A multi-UAV sequence flight control method
A multi-UAV and flight control technology, applied in the field of multi-UAV sequence flight control, can solve the problems that the ground station cannot send commands, the risk cannot be estimated, and the communication is easy to be interrupted. Small, safety-enhancing effect
Inactive Publication Date: 2020-07-31
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
View PDF10 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
In this process, there will be many problems that cannot be solved by the current technology. For example, the current multi-UAV sequence flight waypoints are dense, resulting in a large amount of calculation and high complexity. At present, there is no special UAV trajectory planning. software; and communication is easily interrupted, causing the ground station to fail to send commands, all drones will lose control, and the risk is unpredictable, etc.
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0054] Aiming at the deficiencies in the existing multi-UAV serial flight control technology, the present invention proposes a multi-UAV serial flight passive control strategy based on 4D track, and combines it with the existing active control strategy, according to the communication Whether the situation is normal or not depends on the flexible switching between active and passive control strategies. On the one hand, it maintains the flexibility of traditional active control. Flight safety and adaptability to the environment.
[0055] Specifically, the multi-UAV sequence flight control method of the present invention generates in advance the 4D track of each UAV including space coordinates and time coordinates according to the UAV sequence flight plan, and imports the flight control of each UAV respectively. system; when performing sequence flight, the control method combining active control and passive control is used: under normal communication conditions, each UAV flies ac...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention discloses a multi-UAV sequence flight control method. The 4D track including spatial coordinates and time coordinates of each UAV is generated in advance according to the UAV sequence flight plan, and is introduced into the flight control system of each UAV respectively. ; When performing sequence flights, a control method that combines active control and passive control is used: under normal communication conditions, each drone flies according to the waypoint information sent by the ground station to each drone in real time, thereby achieving multi-unmanned aerial vehicle control. Active control of man-machine sequence flight; in case of abnormal communication, the flight control system of each UAV controls the UAV according to the pre-imported 4D trajectory, thereby achieving passive control of multi-UAV sequence flight , until the communication situation returns to normal. Compared with the existing technology, the present invention has higher safety and control flexibility.
Description
technical field [0001] The invention relates to a multi-UAV sequence flight control method, which belongs to the technical field of multi-UAV sequence flight control. Background technique [0002] In recent years, with the rapid development of artificial intelligence, the field of UAV (Unmanned Aerial Vehicle) control technology has also advanced by leaps and bounds, and related technologies have become more and more mature. What attracts people's attention is the commercial performance of UAV sequence flight. UAV sequence flight refers to pre-designing a multi-UAV combination formation array or pattern, and then sequentially importing the position waypoints of each UAV corresponding to each formation or pattern into the UAV flight control system , and finally each UAV will fly to the designated waypoint according to the flight instructions to complete the arrangement and transformation of the formation. [0003] At present, UAV sequence flight performances mainly include U...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/12
CPCG05D1/104
Inventor 盛汉霖陈芊李泽凡李嘉诚张杰刘子文李萌萌
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS