Multi-unmanned aerial vehicle cooperative formation flying management system and method

Abstract

The invention relates to a multi-unmanned aerial vehicle cooperative formation flying management system and method. The multi-unmanned aerial vehicle cooperative formation flying management system comprises a mission planning module, a route planning module, a formation assembly module, a formation maintenance module and a formation reconstruction module, wherein the mission planning module is used for setting a mission type for unmanned aerial vehicle cooperative formation, and the mission type comprises a cooperative patrolling mission, a cooperative detection mission, a cooperative target searching mission and a cooperative target tracking mission; the route planning module is used for generating a flying route in the process of executing the mission for multi-unmanned aerial vehicles;the formation assembly module is used for controlling the multi-unmanned aerial vehicles to reach respective assembly points and controlling the multi-unmanned aerial vehicles to return respective start points; the formation maintenance module is used for controlling the multi-unmanned aerial vehicle cooperative formation to maintain fixed flying formations; and the formation reconstruction moduleis used for reconstructing geometric formations of the multi-unmanned aerial vehicle. A formation flying management decision, the route planning and formation control of the multi-unmanned aerial vehicle in complex environments and special conditions of incomplete communication, dynamic topology and the like are realized, the mission execution efficiency and effect of the multi-unmanned aerial vehicle are improved, and the management is safe and reliable.

Description

technical field [0001] The invention relates to the technical field of flight control, in particular to a multi-UAV cooperative formation flight management system and method. Background technique [0002] Due to the characteristics of good maneuverability, convenient use and no risk of casualties, UAVs are widely used in military and civilian fields. When UAVs perform patrol, target search and target tracking tasks in complex environments, due to the high density of obstacles, limited airspace and insufficient capabilities of onboard sensors, stand-alone observations have narrow observation range, low observation accuracy and easy loss of targets. and other shortcomings, while multi-machine cooperation can obtain a larger observation range, observation accuracy and better resistance to loss. When carrying out large-area and long-distance detection tasks in the field, it is difficult for a single machine to complete independently due to energy constraints, while multiple mac...

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Problems solved by technology

[0003] Based on this, it is necessary to provide a multi-UAV cooperative formation flight management system and method for the problems of low efficiency, low degree of automation and complex operation in the current management system and method of multi-UAV cooperative formation flight

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