Indoor multi unmanned aerial vehicle formation flight simulation verification platform and achieving method thereof

Abstract

The invention relates to the technical field of multi unmanned aerial vehicle formation control, for achieving a demonstration platform for multi unmanned aerial vehicle formation flying at the same time on the basis of the simulation verification, and for a more visual display of the control effect of the multi unmanned aerial vehicle formation. The technical scheme is the achieving method of the indoor multi unmanned aerial vehicle formation flight simulation verification, the steps are, firstly utilizing an indoor positioning system through calibration to construct an indoor xyz three-dimensional coordinate system, utilizing a high speed infrared camera and according to marked points stuck on each unmanned aerial vehicle, capturing in real time and conducting pretreatments, transmitting to a ground based computer borrowing the help from a switch board; utilizing the ground based computer to conduct treatments to the data transmitted from camera, real time solving and calculating the current position of each unmanned aerial vehicle, and packing and transmitting to a ground based station through a TCP / IP agreement; adopting and borrowing the assistance from the ground based station of a ROS inter process communication mechanism, to finally achieve the simulation verification of multi unmanned aerial vehicle formation flight. The simulation verification platform is mainly applied for situations like multi unmanned aerial vehicle formation simulation verifications.

Description

technical field [0001] The present invention relates to the field of multi-UAV formation control technology, the field of wireless communication, and the field of embedded technology. Specifically, it is a set of multi-UAV composed of indoor positioning system, multi-UAV, ZigBee wireless transmission and ground station. Formation flight simulation verification platform. Background technique [0002] UAV technology has been relatively mature after decades of development, and it has played a unique role in both military and civilian applications. In the case of many harsh conditions and complex on-site environments that make it difficult for personnel to reach, drones provide us with a more suitable choice by virtue of their own advantages. However, in order to meet the challenges of the future, in addition to improving the function and utility of a stand-alone drone, it is also necessary to consider how to develop a more effective UAV management and organization model based ...

AI Technical Summary

Problems solved by technology

However, there are still many problems in the existing multi-UAV control methods. Most of the research is limited to theoretical simulation, and the actual verification of multi-UAV is still relatively small. Therefore, a set of multi-UAV formation flight simulation verification is built. The platform has become an urgent need for the further development of theoretical research

Images