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Large-scale fixed-wing UAV formation method

A technology of unmanned aerial vehicles and fixed wings, applied in the field of formation flight, can solve problems such as long calculation time, complicated control methods, and delays that cannot be realized

Active Publication Date: 2018-12-14
四川腾盾科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Some formation algorithms cannot achieve real-time performance due to excessive calculation time and long calculation time, and some due to complex control methods, cannot be combined with the control method of the UAV itself, making it difficult to achieve

Method used

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  • Large-scale fixed-wing UAV formation method
  • Large-scale fixed-wing UAV formation method
  • Large-scale fixed-wing UAV formation method

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Embodiment Construction

[0022] The present invention will be further described below in conjunction with the accompanying drawings.

[0023] During the formation process of the aircraft, each aircraft is randomly distributed in different headings, different positions, and different altitudes at the initial stage of assembly. First, the flight distance of each aircraft to reach any target point is planned, and then the task assignment of the target point is performed, and finally the speed is assigned. A large-scale fixed-wing unmanned aerial vehicle formation method comprises the following processes: Step 1: select the radius of the starting circle of the flight path at the starting point and the ending circle of the target point, and select the direction of the starting circle and the ending circle; When starting the circle direction, the current flying direction of the aircraft is V 0 For the tangent line, the selected radius is slightly larger than the minimum turning radius of the aircraft, and t...

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Abstract

The invention relates to the technical field of formation flying, and discloses a large-scale fixed-wing UAV formation method. The method comprises the following steps: step 1: selecting the radius ofa starting circle of a flight path at the starting point and an ending circle of a target point, and selecting the direction of the starting circle and the ending circle; step 2: establishing a costmatrix of formation aggregation and adopting a matrix iterative optimization algorithm to implement target point allocation; step 3: selecting the unified arrival time of all aircrafts and calculatingthe control speed of each aircraft. The UAV formation method designed by the invention comprises a route planning algorithm, an aggregation algorithm, and a formation keeping automatic control of thesteering wheel. The method effectively realizes that a plurality of unmanned aerial vehicles reach a required formation position from the randomly distributed position according to an optimal line and maintain the formation to fly through a small amount of calculation and control of the aircraft itself.

Description

technical field [0001] The invention relates to the technical field of formation flight, in particular to a large-scale fixed-wing unmanned aerial vehicle formation method. Background technique [0002] The reconnaissance range and strike capability of a single UAV are limited by itself and its payload, and cannot adapt to applications such as large-scale rapid reconnaissance and multi-target simultaneous strikes. Therefore, there is a need for an easy-to-implement and apply multi-UAV formation flight method, so that multiple aircraft can efficiently assemble and maintain formation flight, and meet higher application requirements according to different divisions of labor. [0003] At present, the formation flight of large fixed-wing UAVs is still in the research stage and has not been widely used and verified. Some formation algorithms cannot achieve real-time performance due to the long calculation time caused by the large amount of calculation, and some due to the complex...

Claims

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/101
Inventor 黄建华张健
Owner 四川腾盾科技有限公司