Space-time synchronization matching method used for double unmanned aerial vehicle cooperation

Abstract

The invention discloses a space-time synchronization matching method used for double unmanned aerial vehicle cooperation. According to the method, cooperation costs from the current node to all expandable nodes of each unmanned aerial vehicle are calculated according to a defined double unmanned aerial vehicle cooperation cost function, the expandable node with the lowest cooperation cost is selected as an expandable flight track node, and therefore current flight track sections of double unmanned aerial vehicles are obtained. The double unmanned aerial vehicle cooperation cost function overcomes the defect that in an existing method, a cost function only considers flight track planning constrain conditions of a single unmanned aerial vehicle, in this way, double unmanned aerial vehicle synchronization is added in the process of generating flight track points, and the method is closer to the real process. Flight tracks of the double unmanned aerial vehicles are divided into flight track sections, time cooperation is converted into a flight track cost which is embedded into the cost function of flight track section planning of each unmanned aerial vehicle, time deviation and flight track conflicts when the double unmanned aerial vehicles reach flight track section nodes are eliminated, and the problem that in the prior art, flight track planning and task cooperation are separated, and influences on flight track planning by space-time synchronization are not considered is solved.

Description

technical field [0001] The invention relates to the field of unmanned systems, and specifically describes a time-space synchronization matching method for dual-UAV cooperation. Background technique [0002] As an emerging means of reconnaissance, UAVs provide an important supplement to manned reconnaissance aircraft and reconnaissance satellites. In the process of performing reconnaissance missions, UAVs have unique advantages: (1) UAVs can stay in the sky over designated areas , to conduct long-term continuous circling reconnaissance. (2) The flight trajectory of UAV is changeable, it is not easy to be tracked, and it has strong survivability. (3) High-altitude flying drones are less affected by the natural environment, etc., with high detection accuracy and small information transmission delay. (4) The cost of UAV task execution is relatively low, and it can obtain high intelligence information, which has a high cost-effectiveness ratio. Therefore, there is an increasin...

AI Technical Summary

Problems solved by technology

However, in the above research, the constraints of the actual flight of the UAV and the planning task objectives are all simplified, avoiding the complexity of the real problem, resulting in a decrease in the applicability and effectiveness of the method. Perform modeling and analysis, lack of analysis of uncertainty in collaborative tasks

In the actual task execution of UAVs, affected by factors such as meteorological conditions and UAV flight control conditions, there are uncertainties in the space-time coordination of multiple UAVs, that is, it is difficult to achieve the time and space coordination of multiple UAVs. The space is completely synchronized, so it brings great difficulty to the formation control of multiple UAVs and the execution of tightly coupled tasks, and it has also become a difficult problem for multi-UAV mission coordination

Images