CN117311388A - Formation patrol flight method and device for unmanned helicopter cluster - Google Patents
Formation patrol flight method and device for unmanned helicopter cluster Download PDFInfo
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Abstract
The invention discloses a method and a device for patrol flight of formation of an unmanned helicopter cluster, wherein the method comprises the following steps: one unmanned helicopter is arranged in the unmanned helicopter cluster to serve as a pilot plane, and other unmanned helicopters serve as slaves; each unmanned helicopter consists of a task computer, a communication board and a flight controller; the task computer of the unmanned helicopter acquires real-time state information and real-time position information of the current unmanned helicopter by using a flight controller, and generates a pre-planned route according to the current task of the unmanned helicopter cluster; the navigation machine broadcasts real-time state information, real-time position information and a pre-planned route of the navigation machine to the slave machine through the local area network; and the flight controller of the slave generates a preset route of the slave according to the received pre-planned route and the preset formation flight form, and controls the slave to maintain the formation flight form and the route. The method provided by the invention avoids the problems of difficult steering and large inertia of the large unmanned aerial vehicle, and has better performance on the formation flight task of the large unmanned helicopter.
Description
Technical Field
The invention relates to the technical field of unmanned cluster control, in particular to a formation patrol flight method and device of an unmanned helicopter cluster.
Background
Unmanned helicopter refers to unmanned rotor craft which is controlled by ground remote controller or automatic control mode, and has functions of vertical take-off and landing, hovering, flying in any direction, flying in low altitude, etc. The unmanned helicopter has the advantages of low cost for cultivating flight control hands, no casualties in the air and the like, wherein the large unmanned helicopter has the characteristics of long endurance time, large load weight and the like, and has wide application in the fields of disaster relief, transportation, reconnaissance, striking and the like. The large unmanned helicopter also has certain disadvantages, such as difficult steering of the helicopter and large inertia, so that the unmanned helicopter is difficult to execute formation flight tasks
The existing formation flight algorithm is mainly aimed at a small four-rotor unmanned aerial vehicle, the method generally enables the unmanned aerial vehicle to keep the formation of a small team by controlling the position of the unmanned aerial vehicle in real time, and the small four-rotor unmanned aerial vehicle and the large unmanned aerial vehicle have completely different dynamics models, so that the algorithm cannot be suitable for the formation flight task of a large helicopter.
Disclosure of Invention
The invention aims to solve the technical problems of providing a formation patrol flight method and device of an unmanned helicopter cluster, which are characterized in that the linear speed of an unmanned helicopter is controlled respectively to ensure that the slave maintains the formation distance, the angular speed is controlled to ensure that the unmanned helicopter is in a route, the problems of difficult steering and large inertia of a large unmanned helicopter are avoided, and the formation flight task of the large unmanned helicopter is well represented.
In order to solve the technical problems, a first aspect of the embodiment of the invention discloses a formation patrol flight method of an unmanned helicopter cluster, which comprises the following steps:
s1, setting one unmanned helicopter as a pilot aircraft in an unmanned helicopter cluster, and setting other unmanned helicopters as slaves; each unmanned helicopter consists of a task computer, a communication board and a flight controller;
s2, the mission computer of the pilot utilizes a flight controller to acquire real-time state information and real-time position information of the current pilot, and a pre-planned route is generated according to the current mission of the unmanned helicopter cluster;
s3, broadcasting the real-time state information, the real-time position information and the pre-planned route of the navigator to the slaves through the local area network by the navigator;
s4, the flight controller of the slave generates a preset route of the slave according to the received preset route and the preset formation flight form, and controls the slave to maintain the formation flight form and the route.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, the unmanned helicopter in the unmanned helicopter cluster is a large unmanned helicopter;
the large unmanned helicopter is a single-rotor aircraft with a take-off weight of more than 500kg, a load weight of more than 100kg and a duration of more than 7 hours;
the formation flying formation is an arbitrary polygonal rigid body, and the unmanned helicopter is positioned on the vertex of the arbitrary polygonal rigid body.
In a first aspect of the embodiment of the present invention, the communication board is configured to form a local area network in the unmanned helicopter cluster, and ensure that the unmanned helicopter cluster maintains a formation flight formation and a route through real-time communication between the navigation engine and the slave.
In an optional implementation manner, in the first aspect of the embodiment of the present invention, the task computer of the pilot uses the flight controller to generate a location point of the slave according to a preset formation flight formation, and connects the location point according to a serial number.
In a first aspect of the embodiment of the present invention, the flight controller of the slave generates a preset route of the slave according to the received preset route and the preset formation flight form, and controls the slave to maintain the formation flight form and the route, including:
s41, the flight controller of the slave generates a preset route of the slave according to the position of the slave in the formation;
s42, controlling the linear velocity of the slave machine to keep the formation distance by the flight controller of the slave machine;
s43, the flight controller of the slave machine controls the angular velocity of the slave machine to keep a preset route.
In a first aspect of the embodiment of the present invention, the flight controller of the slave machine controls the linear velocity of the slave machine to maintain the formation distance, including:
the flight controller of the slave machine controls the linear speed of the slave machine to be:
v′＝v+K p (r′-r)
wherein r is the distance between the pilot and the slave in the set formation, r 'is the distance between the pilot and the slave in the actual flight process, v is the flight speed of the pilot, v' is the self linear speed of the slave, and K p Is a proportionality coefficient.
In a first aspect of the embodiment of the present invention, the flight controller of the slave machine controls the angular velocity of the slave machine to maintain a preset course, including:
the flight controller of the slave machine controls the angular velocity of the slave machine to be:
wherein v is the current linear velocity of the slave, r is the distance from the slave to the target position point when the route is switched, θ is the included angle between the front route and the next route, and ω is the angular velocity of the slave itself.
The second aspect of the embodiment of the invention discloses a formation patrol flight device of an unmanned helicopter cluster, which comprises:
the unmanned helicopter cluster setting module is used for setting one unmanned helicopter as a pilot aircraft in the unmanned helicopter cluster, and the other unmanned helicopters as slaves; each unmanned helicopter consists of a task computer, a communication board and a flight controller;
the pilot planning module is used for acquiring real-time state information and real-time position information of the current pilot by using a flight controller by a task computer of the pilot and generating a pre-planned route according to the current task of the unmanned helicopter cluster;
the pilot information broadcasting module is used for broadcasting the real-time state information, the real-time position information and the pre-planned route of the pilot to the slaves through the local area network;
the slave planning track module is used for the flight controller of the slave, generating a preset route of the slave according to the received preset route and the preset formation flight form, and controlling the slave to maintain the formation flight form and the route.
As an optional implementation manner, in a second aspect of the embodiment of the present invention, the unmanned helicopter in the unmanned helicopter cluster is a large unmanned helicopter;
the large unmanned helicopter is a single-rotor aircraft with a take-off weight of more than 500kg, a load weight of more than 100kg and a duration of more than 7 hours;
the formation flying formation is an arbitrary polygonal rigid body, and the unmanned helicopter is positioned on the vertex of the arbitrary polygonal rigid body.
In a second aspect of the embodiment of the present invention, the communication board is configured to form a local area network in the unmanned helicopter cluster, and ensure that the unmanned helicopter cluster maintains a formation flight formation and a line through real-time communication between the navigation device and the slave device.
In a second aspect of the embodiment of the present invention, the task computer of the pilot uses the flight controller to generate the location point of the slave according to the preset formation flight formation, and connects the location points according to the serial numbers.
In a second aspect of the embodiment of the present invention, the flight controller of the slave generates a preset route of the slave itself according to the received preset route and the preset formation flight form, and controls the slave to maintain the formation flight form and the route, including:
s41, the flight controller of the slave generates a preset route of the slave according to the position of the slave in the formation;
s42, controlling the linear velocity of the slave machine to keep the formation distance by the flight controller of the slave machine;
s43, the flight controller of the slave machine controls the angular velocity of the slave machine to keep a preset route.
In a second aspect of the embodiment of the present invention, the flight controller of the slave machine controls the linear velocity of the slave machine to maintain the formation distance, including:
the flight controller of the slave machine controls the linear speed of the slave machine to be:
v′＝v+K p (r′-r)
wherein r is the distance between the pilot and the slave in the set formation, r 'is the distance between the pilot and the slave in the actual flight process, v is the flight speed of the pilot, v' is the self linear speed of the slave, and K p Is a proportionality coefficient.
In a second aspect of the embodiment of the present invention, the flight controller of the slave machine controls the angular velocity of the slave machine to maintain a preset course, including:
the flight controller of the slave machine controls the angular velocity of the slave machine to be:
wherein v is the current linear velocity of the slave, r is the distance from the slave to the target position point when the route is switched, θ is the included angle between the front route and the next route, and ω is the angular velocity of the slave itself.
The third aspect of the invention discloses another formation patrol flight device of an unmanned helicopter cluster, which comprises:
a memory storing executable program code;
a processor coupled to the memory;
the processor invokes the executable program codes stored in the memory to execute part or all of the steps in the formation patrol flight method of the unmanned helicopter cluster disclosed in the first aspect of the embodiment of the invention.
A fourth aspect of the invention discloses a computer-readable medium storing computer instructions that, when invoked, are adapted to perform part or all of the steps in a method for forming a patrol flight of an unmanned helicopter cluster disclosed in the first aspect of the invention.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
in order to effectively carry out the task of formation flight of a large unmanned helicopter, the invention provides a method suitable for formation flight of the large unmanned helicopter. According to the method, a unique unmanned helicopter is designated as a pilot, after the pilot generates a pre-planned route, information such as the route, speed and position of the pilot is broadcast to other slaves, after the slaves receive the route, the slaves generate own route according to the formation, then the linear speeds of the unmanned aerial vehicles are respectively controlled to enable the slaves to keep the formation distance, and the angular speeds are controlled to ensure that the unmanned aerial vehicles are in the route. According to the method, the angular speed and the linear speed of the unmanned helicopter are controlled separately, so that the problem of large inertia and slow steering of the large unmanned helicopter is solved, and the forming speed of the large unmanned helicopter formation and the stability of formation flight are effectively improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other 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 a method for patrol flight of unmanned helicopter clusters according to an embodiment of the present invention;
FIG. 2 is a flow chart of another method of patrol flight of unmanned helicopter clusters disclosed in an embodiment of the invention;
fig. 3 is a main step of a method for patrol flight of unmanned helicopter clusters according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a large unmanned aerial vehicle formation flight according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a patrol flight device for formation of an unmanned helicopter cluster according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a patrol flight device for formation of another unmanned helicopter cluster according to an embodiment of the invention.
Detailed Description
In order to make the present invention better understood by those skilled in the art, the following description will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. 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.
The terms first, second and the like in the description and in the claims and in the above-described figures are used for distinguishing between different objects and not necessarily for describing a sequential or chronological order. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, apparatus, article, or device that comprises a list of steps or elements is not limited to the list of steps or elements but may, in the alternative, include other steps or elements not expressly listed or inherent to such process, method, article, or device.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the invention. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
The invention discloses a method and a device for patrol flight of formation of an unmanned helicopter cluster, wherein the method comprises the following steps: the invention discloses a method and a device for patrol flight of formation of an unmanned helicopter cluster, wherein the method comprises the following steps: one unmanned helicopter is arranged in the unmanned helicopter cluster to serve as a pilot plane, and other unmanned helicopters serve as slaves; each unmanned helicopter consists of a task computer, a communication board and a flight controller; the task computer of the unmanned helicopter acquires real-time state information and real-time position information of the current unmanned helicopter by using a flight controller, and generates a pre-planned route according to the current task of the unmanned helicopter cluster; the navigation machine broadcasts real-time state information, real-time position information and a pre-planned route of the navigation machine to the slave machine through the local area network; and the flight controller of the slave generates a preset route of the slave according to the received pre-planned route and the preset formation flight form, and controls the slave to maintain the formation flight form and the route. The method provided by the invention avoids the problems of difficult steering and large inertia of the large unmanned aerial vehicle, and has better performance on the formation flight task of the large unmanned helicopter. The following will describe in detail.
Example 1
Referring to fig. 1, fig. 1 is a schematic flow chart of a method for forming a patrol flight of an unmanned helicopter cluster according to an embodiment of the invention. The formation patrol flight method of the unmanned helicopter cluster described in fig. 1 is applied to the field of unmanned cluster control, and is used for formation flight control of a large unmanned helicopter cluster, and the embodiment of the invention is not limited. As shown in fig. 1, the method of formation patrol flight of the unmanned helicopter cluster may include the following operations:
s1, setting one unmanned helicopter as a pilot aircraft in an unmanned helicopter cluster, and setting other unmanned helicopters as slaves; each unmanned helicopter consists of a task computer, a communication board and a flight controller;
s2, the mission computer of the pilot utilizes a flight controller to acquire real-time state information and real-time position information of the current pilot, and a pre-planned route is generated according to the current mission of the unmanned helicopter cluster;
generating a pre-planned route and specifically executing tasks, such as generating a straight line or generating an arcuate curve to perform area coverage and the like;
s3, broadcasting the real-time state information, the real-time position information and the pre-planned route of the navigator to the slaves through the local area network by the navigator;
s4, the flight controller of the slave generates a preset route of the slave according to the received preset route and the preset formation flight form, and controls the slave to maintain the formation flight form and the route.
Optionally, the unmanned helicopter in the unmanned helicopter cluster is a large unmanned helicopter;
the large unmanned helicopter is a single-rotor aircraft with a take-off weight of more than 500kg, a load weight of more than 100kg and a duration of more than 7 hours;
the formation flying formation is an arbitrary polygonal rigid body, and the unmanned helicopter is positioned on the vertex of the arbitrary polygonal rigid body.
Optionally, the communication board is used for forming a local area network in the unmanned helicopter cluster, and the unmanned helicopter cluster is ensured to keep formation flight formation and route through real-time communication between the navigation machine and the slave machine.
Optionally, the mission computer of the pilot machine generates position points of the slave machine according to a preset formation flight formation by using a flight controller, and connects the position points according to serial numbers.
Optionally, the flight controller of the slave generates a preset route of the slave according to the received preset route and the preset formation flight form, and controls the slave to maintain the formation flight form and the route, including:
s41, the flight controller of the slave generates a preset route of the slave according to the position of the slave in the formation;
s42, controlling the linear velocity of the slave machine to keep the formation distance by the flight controller of the slave machine;
s43, the flight controller of the slave machine controls the angular velocity of the slave machine to keep a preset route.
Optionally, the flight controller of the slave machine controls the linear velocity of the slave machine to maintain the formation distance, including:
the flight controller of the slave machine controls the linear speed of the slave machine to be:
v′＝v+K p (r′-r)
wherein r is the distance between the pilot and the slave in the set formation, r 'is the distance between the pilot and the slave in the actual flight process, v is the flight speed of the pilot, v' is the self linear speed of the slave, and K p As a scaling factor, the debugging can be performed according to actual conditions.
Optionally, the flight controller of the slave machine controls the angular velocity of the slave machine to maintain a preset route, including:
the flight controller of the slave machine controls the angular velocity of the slave machine to be:
wherein v is the current linear velocity of the slave, r is the distance from the slave to the target position point when the route is switched, θ is the included angle between the front route and the next route, and ω is the angular velocity of the slave itself.
Example two
Referring to fig. 2, fig. 2 is a schematic flow chart of another method for forming a patrol flight of an unmanned helicopter cluster according to an embodiment of the invention. The formation patrol flight method of the unmanned helicopter cluster described in fig. 2 is applied to the field of unmanned cluster control, and is used for formation flight control of a large unmanned helicopter cluster, and the embodiment of the invention is not limited. As shown in fig. 2, the method of formation patrol flight of the unmanned helicopter cluster may include the following operations:
the large unmanned helicopter is a single-rotor aircraft with a take-off weight of more than 500kg, a load weight of more than 100kg and a duration of more than 7 hours.
The formation flying formation is any polygonal rigid body, and the airplane position is positioned on the polygonal vertex.
Optionally, the formation algorithm is a formation control algorithm based on a pilot following method, the unique unmanned helicopter is designated as a pilot, and other unmanned helicopters (slaves) in the team move according to the current position of the pilot, a route is preset and a formation is set so as to ensure that the helicopter in the team can keep the formation.
Optionally, the formation algorithm is an improved artificial potential field method, and the artificial potential field method is the prior art, and the invention considers the distance between the plane and the target point, and adds a coefficient term in the original repulsive force function: X-X d | n The repulsive force function after improvement is:
wherein: u (U) rep (X) repulsive force field of obstacle, k r Then the repulsive force potential field constant is represented as a positive number, ρ is the distance between the aircraft and the obstacle in the spatial position, ρ 0 In order to take the repulsive force potential field influence range with the obstacle as the center, X is the airplane position vector and X d Is the target point position vector, ρ (X, X g ) Representing the euclidean distance of the aircraft to the obstacle, n is any real number greater than zero. Wherein the relative distance between the plane and the target point is |X-X d | n ＝|(x-x d ) n |+|(y-y d )| n The relative distance between the plane and the target point is introduced into the original repulsive force function, so that the position of the target point in the whole potential field, which is the global minimum, is ensured. Aiming at the problem that a plurality of local minimum points possibly exist in a potential field, simulated annealing is added in an artificial potential field methodThe algorithm is mainly used for carrying out local optimal optimization on the model by using the jump characteristic of the simulated annealing algorithm. An initial temperature and an initial state are given, and an appropriate annealing speed is given. Along with the advancing of the airplane, the initial temperature is slowly reduced, in the process of reducing the temperature, the simulated annealing algorithm calculates the potential field intensity in each state, meanwhile, a random disturbance is given in each state, the difference between the potential field intensity in a new state and the potential field intensity in the initial state is calculated, the difference is analyzed, and if the difference is smaller than or equal to zero, the program accepts the new state; if the difference is greater than zero, the new state is accepted with a certain probability, otherwise the original initial state is reserved. By doing so, the situation that the aircraft generates local minimum values in the traveling process can be avoided.
Furthermore, the formation control and obstacle avoidance of the unmanned helicopter cluster are carried out by adopting the method of combining the improved artificial potential field method and the PID, wherein the PID is an improved fuzzy position type PID algorithm, the helicopter is subjected to the action of attractive force and repulsive force when approaching to the influence range of the obstacle, the resultant force direction at the moment is calculated, and the calculation method of the resultant force is the improved artificial potential field method. And applying an obstacle avoidance displacement offset to the original formation target point in the resultant force direction of the helicopter to obtain a new formation target point far away from the obstacle. The offset size T is calculated as follows:
wherein delta is an offset coefficient, and F is the magnitude of resultant force; r is (r) obst-min R is the current nearest obstacle radius robot Is the radius of the helicopter; ρ (q) goal ',q obst-min ) Representing the distance between the target point and the nearest obstacle after the offset; t (T) max The maximum offset value is determined experimentally.
In the method, the obstacle avoidance output is the displacement of the original target point, the control link is positioned in front of the triaxial fuzzy PID formation controller, and the target value of the formation controller is substantially and directly changed, so that the calculation of PID errors directly takes the offset formation target point as a reference, the control effect cannot conflict with formation control, and the control effect cannot be corrected due to the disturbance introduced into the PID control loop.
The triaxial fuzzy PID formation controller dynamically adjusts PID parameters through fuzzy control, and manual inaccurate setting is avoided. PID (Proportional-integral-derivative Control) is a classical closed-loop control algorithm, a single-input single-output controller of an accurate system model is not required to be established, and a control formula is as follows:
wherein K is p 、T i 、T d Respectively proportional, integral and differential constants, e (t) is an error, e c And (t) is the error change rate, t is time, and u (t) is output.
The fuzzy controller input is error e (t) and error change rate e c (t) output is K p 、K i 、K d Delta ΔK of (1) p 、ΔK i 、ΔK d 。
(1) Determining input and output fuzzy subsets and membership functions
Blurring the input and output into 7 fuzzy subsets { NB, NM, NS, Z, PS, PM, PB }, inputs e (t), e c (t) outputting ΔK using a bell-shaped membership function p 、ΔK i 、ΔK d A triangular membership function is used.
(2) Establishing fuzzy inference rules
K needs to be increased when the error is larger p Thereby accelerating the error adjustment speed, and since the distance from the target value is far, K can be ignored p Excessive overshoot problem caused by excessive size, and K needs to be reduced when the error is small p Thereby controlling the overshoot of the system and the oscillation near the target point; the K can be properly increased when the error is small i To enhance the sensitivity of the system to small errors so as to quickly eliminate steady-state errors, and to reduce K when the errors are larger i The control master is assigned to the more rapid-response proportional control; k needs to be increased when the error change rate is large d The damping characteristic of the controller to error change is enhanced, so that system oscillation is quickly restrained, system overshoot is reduced, and K is reduced when the error change rate is small d . The error e (t) and the rate of change e thereof can be determined according to the principles described above c (t) and output ΔK p 、ΔK i 、ΔK d Fuzzy inference relation between them.
(3) Deblurring
And outputting the control value by the area center of gravity method. And calculating the gravity center of the area surrounded by the output membership function curve corresponding to the fuzzy set and the x-axis, and obtaining a fuzzy solution result, namely an abscissa value of the gravity center.
The controller inputs R as the formation target point (x, y) and the target course angle theta under the piloting helicopter coordinate system, R= [ x, y, theta ]] T The method comprises the steps of carrying out a first treatment on the surface of the The direct output V of the controller is used for ensuring the speed V of the X-axis and the Y-axis of the slave machine towards each axis target x 、V y Z-axis angular velocity V z I.e. v= [ V x ,V y ,V z ] T . The system closed loop feedback is realized through laser and inertial navigation positioning, and the feedback quantity is real-time x-axis coordinates, y-axis coordinates and z-axis course angles of a slave machine (following).
The method for controlling the movement of the slave in the formation algorithm is to control the linear speed and the angular speed of the helicopter, wherein the angular speed is controlled according to a slave preset route generated from a slave preset route of the pilot, and the linear speed is controlled according to the distance between the slave and the pilot.
The preset route in the formation algorithm is composed of a series of position points with serial numbers, and the sequence of the helicopter reaching the position points is represented.
The method for generating the slave preset route of the pilot preset route comprises the steps of generating the position point of the slave according to the set formation for each position point in the preset route, and connecting the position points according to the serial numbers to form the route of the corresponding slave.
The formation patrol flight method of the unmanned helicopter cluster shown in fig. 3 mainly comprises three components of a slave machine pre-planning track, linear speed control and angular speed control. Fig. 4 shows a schematic structural diagram of a large unmanned aerial vehicle formation flight provided in this embodiment, and each unmanned helicopter is composed of a task computer, a communication board, and a flight controller.
The task computer acquires the real-time state and the position of the current unmanned aerial vehicle through the flight controller, generates a pre-planned route according to the current task of the helicopter team, broadcasts real-time state information and the pre-planned route through a local area network, calculates the angular velocity and the linear velocity according to the formation flight algorithm, and sends the angular velocity and the linear velocity into the flight controller.
After the flight controller obtains the angular velocity and the linear velocity, the aircraft is controlled by a helicopter control algorithm, so that the aircraft maintains the set linear velocity and angular velocity. The helicopter control algorithm is related to flight control and hardware of the helicopter, belongs to the prior art, and is not limited by the invention.
The helicopter control algorithm is a method combining an improved artificial potential field method and PID.
The communication board forms a local area network among the unmanned aerial vehicle teams, and ensures that the unmanned aerial vehicle teams can keep forming teams through real-time communication among the navigation machine and all the slaves.
Generating a slave pre-planning track: the pilot maps out a route consisting of a series of location points and transmits the route to each slave machine through the Fasttps protocol, and each slave machine generates a route of the local machine according to the position of the slave machine in the formation after receiving the route.
By controlling the angular speed of the unmanned helicopter, the unmanned helicopter is ensured to be positioned in the route, and the method is also applicable to the navigation machine and the slave machine.
When the unmanned helicopter is in one route, the heading angle of the unmanned helicopter is towards the next target point, and the change is not needed, and the angular speed is set to be 0.
And acquiring the position information of the unmanned aerial vehicle in real time, and when the distance between the unmanned aerial vehicle and the route end point is smaller than a threshold value, starting the route switching of the unmanned helicopter, and switching the angular speed of the route so as to ensure that the unmanned helicopter can enter the next route. The method comprises the following steps:
the angular speed omega of the helicopter is 0 when the helicopter is in a course and the angular speed omega of the helicopter is 0 when the helicopter is in a courseWhen the current line is cut into the next line from the current line, the current line speed of the helicopter is set as v, the distance from the target position point when the line is switched is set as r, the included angle between the current line and the next line is theta, and the angular speed needs to be satisfiedTo ensure that the helicopter can cut into the next course.
The navigation machine broadcasts the position, speed and other information of the navigation machine in real time through the Fastps protocol, each slave machine adjusts the linear speed after receiving the relevant information of the navigation machine, the closed loop feedback of the system is realized through laser and inertial navigation positioning, and the feedback quantity is the real-time x-axis coordinate, the real-time y-axis coordinate and the real-time z-axis course angle of the slave machine respectively. So that the unmanned aerial vehicle team can maintain the formation during the flight. The method comprises the following steps:
the purpose of the control of the linear speed of the helicopter is to enable a helicopter team to keep a formation, the distance between the pilot and the slave in the formation is set to be r, the distance between the pilot and the slave in the actual flight process is set to be r ', the flight speed of the pilot is set to be v' =v+k, and the flight speed v 'of the slave is set to be v' =v+k p (r′-r)。
Example III
Referring to fig. 5, fig. 5 is a schematic structural diagram of a formation patrol flight device of an unmanned helicopter cluster according to an embodiment of the invention. The formation patrol flight device of the unmanned helicopter cluster described in fig. 5 is applied to the field of unmanned cluster control, and is used for performing formation flight control of a large unmanned helicopter cluster. As shown in fig. 5, the formation patrol flight device of the unmanned helicopter cluster may include the following operations:
s301, an unmanned helicopter cluster setting module, which is used for setting one unmanned helicopter as a pilot in the unmanned helicopter cluster and other unmanned helicopters as slaves; each unmanned helicopter consists of a task computer, a communication board and a flight controller;
s302, a pilot planning module, wherein a task computer of the pilot is used for acquiring real-time state information and real-time position information of a current pilot by using a flight controller, and generating a pre-planned route according to a current task of an unmanned helicopter cluster;
s303, a pilot information broadcasting module, which is used for broadcasting the real-time state information, the real-time position information and the pre-planned route of the pilot to the slaves through a local area network by the pilot;
s304, a slave planning track module is used for a flight controller of the slave, generating a preset route of the slave according to the received preset route and the preset formation flight form, and controlling the slave to maintain the formation flight form and the route.
Example IV
Referring to fig. 6, fig. 6 is a schematic structural diagram of another formation patrol flight device of an unmanned helicopter cluster according to an embodiment of the invention. The formation patrol flight device of the unmanned helicopter cluster described in fig. 6 is applied to the field of unmanned cluster control, and is used for performing formation flight control of a large unmanned helicopter cluster. As shown in fig. 6, the formation patrol flight device of the unmanned helicopter cluster may include the following operations:
a memory 401 storing executable program codes;
a processor 402 coupled with the memory 401;
the processor 402 invokes executable program code stored in the memory 401 for performing the steps in the method of formation patrol flight of the unmanned helicopter cluster described in embodiment one, embodiment two.
Example five
The embodiment of the invention discloses a computer readable storage medium which stores a computer program for electronic data exchange, wherein the computer program enables a computer to execute the steps in the formation patrol flight method of the unmanned helicopter cluster described in the first embodiment and the second embodiment.
The apparatus embodiments described above are merely illustrative, in which the modules illustrated as separate components may or may not be physically separate, and the components shown as modules may or may not be physical, i.e., may be located in one place, or may be distributed over multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above detailed description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course by means of hardware. Based on such understanding, the foregoing technical solutions may be embodied essentially or in part in the form of a software product that may be stored in a computer-readable storage medium including Read-Only Memory (ROM), random-access Memory (Random Access Memory, RAM), programmable Read-Only Memory (Programmable Read-Only Memory, PROM), erasable programmable Read-Only Memory (Erasable Programmable Read Only Memory, EPROM), one-time programmable Read-Only Memory (OTPROM), electrically erasable programmable Read-Only Memory (EEPROM), compact disc Read-Only Memory (Compact Disc Read-Only Memory, CD-ROM) or other optical disc Memory, magnetic disc Memory, tape Memory, or any other medium that can be used for computer-readable carrying or storing data.
Finally, it should be noted that: the embodiment of the invention discloses a formation patrol flight method and device of an unmanned helicopter cluster, which are disclosed by the embodiment of the invention only as a preferred embodiment of the invention, and are only used for illustrating the technical scheme of the invention, but not limiting the technical scheme; although the invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that; the technical scheme recorded in the various embodiments can be modified or part of technical features in the technical scheme can be replaced equivalently; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions.
Claims (10)
1. A method of patrolling a formation of an unmanned helicopter cluster, the method comprising:
s1, setting one unmanned helicopter as a pilot aircraft in an unmanned helicopter cluster, and setting other unmanned helicopters as slaves; each unmanned helicopter consists of a task computer, a communication board and a flight controller;
s2, the mission computer of the pilot utilizes a flight controller to acquire real-time state information and real-time position information of the current pilot, and a pre-planned route is generated according to the current mission of the unmanned helicopter cluster;
s3, broadcasting the real-time state information, the real-time position information and the pre-planned route of the navigator to the slaves through the local area network by the navigator;
s4, the flight controller of the slave generates a preset route of the slave according to the received preset route and the preset formation flight form, and controls the slave to maintain the formation flight form and the route.
2. The method of patrolling a formation of a cluster of unmanned helicopters according to claim 1, wherein the unmanned helicopters in the cluster of unmanned helicopters are large unmanned helicopters;
the large unmanned helicopter is a single-rotor aircraft with a take-off weight of more than 500kg, a load weight of more than 100kg and a duration of more than 7 hours;
the formation flying formation is an arbitrary polygonal rigid body, and the unmanned helicopter is positioned on the vertex of the arbitrary polygonal rigid body.
3. The method for patrol flight of unmanned helicopter clusters according to claim 1, wherein said communication board is used for forming a local area network in the unmanned helicopter clusters, and ensuring that said unmanned helicopter clusters maintain formation flight formations and airlines by real-time communication between the unmanned helicopter clusters and slaves.
4. The method for the formation patrol flight of the unmanned helicopter cluster according to claim 1, wherein the mission computer of the pilot machine generates the position points of the slaves according to the preset formation flight formation by using a flight controller, and connects the position points according to serial numbers.
5. The unmanned helicopter cluster formation patrol flight method according to claim 1, wherein the slave's flight controller generates a slave's own preset course from the received preset course and preset formation flight form, and controls the slave to maintain the formation flight form and course, comprising:
s41, the flight controller of the slave generates a preset route of the slave according to the position of the slave in the formation;
s42, controlling the linear velocity of the slave machine to keep the formation distance by the flight controller of the slave machine;
s43, the flight controller of the slave machine controls the angular velocity of the slave machine to keep a preset route.
6. The method of claim 5, wherein the flight controller of the slave controls the slave to maintain the line speed of the slave to maintain the formation distance, comprising:
the flight controller of the slave machine controls the linear speed of the slave machine to be:
v′＝v+K p (r′-r)
wherein r is the distance between the pilot and the slave in the set formation, r 'is the distance between the pilot and the slave in the actual flight process, v is the flight speed of the pilot, v' is the self linear speed of the slave, and K p Is a proportionality coefficient.
7. The method of claim 5, wherein the flight controller of the slave controls the angular velocity of the slave to maintain a predetermined course, comprising:
the flight controller of the slave machine controls the angular velocity of the slave machine to be:
wherein v is the current linear velocity of the slave, r is the distance from the slave to the target position point when the route is switched, θ is the included angle between the front route and the next route, and ω is the angular velocity of the slave itself.
8. A device for patrol flight of a cluster of unmanned helicopters, the device comprising:
the unmanned helicopter cluster setting module is used for setting one unmanned helicopter as a pilot aircraft in the unmanned helicopter cluster, and the other unmanned helicopters as slaves; each unmanned helicopter consists of a task computer, a communication board and a flight controller;
the pilot planning module is used for acquiring real-time state information and real-time position information of the current pilot by using a flight controller by a task computer of the pilot and generating a pre-planned route according to the current task of the unmanned helicopter cluster;
the pilot information broadcasting module is used for broadcasting the real-time state information, the real-time position information and the pre-planned route of the pilot to the slaves through the local area network;
the slave planning track module is used for the flight controller of the slave, generating a preset route of the slave according to the received preset route and the preset formation flight form, and controlling the slave to maintain the formation flight form and the route.
9. A device for patrol flight of a cluster of unmanned helicopters, the device comprising:
a memory storing executable program code;
a processor coupled to the memory;
the processor invokes the executable program code stored in the memory to perform the method of formation patrol flight of the unmanned helicopter cluster as claimed in any of claims 1-7.
10. A computer-storable medium storing computer instructions that, when invoked, are adapted to perform the method of formation patrol flight of the unmanned helicopter cluster according to any one of claims 1-7.
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| CN115686004A (en) * | 2022-10-27 | 2023-02-03 | 南京长峰航天电子科技有限公司 | Path dynamic planning method based on unmanned ship distributed formation control |
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| CN115686004A (en) * | 2022-10-27 | 2023-02-03 | 南京长峰航天电子科技有限公司 | Path dynamic planning method based on unmanned ship distributed formation control |
| CN115686004B (en) * | 2022-10-27 | 2024-07-19 | 南京长峰航天电子科技有限公司 | Unmanned ship decentralized formation control-based path dynamic planning method |
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