Supervision and control method for UAV threat avoidance by manned vehicle

A control method and unmanned aerial vehicle technology, applied in the field of unmanned aerial vehicles, can solve problems such as overload and loss of perception

Active Publication Date: 2017-12-19
航姿科技(北京)有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

There will be two problems in this way: ①The phenomenon of "overload" caused by too many tasks given to the operator by the complex and changeable environment; ②Because the unmanned system has too high authority, the operator loses the ability to perceiv

Method used

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  • Supervision and control method for UAV threat avoidance by manned vehicle
  • Supervision and control method for UAV threat avoidance by manned vehicle
  • Supervision and control method for UAV threat avoidance by manned vehicle

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0174] Step1: Define the supervisory control mode, environmental factors and threat avoidance actions

[0175] It can be seen from Table 5 that if the threat type is a known threat, then V6=1 and V3=0; if the threat value is high, then V7=1; if the threat distance is medium, then V4=0 and V2=1 and V1=0; if the communication is normal, Then V5=0. In addition, A1~A6 are initially 0, and the initial supervisory control mode is the exception management mode L3;

[0176] Step2: Reasoning and judgment of optional threat avoidance actions

[0177] The state vector is:

[0178]

[0179] Iterate it, and the output state vector is:

[0180]

[0181] The output results show that the optional actions of the UAV in Embodiment 1 are avoiding A2 and hovering and waiting for A4.

[0182] The UAV provides optional threat avoidance action results avoiding A2 and hovering and waiting A4 to the manned aircraft.

[0183] Step3: Final threat evasion action judgment

[0184] From Table 1...

Embodiment 2

[0189] Step1: Define the supervisory control mode, environmental factors and threat avoidance actions

[0190] It can be seen from Table 5 that if the threat type is an unknown threat, then V3=1 and V6=0; There is V5=0. In addition, A1 to A6 are initially 0, and the initial supervisory control mode is the exception management mode L3.

[0191] Step2: Reasoning and judgment of optional threat avoidance actions

[0192] The state vector is:

[0193]

[0194] Considering that the threat value is unknown (V7=-1), the information is incomplete, and the UAV cannot make a judgment, so it needs to interact with the manned machine.

[0195] Step3: Final threat evasion action judgment

[0196] Judgment condition b) of the situation that UAV needs to interact with man-machine is established, that is, the environmental factor contains unknown threat V3 and the value is "1". At this time, the UAV cannot make a judgment and cannot provide threat avoidance to man-machine in time The ...

Embodiment 3

[0210] Step1: Define the supervisory control mode, environmental factors and threat avoidance actions

[0211] It can be seen from Table 5 that if the threat type is an unknown threat, then V3=1 and V6=0; if the threat value is unknown, then V7=-1 (-1 means that the threat value is unknown); if the threat is far away, then V4=1 and V2=0 And V1=0; communication is normal, there is V5=0. In addition, A1 to A6 are initially 0, and the initial supervisory control mode is the exception management mode L3.

[0212] Step2: Reasoning and judgment of optional threat avoidance actions

[0213] The state vector is:

[0214]

[0215] Considering that the threat value is unknown (V7=-1), the information is incomplete, and the UAV cannot make a judgment, so it needs to interact with the manned machine.

[0216] Step3: Final threat evasion action judgment

[0217] The UAV cannot complete the threat avoidance decision independently, and at the same time, due to the interruption of comm...

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Abstract

The present invention provides a supervision and control method for UAV (unmanned aerial vehicle) threat avoidance by a manned vehicle, relating to the field of UAV. According to the method, a supervisory control mode, an environmental factor and threat avoidance action are defined and corresponding values are defined, the inference and judgment of optional threat avoidance actions is carried out, then a final threat avoidance action is judged according to a judgment result, and the threat avoidance is completed. For a known threat, the UAV fully plays independence ability to independently complete threat avoidance or completes operation under the guidance of the manned vehicle. For an unknown threat, the UAV completes avoidance under the guidance of the manned vehicle, and the autonomous execution ability of the UAV and the analysis and judgment ability of a manned vehicle operator are fully played. For an extreme case such as the interruption of communication, the UAV ensures its own safety through adjusting the supervisory control mode. A variable self-supervision and control mode is combined with the characteristics of UAV and the manned vehicle, and the method has good action ability in emergency for different threat types and environmental conditions.

Description

technical field [0001] The invention relates to the field of unmanned aerial vehicles, in particular to an avoidance judgment method. Background technique [0002] In the face of emergencies, the human-machine operator interacts with the UAV to ensure that the UAV completes the scheduled tasks. Supervisory control refers to manned aircraft interacting with UAVs intermittently, receiving feedback and giving instructions to process control UAVs in the mission environment. [0003] However, in the actual application of UAS threat avoidance, traditional methods generally use manual operations by operators to avoid threats, or use path planning, rules or automatic methods by calculating cost functions (generally taking range and threat as the main factors). Threat avoidance in a machine-based manner. There will be two problems in this way: ①The phenomenon of "overload" caused by too many tasks given to the operator by the complex and changeable environment; ②Because the unmanne...

Claims

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/101
Inventor 陈军邱勋杰张新伟符小卫
Owner 航姿科技(北京)有限公司
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