UWB (Ultra-wide Bandwidth)-based communication and positioning method and integrated system for multi-uavs close formation flight

Abstract

The invention discloses a UWB (Ultra-wide Bandwidth)-based communication and positioning method and an integrated system for multi-uavs close formation flight. The method is as follows: in a "lead aircraft-wingman" formation, a lead aircraft flies according to a set air route, and a wingman autonomously "follows" the lead aircraft to complete the formation; a GPS module and a UWB module are installed on the lead aircraft to complete positioning, a flight control module is installed on the lead aircraft to complete flight control, and inter-aircraft communication equipment is installed on the lead aircraft to complete aircraft station communication and inter-aircraft communication; a processor is installed on the wingman is achieve a formation control algorithm; and in the formation process, the GPS module is used to guide the wingman to approach the lead aircraft, and when the relative distance between the aircrafts reaches the effective working distance of the UWB, data of the UWB areintroduced to achieve close formation. The system is used to implement the above method. The UWB-based communication and positioning method for the multi-uavs close formation flight provided by the invention has the advantages of being simple in principle, easy to implement, good in reliability and the like.

Description

technical field [0001] The invention mainly relates to the field of unmanned aerial vehicles, in particular to a UWB communication and positioning method and an integrated system for multi-aircraft close formation flight. Background technique [0002] The multi-unmanned aerial vehicle (UAVs) formation can cooperate to complete the task and improve the success probability of a single combat mission, which has caused an upsurge of research on multi-aircraft formation flight in various countries. The tight formation of UAV has the characteristics of light weight, large aspect ratio, good aerodynamic performance and high structural strength, and it is a hot research topic at present. Compared with single UAV flight, multi-UAV close formation is more complicated and needs to break through a series of technical difficulties. Among them, the relative positioning between aircraft is the key issue of tight formation. [0003] At present, drones widely use GPS positioning technology...

AI Technical Summary

Problems solved by technology

Commonly used wireless positioning technologies include infrared, Bluetooth, Wifi, ZigBee, RFID, etc., which are difficult to meet the needs of tight formations

Infrared rays are only suitable for short-distance transmission, and are easily interfered by light sources, which has great limitations in positioning accuracy

Bluetooth and Wifi achieve positioning based on received signal strength (RSSI), both are suitable for small-scale positioning, and are subject to large noise interference and unstable positioning errors

ZigBee is also based on RSSI positioning, which is greatly affected by interference and has low positioning accuracy (about 3 meters)

However, RFID technology needs to deploy a large number of base stations, the overall cost is high, and the system stability is poor, and the positioning error is large (about 20 meters).

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