Preset trajectory-based batch unmanned aerial vehicle intensive formation system and formation method thereof

Abstract

The invention discloses a preset trajectory-based batch unmanned aerial vehicle intensive formation system. The system comprises a ground control end, a wireless communication interaction module and aplurality of unmanned aerial vehicles; the ground control end comprises a flight path generation unit, an instruction control unit and a status display unit; each unmanned aerial vehicle has its ownunique number and is equipped with a data transmission and analysis unit, a storage unit, a flight controller unit, a sensor measurement and fusion navigation unit, a clock synchronization unit, a positioning unit and a state detection unit; the data transmission and analysis unit receives flight path information uploaded by the flight path generation unit, and parsing the flight path informationand storing the parsed information in the storage unit; the sensor measurement and fusion navigation unit processes original state data measured by the sensor, and solves the three-dimensional spatialposition velocity and attitude information of the unmanned aerial vehicle; and the clock synchronization unit unifies the time of all the unmanned aerial vehicles; and all the unmanned aerial vehicles fly according to preset trajectories through the flight controller unit and displays the light colors of target points.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicle formation, and relates to a batch unmanned aerial vehicle intensive formation system and formation method with preset trajectories. Background technique [0002] At present, UAV formations are more and more widely used in the consumer field. The most well-known is the light show performance. Favored for performances or wedding venues. Using traditional formation algorithms, such as tracking or distributed networking, the amount of data is very large for this batch and dense UAV formation. The huge data processing and communication must be supported by many servers, and the cost is also high. It will increase relatively; the traditional communication methods mostly use wireless communication to transmit their position, velocity and attitude information for other drones to make decisions. Time synchronization cannot be achieved between them, so the multi-aircraft formation method t...

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Problems solved by technology

[0003] The purpose of the present invention is to provide a batch UAV intensive formation system and formation method with preset trajectories, which solves the problem of high cost and difficulty in adopting the traditional formation method, and adopts formation transformation in multi-machine independent formation flight Confusion and Collision Issues

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