, wherein omega is 1, which represents that the piloting unmanned aerial vehicle is in the clockwise direction of following the unmanned aerial vehicle, omega is-1, which represents that the piloting unmanned aerial vehicle is in the counterclockwise direction of following the unmanned aerial vehicle, and omega is 0, which represents that the piloting unmanned aerial vehicle, the following unmanned aerial vehicle and the circle center are collinear;
based on the ω, determining the ω as follows
In the formula (I), the compound is shown in the specification,
in order to follow the angle between the connecting line of the unmanned aerial vehicle and the circle center and the connecting line of the piloting unmanned aerial vehicle and the circle center,
the angle is a target included angle,
ωMis a target value of ω, ωMRho delta x, delta y is the target value of the transverse distance between the following unmanned aerial vehicle and the piloting unmanned aerial vehicle, and delta x is the following unmanned aerial vehicle and the piloting unmanned aerial vehicleP is the direction of the flight trajectory,
based on the same invention concept, the invention also provides an unmanned aerial vehicle cluster formation flight control device, and the improvement is that the unmanned aerial vehicle cluster formation flight control device comprises:
the speed vector calculation unit is used for determining the yaw angle and the flight rate of the following unmanned aerial vehicles in the unmanned aerial vehicle cluster formation based on the flight tracks of the piloted unmanned aerial vehicles in the unmanned aerial vehicle cluster formation;
and the flight control unit is used for controlling the following unmanned aerial vehicles in the unmanned aerial vehicle cluster formation according to the yaw angle and the flight rate of the following unmanned aerial vehicles in the unmanned aerial vehicle cluster formation.
Compared with the closest prior art, the invention has the following beneficial effects:
the invention provides a flight control method and device for unmanned aerial vehicle cluster formation, which are characterized in that the yaw angle and the flight rate of following unmanned aerial vehicles in the unmanned aerial vehicle cluster formation are determined based on the flight track of piloting unmanned aerial vehicles in the unmanned aerial vehicle cluster formation; controlling the following unmanned aerial vehicles in the unmanned aerial vehicle cluster formation according to the yaw angle and the flight rate of the following unmanned aerial vehicles in the unmanned aerial vehicle cluster formation; the invention can realize the real-time maintenance and real-time configuration of the unmanned aerial vehicle cluster formation form, and improves the flexibility of the cluster formation form conversion;
when the flight track is a straight line, the yaw angle and the flight rate of the following unmanned aerial vehicle are controlled based on the acquired included angle between the flight track and the due north direction, so that the accuracy of formation forming and maintaining is improved;
when the flight orbit is the circular arc, at the in-process that obtains the flight rate who follows unmanned aerial vehicle, confirm the front and back relation of following unmanned aerial vehicle and piloting unmanned aerial vehicle through the coordinate of piloting unmanned aerial vehicle, following unmanned aerial vehicle and centre of a circle, can accurately obtain the relative position who follows unmanned aerial vehicle and piloting unmanned aerial vehicle, improved the accuracy of following unmanned aerial vehicle's flight rate.
Drawings
FIG. 1 is a flow chart of a method for controlling the formation flight of a cluster of unmanned aerial vehicles according to the present invention;
FIG. 2 is a schematic position diagram of a piloting unmanned aerial vehicle and a following unmanned aerial vehicle in a straight flight trajectory in an embodiment of the invention;
FIG. 3 is a schematic position diagram of a piloting unmanned aerial vehicle and a following unmanned aerial vehicle in an arc flight trajectory in an embodiment of the invention;
fig. 4 is a schematic diagram of the unmanned aerial vehicle cluster formation flight control device.
Detailed Description
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides an unmanned aerial vehicle cluster formation flight control method, as shown in fig. 1, the method comprises the following steps:
determining a yaw angle and a flight rate of the following unmanned aerial vehicles in the unmanned aerial vehicle cluster formation based on the flight trajectory of the piloted unmanned aerial vehicles in the unmanned aerial vehicle cluster formation;
and controlling the following unmanned aerial vehicles in the unmanned aerial vehicle cluster formation according to the yaw angle and the flight rate of the following unmanned aerial vehicles in the unmanned aerial vehicle cluster formation.
In order to more clearly illustrate the objects of the present invention, the method of the present invention is further illustrated below with reference to specific examples.
The flight track of the piloting unmanned aerial vehicle can be divided into a straight line and a circular arc, and the straight line flight track is used { (p)n,pe),(qn,qe) Denotes, pnAnd peRespectively a north coordinate and an east coordinate of a certain point on the straight flight path under a north-east coordinate system, qnAnd q iseThe north component and the east component of the direction vector of the linear flight path and the circular arc flight path are respectively { (c)n,ce) R, ρ } denotes cnAnd ceRespectively representing a north coordinate and an east coordinate of the circle center of the circular arc flight path under a north-east coordinate system, wherein r represents the radius of the circular arc flight path, and rho represents the direction of the circular arc flight path (when the circular arc flight path is viewed from high altitude in a clockwise direction, rho is 1, otherwise rho is-1). The flight trajectory of the piloting unmanned aerial vehicle can be issued to the piloting unmanned aerial vehicle by a control console or calculated in real time by a flight trajectory calculation module of the piloting unmanned aerial vehicle.
Based on this, in the embodiment of the present invention, the determining the yaw angle and the flight rate of the following unmanned aerial vehicles in the unmanned aerial vehicle cluster formation based on the flight trajectory of the piloted unmanned aerial vehicle in the unmanned aerial vehicle cluster formation includes:
when the flight track of the piloting unmanned aerial vehicle is a straight line, as shown in fig. 2, determining a yaw angle of the following unmanned aerial vehicle according to an included angle between the acquired flight track and the due north direction and a transverse distance between the following unmanned aerial vehicle and the piloting unmanned aerial vehicle, and determining a flight rate of the following unmanned aerial vehicle according to the flight rate of the piloting unmanned aerial vehicle and the acquired longitudinal distance between the following unmanned aerial vehicle and the piloting unmanned aerial vehicle;
when the flight path of the piloting unmanned aerial vehicle is a circular arc, as shown in fig. 3, the yaw angle of the following unmanned aerial vehicle is determined according to the acquired included angle between the connecting line of the following unmanned aerial vehicle and the circle center and the due north direction, and the flight rate of the following unmanned aerial vehicle is determined according to the flight rate of the piloting unmanned aerial vehicle, the flight radius of the piloting unmanned aerial vehicle and the acquired included angle between the connecting line of the following unmanned aerial vehicle and the circle center and the connecting line of the piloting unmanned aerial vehicle and the.
In fig. 2 and 3, the dashed line aircraft indicates the target position of the following drone, and the solid line aircraft indicates the current position of the following drone.
Specifically, the aforesaid is according to the contained angle of flight orbit and the due north direction who acquires and the yaw angle of following unmanned aerial vehicle is confirmed to following unmanned aerial vehicle with leading unmanned aerial vehicle's transverse distance, includes:
determining the following unmanned aerial vehicle yaw angle byf：
In the formula, yawlineIs the included angle between the flight track and the due north direction,
to follow the maximum adjustment of the yaw angle of the drone,yawto follow the convergence speed control of the yaw angle of the drone,yaw∈[0,1]，ydifffor following the horizontal distance of unmanned aerial vehicle and pilot unmanned aerial vehicle, delta y is following unmanned aerial vehicle and pilot unmanned aerial vehicle's horizontal distance target value.
Specifically, the aforesaid is according to the flight rate of pilot unmanned aerial vehicle and the vertical distance who acquires follow unmanned aerial vehicle and pilot unmanned aerial vehicle and is confirmed the flight rate who follows unmanned aerial vehicle, includes:
determining the flight velocity v of the following drone according to the formulaf：
In the formula, vlTo pilot the flight rate of the drone,
to follow the maximum adjustment in the rate of flight of the drone,
v∞in order to follow the maximum flight rate of the drone,vto follow the convergent speed control of the unmanned aerial vehicle flight rate,v∈[0,1]，xdifffor following the longitudinal distance of unmanned aerial vehicle and pilot unmanned aerial vehicle, delta x is the longitudinal distance target value of following unmanned aerial vehicle and pilot unmanned aerial vehicle.
As shown in fig. 2 and 3, when the distance between the following drone and the piloting drone is calculated by following the head coordinates of the two, Δ y, ydiffGreater than 0, indicating that the following drone is on the right side of the piloting drone; deltay、ydiffLess than 0, indicating that the following drone is on the left side of the piloting drone; Δ y, ydiffEqual to 0, indicating that the following unmanned aerial vehicle and the piloting unmanned aerial vehicle are longitudinally collinear;
Δx、xdiffgreater than 0, indicating that the following drone is in front of the piloting drone; Δ x, xdiffWhen the distance is less than 0, the following unmanned aerial vehicle is behind the piloting unmanned aerial vehicle; Δ x, xdiffEqual to 0, representing the following drone and the piloting drone are transversely collinear.
Specifically, the included angle yaw between the flight path and the due north direction is determined according to the following formulaline：
In the formula, qnDue to the north component of the direction vector of the flight path, qeIs the righteast component of the flight trajectory direction vector,
specifically, the transverse distance y between the following unmanned aerial vehicle and the piloting unmanned aerial vehicle is determined according to the following formuladiffAnd a longitudinal distance xdiff：
In the formula, yawlineThe angle between the flight path and the north direction, nlAnd elRespectively a north coordinate and an east coordinate, n, of the piloted unmanned plane in a north-east coordinate systemfAnd efRespectively the north coordinate and the east coordinate of the following unmanned aerial vehicle in a north-east coordinate system.
Further, the aforesaid is confirmed according to the contained angle of following unmanned aerial vehicle and centre of a circle line and true north direction that acquires and follows unmanned aerial vehicle's yaw angle includes:
determining the following unmanned aerial vehicle yaw angle byf：
In the formula, thetafTo follow the angle between the connecting line of the unmanned plane and the circle center and the true north direction, rf＝rl-ρΔy，rfTo follow the flight radius of the drone, rlIn order to pilot the flight radius of the drone,
ρ is the flight direction of the flight trajectory,
dist is the distance between the unmanned aerial vehicle and the center of the flight path, cnAnd ceRespectively a north coordinate and an east coordinate of the center of a flight path under a north-east coordinate system, nfAnd efRespectively a north coordinate and an east coordinate under a north-east coordinate system following the unmanned aerial vehicle,yawto follow the convergence speed control of the yaw angle of the drone,yaw∈[0,1]。
specifically, the aforesaid is according to the flight rate of pilot unmanned aerial vehicle, the flight radius of pilot unmanned aerial vehicle and the contained angle of following unmanned aerial vehicle and centre of a circle line and pilot unmanned aerial vehicle and centre of a circle line that acquire and confirm the flight rate of following unmanned aerial vehicle includes:
obtaining the difference value between the included angle between the following unmanned aerial vehicle and the circle center connecting line and the piloting unmanned aerial vehicle and the circle center connecting line and the target included angle
Based on the
Determining the flight speed v of the following unmanned aerial vehicle according to the following formulaf：
In the formula, rf＝rl-ρΔy，rfTo follow the flight radius of the drone, rlRadius of flight for piloting unmanned aerial vehicle, vlTo pilot the flight rate of the drone,
for following the maximum adjustment of the flight rate of the drone, v∞To follow the maximum flight rate of the drone.
Specifically, an included angle theta between a connecting line of the following unmanned aerial vehicle and the circle center and the due north direction is determined according to the following formulaf：
In the formula, cnAnd ceRespectively a north coordinate and an east coordinate of the center of a flight path under a north-east coordinate system, nfAnd efRespectively the north coordinate and the east coordinate of the following unmanned aerial vehicle under a north-east coordinate system,
specifically, an included angle between a connection line of the following unmanned aerial vehicle and the circle center and a connection line of the piloting unmanned aerial vehicle and the circle center is determined according to the following formula
In the formula, nlAnd elRespectively a north coordinate and an east coordinate, n, of the piloted unmanned plane in a north-east coordinate systemfAnd efNorth and east coordinates, c, respectively, of the following drone in a north-east coordinate systemnAnd ceRespectively the north coordinate and the east coordinate of the center of a circle of the flight path under a north-east coordinate system, dist is the distance between the following unmanned aerial vehicle and the center of the circleAfter the separation, the water is separated from the water,
specifically, the difference value between the included angle between the following unmanned aerial vehicle and the circle center connecting line and the piloting unmanned aerial vehicle and the circle center connecting line and the target included angle is obtained
The method comprises the following steps:
determining a judgment value omega of the front-back position relation of the following unmanned aerial vehicle and the piloting unmanned aerial vehicle according to the following formula:
ω＝sign[(el-ce)nf-(nl-cn)ef+nlce-elcn]
in the formula, nlAnd elRespectively a north coordinate and an east coordinate, n, of the piloted unmanned plane in a north-east coordinate systemfAnd efNorth and east coordinates, c, respectively, of the following drone in a north-east coordinate systemnAnd ceRespectively representing a north coordinate and an east coordinate of the circle center of a flight track under a north-east coordinate system, wherein sign is a symbolic function, wherein omega is 1, which represents that the piloting unmanned aerial vehicle is in the clockwise direction of following the unmanned aerial vehicle, omega is-1, which represents that the piloting unmanned aerial vehicle is in the counterclockwise direction of following the unmanned aerial vehicle, and omega is 0, which represents that the piloting unmanned aerial vehicle, the following unmanned aerial vehicle and the circle center are collinear;
based on the ω, determining the ω as follows
In the formula (I), the compound is shown in the specification,
in order to follow the angle between the connecting line of the unmanned aerial vehicle and the circle center and the connecting line of the piloting unmanned aerial vehicle and the circle center,
the angle is a target included angle,
ωMis a target value of ω, ωMThe value of the transverse distance between the following unmanned aerial vehicle and the piloting unmanned aerial vehicle is-rho delta x, delta y is the target value of the longitudinal distance between the following unmanned aerial vehicle and the piloting unmanned aerial vehicle, delta x is the direction of the flight track,
the relative position of the following unmanned aerial vehicle follower and the pilot unmanned aerial vehicle leader cannot be completely reflected by the included angle between the connecting line of the following unmanned aerial vehicle and the circle center and the connecting line of the pilot unmanned aerial vehicle and the circle center, so that a judgment value of the front-back position relation of the following unmanned aerial vehicle and the pilot unmanned aerial vehicle is defined. If the value is larger than 0, the leader is in the clockwise direction of the follower; if the value is less than 0, the leader is in the counterclockwise direction of the follower; if the value is equal to 0, the circle center, the leader and the follower are collinear.
Based on the same inventive concept, the invention also provides an unmanned aerial vehicle cluster formation flight control device, as shown in fig. 4, comprising:
the speed vector calculation unit is used for determining the yaw angle and the flight rate of the following unmanned aerial vehicles in the unmanned aerial vehicle cluster formation based on the flight tracks of the piloted unmanned aerial vehicles in the unmanned aerial vehicle cluster formation;
and the flight control unit is used for controlling the following unmanned aerial vehicles in the unmanned aerial vehicle cluster formation according to the yaw angle and the flight rate of the following unmanned aerial vehicles in the unmanned aerial vehicle cluster formation.
Preferably, the velocity vector calculation unit is specifically configured to:
when the flight track of the piloting unmanned aerial vehicle is a straight line, determining a yaw angle of the following unmanned aerial vehicle according to an included angle between the acquired flight track and the due north direction and a transverse distance between the following unmanned aerial vehicle and the piloting unmanned aerial vehicle, and determining the flight rate of the following unmanned aerial vehicle according to the flight rate of the piloting unmanned aerial vehicle and the acquired longitudinal distance between the following unmanned aerial vehicle and the piloting unmanned aerial vehicle;
when the flight track of the piloting unmanned aerial vehicle is a circular arc, determining the yaw angle of the following unmanned aerial vehicle according to the acquired included angle between the line of the following unmanned aerial vehicle and the circle center and the due north direction, and determining the flight rate of the following unmanned aerial vehicle according to the flight rate of the piloting unmanned aerial vehicle, the flight radius of the piloting unmanned aerial vehicle and the acquired included angle between the line of the following unmanned aerial vehicle and the circle center and the line of the piloting unmanned aerial vehicle and the circle center.
Further, the aforesaid is according to the contained angle of flight orbit and the due north direction who acquires and the lateral distance who follows unmanned aerial vehicle and pilot unmanned aerial vehicle and confirms the yaw angle who follows unmanned aerial vehicle, includes:
determining the following unmanned aerial vehicle yaw angle byf：
In the formula, yawlineIs the included angle between the flight track and the due north direction,
to follow the maximum adjustment of the yaw angle of the drone,yawto follow the convergence speed control of the yaw angle of the drone,yaw∈[0,1]，ydifffor following the horizontal distance of unmanned aerial vehicle and pilot unmanned aerial vehicle, delta y is following unmanned aerial vehicle and pilot unmanned aerial vehicle's horizontal distance target value.
Further, the aforesaid is according to the flight rate of pilot unmanned aerial vehicle and the vertical distance who acquires follow unmanned aerial vehicle and pilot unmanned aerial vehicle and is confirmed the flight rate who follows unmanned aerial vehicle, includes:
determining the flight velocity v of the following drone according to the formulaf：
In the formula, vlTo pilot the flight rate of the drone,
to follow the maximum adjustment in the rate of flight of the drone,
v∞in order to follow the maximum flight rate of the drone,vto follow the convergent speed control of the unmanned aerial vehicle flight rate,v∈[0,1]，xdifffor following the longitudinal distance of unmanned aerial vehicle and pilot unmanned aerial vehicle, delta x is the longitudinal distance target value of following unmanned aerial vehicle and pilot unmanned aerial vehicle.
Furthermore, the included angle yaw between the flight path and the due north direction is determined according to the following formulaline：
In the formula, qnDue to the north component of the direction vector of the flight path, qeIs the righteast component of the flight trajectory direction vector,
further, determining the transverse distance y between the following unmanned aerial vehicle and the piloting unmanned aerial vehicle according to the following formuladiffAnd a longitudinal distance xdiff：
In the formula, yawlineThe angle between the flight path and the north direction, nlAnd elRespectively a north coordinate and an east coordinate, n, of the piloted unmanned plane in a north-east coordinate systemfAnd efRespectively the north coordinate and the east coordinate of the following unmanned aerial vehicle in a north-east coordinate system.
Further, the aforesaid is confirmed according to the contained angle of following unmanned aerial vehicle and centre of a circle line and true north direction that acquires and follows unmanned aerial vehicle's yaw angle includes:
determining the following unmanned aerial vehicle yaw angle byf：
In the formula, thetafTo follow the angle between the connecting line of the unmanned plane and the circle center and the true north direction, rf＝rl-ρΔy，rfTo follow the flight radius of the drone, rlIn order to pilot the flight radius of the drone,
ρ is the flight direction of the flight trajectory,
dist is the distance between the unmanned aerial vehicle and the center of the flight path, cnAnd ceRespectively a north coordinate and an east coordinate of the center of a flight path under a north-east coordinate system, nfAnd efRespectively a north coordinate and an east coordinate under a north-east coordinate system following the unmanned aerial vehicle,yawto follow the convergence speed control of the yaw angle of the drone,yaw∈[0,1]。
further, the aforesaid is according to the flight rate of pilot unmanned aerial vehicle, the flight radius of pilot unmanned aerial vehicle and the contained angle of following unmanned aerial vehicle and centre of a circle line and pilot unmanned aerial vehicle and centre of a circle line that acquire and confirm the flight rate of following unmanned aerial vehicle, include:
obtaining the difference value between the included angle between the following unmanned aerial vehicle and the circle center connecting line and the piloting unmanned aerial vehicle and the circle center connecting line and the target included angle
Based on the
Determining the flight speed v of the following unmanned aerial vehicle according to the following formulaf：
In the formula, rf＝rl-ρΔy，rfIs a heelAlong with the flight radius of the unmanned aerial vehicle, rlRadius of flight for piloting unmanned aerial vehicle, vlTo pilot the flight rate of the drone,
for following the maximum adjustment of the flight rate of the drone, v∞To follow the maximum flight rate of the drone.
Further, an included angle theta between a connecting line of the following unmanned aerial vehicle and the circle center and the due north direction is determined according to the following formulaf：
In the formula, cnAnd ceRespectively a north coordinate and an east coordinate of the center of a flight path under a north-east coordinate system, nfAnd efRespectively the north coordinate and the east coordinate of the following unmanned aerial vehicle under a north-east coordinate system,
further, an included angle between a connection line of the following unmanned aerial vehicle and the circle center and a connection line of the piloting unmanned aerial vehicle and the circle center is determined according to the following formula
In the formula, nlAnd elRespectively a north coordinate and an east coordinate, n, of the piloted unmanned plane in a north-east coordinate systemfAnd efNorth and east coordinates, c, respectively, of the following drone in a north-east coordinate systemnAnd ceRespectively are the north coordinate and the east coordinate of the circle center of the flight path under a north-east coordinate system, dist is the distance between the following unmanned aerial vehicle and the circle center,
further, the difference value between the included angle between the following unmanned aerial vehicle and the circle center connecting line and the piloting unmanned aerial vehicle and the circle center connecting line and the target included angle is obtained
The method comprises the following steps:
determining a judgment value omega of the front-back position relation of the following unmanned aerial vehicle and the piloting unmanned aerial vehicle according to the following formula:
ω＝sign[(el-ce)nf-(nl-cn)ef+nlce-elcn]
in the formula, nlAnd elRespectively a north coordinate and an east coordinate, n, of the piloted unmanned plane in a north-east coordinate systemfAnd efNorth and east coordinates, c, respectively, of the following drone in a north-east coordinate systemnAnd ceRespectively a north coordinate and an east coordinate of the center of a circle of the flight path under a north-east coordinate system, wherein sign is a sign function;
based on the ω, determining the ω as follows
In the formula (I), the compound is shown in the specification,
in order to follow the angle between the connecting line of the unmanned aerial vehicle and the circle center and the connecting line of the piloting unmanned aerial vehicle and the circle center,
the angle is a target included angle,
ωMis a target value of ω, ωMThe value of the transverse distance between the following unmanned aerial vehicle and the piloting unmanned aerial vehicle is-rho delta x, delta y is the target value of the longitudinal distance between the following unmanned aerial vehicle and the piloting unmanned aerial vehicle, delta x is the direction of the flight track,
in summary, the flight control method and device for unmanned aerial vehicle cluster formation provided by the invention determine the yaw angle and the flight rate of the following unmanned aerial vehicles in the unmanned aerial vehicle cluster formation based on the flight trajectory of the piloting unmanned aerial vehicles in the unmanned aerial vehicle cluster formation; controlling the following unmanned aerial vehicles in the unmanned aerial vehicle cluster formation according to the yaw angle and the flight rate of the following unmanned aerial vehicles in the unmanned aerial vehicle cluster formation; the invention can realize the real-time maintenance and real-time configuration of the unmanned aerial vehicle cluster formation form, and improves the flexibility of the cluster formation form conversion;
when the flight track is a straight line, the yaw angle and the flight rate of the following unmanned aerial vehicle are controlled based on the acquired included angle between the flight track and the due north direction, so that the accuracy of formation forming and maintaining is improved;
when the flight orbit is the circular arc, at the in-process that obtains the flight rate who follows unmanned aerial vehicle, confirm the front and back relation of following unmanned aerial vehicle and piloting unmanned aerial vehicle through the coordinate of piloting unmanned aerial vehicle, following unmanned aerial vehicle and centre of a circle, can accurately obtain the relative position who follows unmanned aerial vehicle and piloting unmanned aerial vehicle, improved the accuracy of following unmanned aerial vehicle's flight rate.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting the same, and although the present invention is described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: modifications and equivalents may be made to the embodiments of the invention without departing from the spirit and scope of the invention, which is to be covered by the claims.
Claims (12)
1. An unmanned aerial vehicle cluster formation flight control method is characterized by comprising the following steps:
determining a yaw angle and a flight rate of the following unmanned aerial vehicles in the unmanned aerial vehicle cluster formation based on the flight trajectory of the piloted unmanned aerial vehicles in the unmanned aerial vehicle cluster formation;
and controlling the following unmanned aerial vehicles in the unmanned aerial vehicle cluster formation according to the yaw angle and the flight rate of the following unmanned aerial vehicles in the unmanned aerial vehicle cluster formation.
2. The method of claim 1, wherein determining a yaw angle and a flight rate of following drones in the cluster formation of drones based on a flight trajectory of a lead drone in the cluster formation of drones comprises:
when the flight track of the piloting unmanned aerial vehicle is a straight line, determining a yaw angle of the following unmanned aerial vehicle according to an included angle between the acquired flight track and the due north direction and a transverse distance between the following unmanned aerial vehicle and the piloting unmanned aerial vehicle, and determining the flight rate of the following unmanned aerial vehicle according to the flight rate of the piloting unmanned aerial vehicle and the acquired longitudinal distance between the following unmanned aerial vehicle and the piloting unmanned aerial vehicle;
when the flight track of the piloting unmanned aerial vehicle is a circular arc, determining the yaw angle of the following unmanned aerial vehicle according to the acquired included angle between the line of the following unmanned aerial vehicle and the circle center and the due north direction, and determining the flight rate of the following unmanned aerial vehicle according to the flight rate of the piloting unmanned aerial vehicle, the flight radius of the piloting unmanned aerial vehicle and the acquired included angle between the line of the following unmanned aerial vehicle and the circle center and the line of the piloting unmanned aerial vehicle and the circle center.
3. The method of claim 2, wherein determining the yaw angle of the following drone based on the angle of the acquired flight trajectory from the due north direction and the lateral distance of the following drone from the piloting drone comprises:
determining the following unmanned aerial vehicle yaw angle byf：
In the formula, yawlineIs the flight track and the true north directionThe angle of,
to follow the maximum adjustment of the yaw angle of the drone,yawto follow the convergence speed control of the yaw angle of the drone,yaw∈[0,1]，ydifffor following the horizontal distance of unmanned aerial vehicle and pilot unmanned aerial vehicle, delta y is following unmanned aerial vehicle and pilot unmanned aerial vehicle's horizontal distance target value.
4. The method of claim 2, wherein determining the flight rate of the following drone as a function of the flight rate of the pilot drone and the acquired longitudinal distance of the following drone from the pilot drone comprises:
determining the flight velocity v of the following drone according to the formulaf：
In the formula, vlTo pilot the flight rate of the drone,
to follow the maximum adjustment in the rate of flight of the drone,
v∞in order to follow the maximum flight rate of the drone,vto follow the convergent speed control of the unmanned aerial vehicle flight rate,v∈[0,1]，xdifffor following the longitudinal distance of unmanned aerial vehicle and pilot unmanned aerial vehicle, delta x is the longitudinal distance target value of following unmanned aerial vehicle and pilot unmanned aerial vehicle.
5. The method of claim 2, wherein the angle yaw between the flight path and true north is determined as followsline：
In the formula, qnDue to the north component of the direction vector of the flight path, qeIs the righteast component of the flight trajectory direction vector,
6. the method of claim 2, wherein the lateral distance y of the following drone from the piloting drone is determined as followsdiffAnd a longitudinal distance xdiff：
In the formula, yawlineThe angle between the flight path and the north direction, nlAnd elRespectively a north coordinate and an east coordinate, n, of the piloted unmanned plane in a north-east coordinate systemfAnd efRespectively the north coordinate and the east coordinate of the following unmanned aerial vehicle in a north-east coordinate system.
7. The method of claim 2, wherein determining the yaw angle of the following drone according to the obtained included angle between the line connecting the following drone and the circle center and the due north direction comprises:
determining the following unmanned aerial vehicle yaw angle byf：
In the formula, thetafTo follow the angle between the connecting line of the unmanned plane and the circle center and the true north direction, rf＝rl-ρΔy，rfTo follow the flight radius of the drone, rlIn order to pilot the flight radius of the drone,
rho is flight railThe flight direction of the track, delta y is the target value of the transverse distance between the following unmanned aerial vehicle and the piloting unmanned aerial vehicle,
dist is the distance between the unmanned aerial vehicle and the center of the flight path, cnAnd ceRespectively a north coordinate and an east coordinate of the center of a flight path under a north-east coordinate system, nfAnd efRespectively a north coordinate and an east coordinate under a north-east coordinate system following the unmanned aerial vehicle,yawto follow the convergence speed control of the yaw angle of the drone,yaw∈[0,1]。
8. the method of claim 2, wherein determining the flight rate of the following drone according to the flight rate of the piloting drone, the flight radius of the piloting drone, and the obtained included angle between the line connecting the following drone and the circle center and the line connecting the piloting drone and the circle center comprises:
obtaining the difference value between the included angle between the following unmanned aerial vehicle and the circle center connecting line and the piloting unmanned aerial vehicle and the circle center connecting line and the target included angle
Based on the
Determining the flight speed v of the following unmanned aerial vehicle according to the following formulaf：
In the formula, rf＝rl-ρΔy，rfTo follow the flight radius of the drone, rlIn order to pilot the flight radius of the drone,
rho is the flight direction of the flight track, delta y is the target value of the transverse distance between the following unmanned aerial vehicle and the piloting unmanned aerial vehicle, vlTo pilot the flight rate of the drone,
for following the maximum adjustment of the flight rate of the drone, v∞To follow the maximum flight rate of the drone.
9. A method according to claim 2 or 7, wherein the following drone and the line connecting the centre of the circle are determined to be at an angle θ to true north according to the following equationf：
In the formula, cnAnd ceRespectively a north coordinate and an east coordinate of the center of a flight path under a north-east coordinate system, nfAnd efRespectively the north coordinate and the east coordinate of the following unmanned aerial vehicle under a north-east coordinate system,
10. a method according to claim 2 or 8, wherein the angle between the line connecting the following drone and the centre of the circle and the line connecting the piloting drone and the centre of the circle is determined as follows
In the formula, nlAnd elRespectively the north coordinate and east coordinate of the piloting unmanned plane under the north-east coordinate systemSymbol, nfAnd efNorth and east coordinates, c, respectively, of the following drone in a north-east coordinate systemnAnd ceRespectively are the north coordinate and the east coordinate of the circle center of the flight path under a north-east coordinate system, dist is the distance between the following unmanned aerial vehicle and the circle center,
11. the method of claim 8, wherein the obtaining of the difference between the target angle and the angle between the line connecting the following drone and the circle center and the line connecting the piloting drone and the circle center is obtained
The method comprises the following steps:
determining a judgment value omega of the front-back position relation of the following unmanned aerial vehicle and the piloting unmanned aerial vehicle according to the following formula:
ω＝sign[(el-ce)nf-(nl-cn)ef+nlce-elcn]
in the formula, nlAnd elRespectively a north coordinate and an east coordinate, n, of the piloted unmanned plane in a north-east coordinate systemfAnd efNorth and east coordinates, c, respectively, of the following drone in a north-east coordinate systemnAnd ceRespectively representing a north coordinate and an east coordinate of the circle center of a flight track under a north-east coordinate system, wherein sign is a symbolic function, wherein omega is 1, which represents that the piloting unmanned aerial vehicle is in the clockwise direction of following the unmanned aerial vehicle, omega is-1, which represents that the piloting unmanned aerial vehicle is in the counterclockwise direction of following the unmanned aerial vehicle, and omega is 0, which represents that the piloting unmanned aerial vehicle, the following unmanned aerial vehicle and the circle center are collinear;
based on the ω, determining the ω as follows
In the formula (I), the compound is shown in the specification,
in order to follow the angle between the connecting line of the unmanned aerial vehicle and the circle center and the connecting line of the piloting unmanned aerial vehicle and the circle center,
the angle is a target included angle,
ωMis a target value of ω, ωMThe value of the transverse distance between the following unmanned aerial vehicle and the piloting unmanned aerial vehicle is-rho delta x, delta y is the target value of the longitudinal distance between the following unmanned aerial vehicle and the piloting unmanned aerial vehicle, delta x is the direction of the flight track,
12. the utility model provides an unmanned aerial vehicle cluster formation flight control device which characterized in that includes:
the speed vector calculation unit is used for determining the yaw angle and the flight rate of the following unmanned aerial vehicles in the unmanned aerial vehicle cluster formation based on the flight tracks of the piloted unmanned aerial vehicles in the unmanned aerial vehicle cluster formation;
and the flight control unit is used for controlling the following unmanned aerial vehicles in the unmanned aerial vehicle cluster formation according to the yaw angle and the flight rate of the following unmanned aerial vehicles in the unmanned aerial vehicle cluster formation.
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