CN113885577B - Anti-collision control method, system and device for multi-aircraft dense formation of aircraft - Google Patents
Anti-collision control method, system and device for multi-aircraft dense formation of aircraft Download PDFInfo
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Abstract
The invention discloses an anti-collision control method, system and device for multi-aircraft dense formation of an aircraft, comprising the following steps: each aircraft in the formation scans surrounding aircraft to acquire three-dimensional point cloud data of the surrounding aircraft; constructing an inter-aircraft networking communication system, and sharing GPS position information and three-dimensional point cloud data of the formation aircraft in real time; comparing the preset line of the aircraft with real-time GPS position information, matching the position information of the shielded aircraft, and obtaining the relative position of each aircraft; processing the three-dimensional point cloud data to obtain Euclidean distance between each aircraft; and judging the relationship between the Euclidean distance and the safety distance between each aircraft, and adjusting the position of each aircraft to realize multi-aircraft intensive flight of the aircraft. The method realizes real-time co-location during the multi-aircraft dense formation flight process of the aircraft, and monitors and adjusts the aircraft position, thereby ensuring the safety and stability of the aircraft flight.
Description
Technical Field
The invention belongs to the field of airplane formation control, and relates to an anti-collision control method, system and device for multi-airplane intensive formation of airplanes.
Background
In contemporary aviation industry, the technological development of aircraft is moving towards intellectualization and clustering. In the military field, the multi-aircraft dense formation flight of the aircraft has important tactical value, and the cluster combat is used as a novel combat power and gradually becomes an important pushing hand for the development of the war morphology. Aircraft clusters not only stand out in the military field, but also in the civilian field. Particularly, the characteristic of 'zero integration' of the aircraft clusters and the benefit multiplication characteristic of cooperation among the clusters are widely concerned in various fields, and the aircraft clusters can be applied to communication networking, geographical mapping, light show and the like. However, whether military or civilian, the primary technical problem is the problem of aircraft dense formation anti-collision in complex environments, and the opening of urban low-altitude airspace and the dynamic complexity of mission airspace add challenges to cluster control. Therefore, the research on the anti-collision problem of the clusters has very important significance.
At present, aiming at the anti-collision problem of multi-aircraft dense formation of aircrafts, expert students develop a great deal of research. The main methods include a predictive control method, a multi-objective optimization method and the like. The prediction control method predicts the state of the individual aircraft by constructing a prediction model in a dynamic environment, and performs anti-collision and cluster formation reconstruction. A multi-target optimal control model is built aiming at the problem of cooperative anti-collision of the aircraft, and the multi-aircraft dense formation anti-collision of the aircraft is realized through a Nash optimal distributed predictive control method. Due to the dynamic complexity of the flight environment, the anti-collision algorithm for predictive control needs to repeatedly carry out path planning, and has a large limitation in practical application. The multi-objective optimization method and the like are used for solving the optimal decision method through multi-objective optimization by constructing different anti-collision control strategies such as heading angle, speed, altitude and the like, but the problem that the subjectivity of each index weight is strong when solving the multi-objective optimization cannot be solved.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides a method, a system and a device for controlling collision of multi-aircraft dense formation of aircraft, which are used for performing inter-aircraft cooperative positioning through laser radar sensing, adjusting the distance between the aircraft, realizing the multi-aircraft dense formation flight of the aircraft and avoiding the phenomenon of multi-aircraft collision in the flight process.
In order to achieve the purpose, the invention is realized by adopting the following technical scheme:
an aircraft multi-aircraft dense formation anti-collision control method comprises the following steps:
each aircraft in the formation scans surrounding aircraft to acquire three-dimensional point cloud data of the surrounding aircraft;
constructing an inter-aircraft networking communication system, and sharing GPS position information and three-dimensional point cloud data of the formation aircraft in real time;
comparing the preset line of the aircraft with real-time GPS position information, matching the position information of the shielded aircraft, and obtaining the relative position of each aircraft;
processing the three-dimensional point cloud data to obtain Euclidean distance between each aircraft;
and judging the relationship between the Euclidean distance and the safety distance between each aircraft, and adjusting the position of each aircraft to realize multi-aircraft intensive flight of the aircraft.
The invention further improves that:
in formation, the planes respectively scan surrounding planes through the laser radars, when the laser gyroscopes in the laser radars measure the distance, the distance information acquired at the flight time between the sending end and the target object can be obtained through pulse ranging, and the distance information can be obtained through phase ranging according to the intensity modulation of continuous waves and according to the phase difference.
The method for acquiring the three-dimensional point cloud data of the airplane further comprises the following steps: processing measurement errors generated by Gaussian white noise in the laser radar scanning process, and filtering noise by using a Kalman filtering algorithm;
and processing measurement errors generated by Gaussian white noise in the laser radar scanning process, wherein the measurement errors comprise laser radar data protocol analysis, data conversion between radar coordinate axes and airplane coordinate axes and data unit conversion.
The inter-machine networking communication system is a communication link network of a long machine and a bureau; the method also comprises the following steps of constructing an inter-machine networking communication system: judging the position of the long machine; according to the characteristics of the laser radar sensing object surface colors, the object colors are different, the reflectivity of the laser radar measurement data is also different, and the long plane and the plane are judged according to the different appearance colors of the long plane and the plane.
Comparing the preset line of the aircraft with real-time GPS position information, matching the position information of the shielded aircraft, and obtaining the relative position of each aircraft, wherein the method specifically comprises the following steps: the long plane obtains real-time coordinates and speed through RTK/GPS, the surrounding plane observes the position of the long plane through the laser radar to determine the position information of the long plane, for the plane which can not observe the long plane, the position of the long plane is deduced through the plane with known coordinates and the position information of the predefined flight route, and the inter-plane networking communication system sends four-dimensional flight parameters of the plane to the surrounding plane and the ground station for determining the relative position between own planes.
Judging the relationship between the Euclidean distance and the safety distance among all the airplanes, wherein the relationship is specifically as follows:
determining the minimum position of each aircraft detected by the laser radar relative to the aircraft carrying the laser radar according to the Euclidean distance calculated by the laser radar point cloud data processor of the aircraft, wherein the minimum position is used for ensuring the enough distance between the aircraft and ensuring the flight safety of the aircraft in formation; the ranking is performed using a rapid ranking method to obtain the minimum position of each aircraft detected from its surrounding aircraft.
The position of each aircraft is regulated, specifically: and adjusting the position of the aircraft by using an artificial potential field method, wherein the position of the aircraft is calculated by combining a gravitational field contained in a desired position and a repulsive force field of a close range obstacle, and the position with the largest descending gradient of the field energy is calculated by using a gradient descent method and is the final aircraft adjusting position.
An aircraft multi-aircraft dense formation collision control system comprising:
the first acquisition module is used for respectively scanning surrounding airplanes in formation to acquire three-dimensional point cloud data of the airplanes;
the building module is used for building an inter-aircraft networking communication system and sharing GPS position information and three-dimensional point cloud data of the formation aircraft in real time;
the second acquisition module is used for comparing the preset line of the aircraft with the real-time GPS position information, matching the position information of the shielded aircraft and acquiring the relative position of each aircraft;
the third acquisition module is used for processing the three-dimensional point cloud data and acquiring Euclidean distances among all the aircrafts;
the adjusting module is used for judging the relationship between the Euclidean distance and the safety distance among all the airplanes, adjusting the positions of all the airplanes and realizing multi-machine intensive flight of the airplanes.
A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the above method when the computer program is executed.
A computer readable storage medium storing a computer program which, when executed by a processor, performs the steps of the method described above.
Compared with the prior art, the invention has the following beneficial effects:
according to the method, laser radar data are firstly obtained, preprocessing and white noise elimination are carried out on the laser radar data, aircraft GPS positions and laser radar sensing data are issued through an inter-aircraft networking communication system, aircraft co-location recognition is carried out after all data sent by aircraft are collected by a long aircraft, position matching is carried out through an aircraft matching algorithm, and accurate relative positions among the aircraft are obtained. The flying positions of all the airplanes are controlled from the global angle to realize the anticollision of the dense airplane clusters and the dense flying of multiple airplanes. The invention can realize real-time collaborative positioning in the flight process of multi-aircraft dense formation of the aircraft, monitor and adjust the aircraft position, and ensure the safety and stability of the aircraft flight.
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For a clearer description of the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of an anti-collision control method for multi-aircraft dense formation of an embodiment of the invention;
FIG. 2 is a schematic flow chart of another method of controlling collision avoidance for multi-aircraft dense formation;
FIG. 3 is a schematic diagram from a radar coordinate system N to an onboard coordinate system B;
FIG. 4 is a schematic illustration of co-location of an aircraft;
FIG. 5 is a schematic diagram of an artificial potential field method;
fig. 6 is a schematic structural diagram of an anti-collision control system for multi-aircraft dense formation of an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the embodiments of the present invention, it should be noted that, if the terms "upper," "lower," "horizontal," "inner," and the like indicate an azimuth or a positional relationship based on the azimuth or the positional relationship shown in the drawings, or the azimuth or the positional relationship in which the inventive product is conventionally put in use, it is merely for convenience of describing the present invention and simplifying the description, and does not indicate or imply that the apparatus or element to be referred to must have a specific azimuth, be configured and operated in a specific azimuth, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
Furthermore, the term "horizontal" if present does not mean that the component is required to be absolutely horizontal, but may be slightly inclined. As "horizontal" merely means that its direction is more horizontal than "vertical", and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the embodiments of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" should be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
The invention is described in further detail below with reference to the attached drawing figures:
referring to fig. 1 and 2, fig. 1 and 2 disclose an anti-collision control method for multi-aircraft dense formation, which includes:
s101, each aircraft in formation scans surrounding aircraft to acquire three-dimensional point cloud data of the surrounding aircraft.
In formation, the planes respectively scan surrounding planes through the laser radars, when the laser gyroscopes in the laser radars measure the distance, the distance information acquired at the flight time between the sending end and the target object can be obtained through pulse ranging, and the distance information can be obtained through phase ranging according to the intensity modulation of continuous waves and according to the phase difference.
The laser radar carried by the aircraft can be a 360-degree mechanical scanning laser radar or a plurality of solid-state laser radars.
The method for acquiring the three-dimensional point cloud data of the airplane further comprises the following steps: and processing measurement errors generated by Gaussian white noise in the laser radar scanning process, and filtering noise by using a Kalman filtering algorithm.
And processing measurement errors generated by Gaussian white noise in the laser radar scanning process, wherein the measurement errors comprise laser radar data protocol analysis, data conversion between radar coordinate axes and airplane coordinate axes and data unit conversion.
And the laser radars carried by the aircraft respectively and normally scan surrounding aircraft information to acquire relevant point cloud data, and the aircraft can only acquire relevant point cloud information of other aircraft without shielding in the scanning range of the laser radars. The laser radar is used as a positioning sensor commonly used in the field of robots, and has the advantages of interference resistance, accurate ranging, unlimited working time length and the like. Currently, the ranging methods mainly include time-of-flight and triangulation. The basic principle of the time-of-flight ranging method is to calculate the distance by the time difference between lasing and reception, which can be achieved by two types of methods, including laser pulse ranging and phase ranging. The laser pulse ranging obtains distance information by measuring the flight time of laser between a transmitting end and a target object; the phase ranging is to obtain distance information from the phase difference based on intensity modulation of the continuous wave. The triangulation rule is to obtain distance information from the imaging position of the spot.
Each aircraft in the aircraft formation detects other aircraft in the aircraft formation except the aircraft formation by using a laser radar, and determines the Euclidean distance between the other aircraft and the respective aircraft. The concrete steps are as follows: the aircraft listens to the surrounding aircraft through the self-carried laser radar, the detection result of the laser radar is three-dimensional point cloud data, and each detected aircraft can generate a plurality of point cloud data which are marked as C k ＝(x k ,y Has the following components ,z k )。
And preprocessing laser radar data, measuring errors generated by Gaussian white noise in the laser radar scanning measurement process, and filtering noise by using a Kalman filtering algorithm. For processing laser radar measurement data, positioning data measured by the laser radar are in a radar coordinate system, and positioning data required by an aircraft flight controller are in a geodetic coordinate system, and the laser radar data are calibrated first and converted into the geodetic rectangular coordinate system. Coordinate transformation can be achieved by rotating the matrix, from the coordinates (x n ,y n ,z n ) To the coordinates (x) of the on-board coordinate system B b ,y b ,z b ) Is to be converted into:
with reference to figure 3 of the drawings,M 2 ,M 3 ,M 4 the rotation matrix is respectively around the z, y and x axes of the geographic coordinate system, and theta, gamma and phi are included angles of the difference of the geographic coordinate system N and the onboard coordinate system B in the x, y and z axes of the geographic coordinate system.
Secondly, the aircraft carries the laser radar to fly, and measurement errors can be generated in the measurement process, and the errors mainly come from factors such as external wind influence, vibration of the aircraft and the like. The aircraft motion is nonlinear, if the extended Kalman filter is used for carrying out linear fitting on a nonlinear equation, linearization errors are introduced, meanwhile, the derivation of the jacobian matrix is complex, and the calculation cost is increased.
S102, constructing an inter-aircraft networking communication system, and sharing GPS position information and three-dimensional point cloud data of the formation aircraft in real time.
The inter-machine networking communication system is a communication link network of a long machine and a bureau; the aircraft distributes aircraft GPS position and laser radar sensing data through an inter-aircraft networking communication system. The method also comprises the following steps of constructing an inter-machine networking communication system: judging the position of the long machine; according to the characteristics of the laser radar for sensing the color of the object surface, the object colors are different, and the reflectivity of the laser radar measurement data is different, specifically, if the object surface is black, the reflectivity value is below 70, and if the object surface is white, the reflectivity value is above 180. The long machine and the bureau are judged according to the different colors of the outer surfaces of the long machine and the bureau.
S103, comparing the preset line of the aircraft with the real-time GPS position information, matching the position information of the blocked aircraft, and obtaining the relative position of each aircraft.
The position information of the aircraft under the ground coordinate system at each moment can be known through a preset formation flight route, the actual position of the aircraft deviates from the preset position due to errors in the flight process, the actual position of the aircraft is assumed to be R, namely, the position deviation R is in a circle with the preset position as a circle center, and the relative position vector of the aircraft under the ground coordinate system (the position of the aircraft carrying the laser radar points to the position of the aircraft detected by the laser radar) can be calculated; on the other hand, the laser radar can measure the relative position between the planes to obtain laser radar positioning vectors, and a pair of most matched vectors are selected through comparison of the modulus value, the angle and the direction between the two vectors, so that the plane number corresponding to the laser radar positioning vectors can be known. Specifically, the long aircraft obtains real-time coordinates and speed through RTK/GPS, the surrounding plane observes the position of the long aircraft through the laser radar to determine the position information of the surrounding plane, for the plane which can not observe the long aircraft, the position of the surrounding plane is deduced through the plane with known coordinates and the position information of the predefined flight route, and the inter-plane networking communication system sends four-dimensional flight parameters of the plane to the surrounding plane and the ground station for determining the relative position between own planes to realize the cooperative positioning.
Referring to fig. 4, matching is performed based on the model values and azimuth angles of the position vectors obtained from the predetermined positions of the lidar and the course. From fig. 4, two vectors, respectively, are the course positioning vector (X 2 -X 1 ,Y 2 -Y 1 ,Z 2 -Z 1 ) With lidar positioning vector (X) 12 ,Y 12 ,Z 12 )。
S104, processing the three-dimensional point cloud data to obtain Euclidean distances among all the planes.
The aircraft laser radar point cloud data processor calculates Euclidean distance from an aircraft to each point according to the point cloud data, and the Euclidean distance from the detected aircraft to another aircraft carrying the laser radar is as follows:
wherein k is the number of a certain point in the three-dimensional point cloud data of the detected aircraft, j is the number of the aircraft carrying the laser radar, and X rj The position of the laser radar carrying aircraft numbered j in the x-direction.
S105, judging the relationship between the Euclidean distance and the safety distance between each aircraft, and adjusting the position of each aircraft to realize multi-aircraft intensive flight of the aircraft.
And determining the minimum position of each aircraft detected by the laser radar relative to the aircraft carrying the laser radar according to the Euclidean distance calculated by the laser radar point cloud data processor of the aircraft, wherein the minimum position is used for ensuring the enough distance between the aircraft and ensuring the flight safety of the aircraft in formation. Specifically, each aircraft sends various acquired Euclidean distances to a long aircraft or a ground station of an aircraft formation, the long aircraft or the ground station receives all Euclidean distances of each aircraft, and a rapid sequencing method is adopted for sequencing, so that the minimum positions of surrounding aircraft detected by each aircraft, which are away from the aircraft, are acquired. The specific process of the rapid sequencing method is as follows: the Euclidean distance between the laser radar and the aircraft is calculated according to the point cloud data of the aircraft scanned by all the laser radars, and the obtained distance array is as follows:
randomly selecting one element d in the distance array ab For a reference element, the array is traversed from front to back, placing it to the left of the reference element when elements smaller than the reference element are encountered, and to the right of the reference element when elements larger than the reference element are encountered. Then, taking all elements smaller than the reference element as a new distance array, randomly selecting one element in the new distance array again as the reference element, traversing the whole new distance array again, placing the elements smaller than the reference element on the left side, and placing the elements larger than the reference element on the right side.
Iterating according to the method until the minimum Euclidean distance is obtained, namely the minimum distance d between the plane scanned by the laser radar and the plane of the plane min The coordinate of the point of the minimum distance between the self plane and the plane scanned by the laser radar is P obs ＝(x o ,y o ,z o )。
Referring to fig. 5, the aircraft position is adjusted using an artificial potential field method, the aircraft position is calculated from a combination of a gravitational field contained in a desired position and a repulsive force field of a close obstacle, and a position with a maximum gradient of a gradient descent of field energy is calculated as a final aircraft adjustment position using a gradient descent method.
Referring to fig. 6, fig. 6 discloses an aircraft multi-aircraft dense formation anti-collision control system comprising:
the first acquisition module is used for respectively scanning surrounding airplanes in formation to acquire three-dimensional point cloud data of the airplanes;
the building module is used for building an inter-aircraft networking communication system and sharing GPS position information and three-dimensional point cloud data of the formation aircraft in real time;
the second acquisition module is used for comparing the preset line of the aircraft with the real-time GPS position information, matching the position information of the shielded aircraft and acquiring the relative position of each aircraft;
the third acquisition module is used for processing the three-dimensional point cloud data and acquiring Euclidean distances among all the aircrafts;
the adjusting module is used for judging the relationship between the Euclidean distance and the safety distance among all the airplanes, adjusting the positions of all the airplanes and realizing multi-machine intensive flight of the airplanes.
The embodiment of the invention provides a schematic diagram of terminal equipment. The terminal device of this embodiment includes: a processor, a memory, and a computer program stored in the memory and executable on the processor. The steps of the various method embodiments described above are implemented when the processor executes the computer program. Alternatively, the processor may implement the functions of the modules/units in the above-described device embodiments when executing the computer program.
The computer program may be divided into one or more modules/units, which are stored in the memory and executed by the processor to accomplish the present invention.
The terminal equipment can be computing equipment such as a desktop computer, a notebook computer, a palm computer, a cloud server and the like. The terminal device may include, but is not limited to, a processor, a memory.
The processor may be a central processing unit (CentralProcessingUnit, CPU), but may also be other general purpose processors, digital signal processors (DigitalSignalProcessor, DSP), application specific integrated circuits (ApplicationSpecificIntegratedCircuit, ASIC), off-the-shelf programmable gate arrays (Field-ProgrammableGateArray, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like.
The memory may be used to store the computer program and/or module, and the processor may implement various functions of the terminal device by running or executing the computer program and/or module stored in the memory and invoking data stored in the memory.
The modules/units integrated in the terminal device may be stored in a computer readable storage medium if implemented in the form of software functional units and sold or used as separate products. Based on such understanding, the present invention may implement all or part of the flow of the method of the above embodiment, or may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer memory, a Read-only memory (ROM), a random access memory (RAM, randomAccessMemory), an electrical carrier signal, a telecommunication signal, a software distribution medium, and so forth. It should be noted that the computer readable medium contains content that can be appropriately scaled according to the requirements of jurisdictions in which such content is subject to legislation and patent practice, such as in certain jurisdictions in which such content is subject to legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunication signals.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. The anti-collision control method for the multi-aircraft dense formation of the aircraft is characterized by comprising the following steps of:
each aircraft in the formation scans surrounding aircraft to acquire three-dimensional point cloud data of the surrounding aircraft;
constructing an inter-aircraft networking communication system, and sharing GPS position information and three-dimensional point cloud data of the formation aircraft in real time;
comparing the preset line of the aircraft with real-time GPS position information, matching the position information of the shielded aircraft, and obtaining the relative position of each aircraft;
the long aircraft obtains real-time coordinates and speed through RTK/GPS, the surrounding aircraft observes the position of the long aircraft through the laser radar to determine the position information of the surrounding aircraft, for the long aircraft which cannot be observed, the position information of the long aircraft is inferred through the aircraft with known coordinates and the predefined flight route position information, and the inter-aircraft networking communication system sends four-dimensional flight parameters of the aircraft to the surrounding aircraft and the ground station for determining the relative position between own aircraft;
processing the three-dimensional point cloud data to obtain Euclidean distance between each aircraft;
judging the relationship between the Euclidean distance and the safety distance between each aircraft, and adjusting the position of each aircraft to realize multi-aircraft intensive flight of the aircraft;
determining the minimum position of each aircraft detected by the laser radar relative to the aircraft carrying the laser radar according to the Euclidean distance calculated by the laser radar point cloud data processor of the aircraft, wherein the minimum position is used for ensuring the enough distance between the aircraft and ensuring the flight safety of the aircraft in formation; the ranking is performed using a rapid ranking method to obtain the minimum position of each aircraft detected from its surrounding aircraft.
2. The method for controlling collision avoidance of a multi-aircraft dense formation according to claim 1, wherein the aircraft in the formation scan surrounding aircraft by means of a laser radar, and the laser gyroscope in the laser radar can obtain distance information by measuring the flight time of the laser between the transmitting end and the target object through pulse ranging; the distance information can be obtained from the phase difference by phase ranging, which is based on intensity modulation of the continuous wave.
3. The method for controlling collision avoidance of a multi-aircraft dense formation of claim 1, wherein the acquiring three-dimensional point cloud data of an aircraft further comprises: processing measurement errors generated by Gaussian white noise in the laser radar scanning process, and filtering noise by using a Kalman filtering algorithm;
and processing measurement errors generated by Gaussian white noise in the laser radar scanning process, wherein the measurement errors comprise laser radar data protocol analysis, data conversion between radar coordinate axes and airplane coordinate axes and data unit conversion.
4. The method for controlling the anti-collision of the multi-aircraft dense formation of the aircraft according to claim 1, wherein the inter-aircraft networking communication system is a communication link network of a long aircraft and a wing aircraft; the method also comprises the following steps of constructing an inter-machine networking communication system: judging the position of the long machine; according to the characteristics of the laser radar sensing object surface colors, the object colors are different, the reflectivity of the laser radar measurement data is also different, and the long plane and the plane are judged according to the different appearance colors of the long plane and the plane.
5. The method for controlling the collision avoidance of a multi-aircraft dense formation according to claim 1, wherein the adjusting the positions of each aircraft is specifically: and adjusting the position of the aircraft by using an artificial potential field method, wherein the position of the aircraft is calculated by combining a gravitational field contained in a desired position and a repulsive force field of a close range obstacle, and the position with the largest descending gradient of the field energy is calculated by using a gradient descent method and is the final aircraft adjusting position.
6. An aircraft multi-aircraft dense formation anti-collision control system, comprising:
the first acquisition module is used for respectively scanning surrounding airplanes in formation to acquire three-dimensional point cloud data of the airplanes;
the building module is used for building an inter-aircraft networking communication system and sharing GPS position information and three-dimensional point cloud data of the formation aircraft in real time;
the second acquisition module is used for comparing the preset line of the aircraft with the real-time GPS position information, matching the position information of the shielded aircraft and acquiring the relative position of each aircraft;
the long aircraft obtains real-time coordinates and speed through RTK/GPS, the surrounding aircraft observes the position of the long aircraft through the laser radar to determine the position information of the surrounding aircraft, for the long aircraft which cannot be observed, the position information of the long aircraft is inferred through the aircraft with known coordinates and the predefined flight route position information, and the inter-aircraft networking communication system sends four-dimensional flight parameters of the aircraft to the surrounding aircraft and the ground station for determining the relative position between own aircraft;
the third acquisition module is used for processing the three-dimensional point cloud data and acquiring Euclidean distances among all the aircrafts;
the adjusting module is used for judging the relationship between the Euclidean distance and the safety distance among all the airplanes, adjusting the positions of all the airplanes and realizing multi-machine intensive flight of the airplanes;
determining the minimum position of each aircraft detected by the laser radar relative to the aircraft carrying the laser radar according to the Euclidean distance calculated by the laser radar point cloud data processor of the aircraft, wherein the minimum position is used for ensuring the enough distance between the aircraft and ensuring the flight safety of the aircraft in formation; the ranking is performed using a rapid ranking method to obtain the minimum position of each aircraft detected from its surrounding aircraft.
7. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any of claims 1-5 when the computer program is executed.
8. A computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the steps of the method according to any one of claims 1-5.
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