UAV formation flight control method and UAV

Abstract

The invention discloses a UAV formation flight control method and a UAV and relates to the technical field of UAVs. The main purpose of the method is to reasonably adjust the flight speed of the UAVsaccording to the four-dimension information of waypoints to ensure that the UAVs fly to the target waypoints at scheduled time to improve the accuracy and time synchronization of the UAV formation flight control. The method comprises determining the first spatial position information and the first time node information of the UAVs at a current waypoint, and the second spatial position informationand a second time node information of a target waypoint when a formation flight mission is received; adjusting the flight speed of the UAVs according to the first spatial position information, the first time node information, the second spatial position information, and the second time node information; controlling the UAVs to fly to the target waypoint at a time node corresponding to the second time node information according to the adjusted flight speed. The UAV formation flight control method is applicable to the control of UAV formation flight.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle formation flight control method and an unmanned aerial vehicle. Background technique [0002] With the continuous development of information technology, unmanned aerial vehicle (UAV) refers to an unmanned aircraft controlled by radio remote control equipment and self-contained program control device. In recent years, UAVs have been widely used in aerial photography, power inspection, environmental monitoring, forest fire prevention, disaster inspection, anti-terrorism lifesaving, military reconnaissance, battlefield assessment and other fields. Known and loved by everyone, drones have gradually entered the lives of ordinary people. People usually control UAVs to fly in formation, that is, to control UAVs to fly according to the preset flight plan, and when they fly to the predetermined waypoint position in the plan, they will perform f...

AI Technical Summary

Problems solved by technology

However, during the formation flight of UAVs, the flight conditions of each UAV are different, such as the initial flight status of the UAVs, the hardware flight conditions, etc. If the above-mentioned method controls the UAV formation flight, it will cause The synchronization of the entire UAV formation flight is not strong, and even some UAVs cannot accurately fly to the target waypoint for formation flight missions, resulting in low precision and poor synchronization of UAV formation flight control

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