Platform and method for demonstration and verification of quadrotor UAV formation in trajectory control room

Abstract

The invention relates to the field of unmanned aerial vehicles, the field of embedded technology, and the field of Wi-Fi wireless data transmission. In order to break through the shortcomings of the traditional demonstration and verification platform in dealing with communication time lag and packet loss capabilities, the formation track planning is carried out in real time according to the flight status of the unmanned aerial vehicles. , to improve the formation flight demonstration effect of quadrotor drones. For this reason, the technical solution adopted by the present invention is that the trajectory control indoor four-rotor UAV formation demonstration verification platform is composed of the UAV terminal, the ground computer terminal and the indoor motion capture system. Close to the flight trajectory and flight state of the UAV formation, considering the dynamic model of the quadrotor UAV in the actual flight environment, design a real-time trajectory planning method for the quadrotor UAV based on the differential flat theory, and cooperate with the indoor motion capture system to realize Indoor multi-quadrotor UAV formation flight demonstration verification. The present invention is mainly applied to the demonstration occasion of unmanned aerial vehicle control.

Description

technical field [0001] The present invention relates to the field of unmanned aerial vehicles, the field of embedded technology, and the field of Wi-Fi wireless data transmission, and in particular to the field of intelligent control of UAV formations based on trajectory control. Specifically, it is a control method based on trajectory tracking, Multi-UAV system simulation and algorithm verification platform for Pixhawk flight control, Wi-Fi wireless network and Optitrack indoor motion capture system. Background technique [0002] Multi-UAV formation technology has been widely used in various practical tasks, such as search and rescue, inspection and automation industry. In these scenarios, multiple UAVs may need to form a specific formation to perform tasks, such as carrying different equipment to perform reconnaissance and surveillance, ground attack, electronic jamming, communication relay, target positioning, and effective attack damage. assessment tasks. Multi-UAV for...

AI Technical Summary

Problems solved by technology

However, the shortcomings of this type of platform are mainly reflected in the following aspects: (1) When the method based on sending the desired waypoint realizes the scene of the rapid flight of the UAV, a high communication bandwidth is usually required to maintain the desired waypoint. Refresh frequency, communication time lag, and packet loss will seriously affect the flight effect of the UAV; (2) The dynamic characteristics of the UAV itself are not considered in the process of offline path point planning, which limits the UAV's extreme flight capability. It cannot ensure that the UAV can obtain the optimal flight trajectory; (3) The control method based on sending expected way points cannot obtain accurate analytical solutions when obtaining multi-dimensional expected motion states, which brings difficulties to the design of the controller and is difficult to achieve. High-precision tracking of flight paths; (4) Most of the trajectory planning methods based on waypoints are offline path planning methods, which cannot change the UAV trajectory planning strategy in real time according to the dynamic map information

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