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UAV formation control method and device, readable storage medium, and UAV

A control method and technology for controlling equipment, applied in the field of unmanned aerial vehicles, can solve the problem of low accuracy

Inactive Publication Date: 2019-03-01
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] Based on this, it is necessary to provide a UAV formation control method, a readable storage medium, a control device and a UAV formation control method for the low accuracy of the traditional UAV formation control method.

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  • UAV formation control method and device, readable storage medium, and UAV
  • UAV formation control method and device, readable storage medium, and UAV
  • UAV formation control method and device, readable storage medium, and UAV

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Embodiment Construction

[0041] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0042] see figure 1 , figure 1 An application scenario diagram of the UAV formation method provided by an embodiment. The figure includes a ground station 100 and an unmanned aerial vehicle formation 200 , wherein the unmanned aerial vehicle formation is composed of three unmanned aerial vehicles, namely an unmanned aerial vehicle 210 , an unmanned aerial vehicle 220 and an unmanned aerial vehicle 230 . The ground station 100 first sends the target formation information related to each UAV to the three UAVs. After successfully receiving the target formation information, the UAV will return a conf...

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Abstract

The invention relates to a UAV formation control method. The UAV formation control method includes: acquiring the target formation information of a target UAV; acquiring the current formation information of the target UAV in a ground inertial coordinate system; receiving the neighbor formation difference information sent by a neighboring UAV; calculating, according to the target formation information, the current formation information and the neighbor formation difference information, the desired acceleration of the target UAV; and enabling the target UAV to fly to a target position and at target speed according to the desired acceleration. The UAV formation control method adjusts the desired acceleration through the target formation information, the current formation information, and theneighbor formation difference information so as to accurately control the position and speed of the UAV in a fleet. The invention also relates to a UAV formation control device, a readable storage medium, and a UAV.

Description

technical field [0001] The invention relates to the field of unmanned aerial vehicle control, in particular to an unmanned aerial vehicle formation control method, a readable storage medium, a control device and an unmanned aerial vehicle. Background technique [0002] UAV has the characteristics of small size, light weight, high maneuverability, strong concealment, low cost and no casualties. It has very broad application prospects in the commercial and military fields. With the continuous expansion of UAV applications and the continuous improvement of use requirements, it is difficult to use only one UAV at a time to meet the requirements in terms of load and endurance, while using multiple UAVs at the same time to form a UAV formation can be effective. It solves the problems of load and battery life and has many advantages. For example, multiple fixed-wing UAVs can effectively increase the load by flying in a specific formation, and extend the flight time by reducing fli...

Claims

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/104
Inventor 石宗英钟宜生闫芮
Owner TSINGHUA UNIV