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Tracking method and system of time-varying formation of unmanned aerial vehicles

A tracking system and UAV technology, applied in the field of UAV control, can solve the problems of UAV collision communication distance, overshoot, etc.

Active Publication Date: 2018-12-11
BEIHANG UNIV
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  • Claims
  • Application Information

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Problems solved by technology

[0005] The object of the present invention is to provide a tracking method and system for time-varying formations of UAVs, to overcome the time-varying formations of UAVs, possible UAV collisions and communication distances during formation formation, formation formation, and formation switching process Issues beyond the feasible range, achieving formation tracking effects for collision avoidance and connectivity preservation

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specific Embodiment approach

[0107] In this specific embodiment, 4 unmanned aerial vehicles form the unmanned aerial vehicle time-varying formation, image 3 It is a schematic flow chart of a specific embodiment of the present invention, Figure 4 It is a schematic diagram of communication topology relationship in a specific embodiment of the present invention. Such as Figure 4 As shown, UAV 4 is the leader UAV, and the remaining 3 UAVs are follower UAVs. During the tracking process, the tracking object of UAV 1 is UAV 4, the tracking object of UAV 2 is UAV 4, and the tracking object of UAV 3 is UAV 1. Therefore, UAV 1 As a follower UAV, the tracking UAV 4 realizes the formation, and when the UAV 1 acts as the followed UAV, it guides the UAV 3 to realize the formation.

[0108] according to Figure 4 As shown in the schematic diagram of the communication topology relationship, the system is simulated, and the simulation parameters are as follows: the system interference is δ 1 (t)=[0.2sin(0.2t),0.2c...

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Abstract

The invention discloses a tracking method and system of time-varying formation of unmanned aerial vehicles. The tracking method includes steps: obtaining a communication topology relation of formationof the unmanned aerial vehicles; obtaining speed data and position data of a followed unmanned aerial vehicle of a current moment; obtaining speed data and position data of a following unmanned aerial vehicle of the current moment; obtaining a communication distance threshold and a safety distance threshold of formation of the unmanned aerial vehicle; determining an attraction and a repulsion between the following unmanned aerial vehicle and the followed unmanned aerial vehicle according to the position data of the followed unmanned aerial vehicle and the position data of the following unmanned aerial vehicle at the current moment, the communication distance threshold and the safety distance threshold; determining acceleration data of the following unmanned aerial vehicle at a next moment; and adjusting the motion state of the following unmanned aerial vehicle following the followed unmanned aerial vehicle at the next moment according to the acceleration data of the following unmannedaerial vehicle at the next moment. By employing the tracking method and system, the formation tracking effects of anti-collision and connectivity maintenance can be realized.

Description

technical field [0001] The invention relates to the field of unmanned aerial vehicle control, in particular to a tracking method and system for a time-varying formation of unmanned aerial vehicles. Background technique [0002] Formation control of multi-agent systems is a hotspot in the field of control at present, and has been widely used in scientific research and engineering. Manned-UAV mixed formation cooperative operations can give full play to the advantages of various models, manned aircraft command, UAV operations, greatly reducing combat costs; spacecraft formation coordinated detection, on the one hand, can increase the formation of Diffraction radar caliber, on the other hand, reduces the launch cost compared to launching large-scale telescopes / radars; surface aircraft carrier ships form cooperative operations, which helps to increase the probability of penetration against enemy anti-ship missiles. At present, the formation control method based on consistency ha...

Claims

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/104
Inventor 任章于江龙董希旺李清东
Owner BEIHANG UNIV
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