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Fixed-wing UAV formation flying device and method based on position information

A technology of position information and formation flight, applied in the field of automatic formation flight method and device for fixed-wing unmanned aerial vehicle

Active Publication Date: 2019-09-20
NORTHWESTERN POLYTECHNICAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The invention is highly dependent on the airborne ranging radar and its output signal, which is also difficult to apply to small low-cost UAVs

Method used

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  • Fixed-wing UAV formation flying device and method based on position information
  • Fixed-wing UAV formation flying device and method based on position information
  • Fixed-wing UAV formation flying device and method based on position information

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0109] Example drone:

[0110] Without loss of generality, the formation flight method and device of the present invention are used to control the formation flight of three unmanned aerial vehicles of the same type. The overall parameters of each UAV are:

[0111] Wingspan length: 1.8m

[0112] Captain: 1.3m

[0113] Take-off weight: 4kg

[0114] Cruising flight speed: 18m / s

[0115] Minimum flying speed: 8m / s

[0116] Maximum flight speed: 28m / s

[0117] Control surfaces: aileron, elevator, rudder

[0118] Maximum roll angle limit: 35 degrees

[0119] Software and hardware design of automatic formation device:

[0120] (1) Basic composition

[0121] Both the lead plane and the wingman are equipped with the same autopilot. A typical autopilot suitable for fixed-wing UAV formation flight control is as follows: figure 2 As shown, its basic hardware includes: global positioning system (GNSS), inertial measurement unit (IMU), airspeed sensor, barometric altimeter, micro...

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Abstract

The invention relates to a fixed-wing UAV formation flying device and a fixed-wing UAV formation flying method based on position information. The purpose of formation control is to control each wing aircraft to a target position and to have the same magnitude and direction of ground speed as the lead aircraft. The fixed-wing UAV formation flying method comprises the steps of: firstly, setting up a star-shaped one-to-many communication network, transmitting position information of the lead aircraft to a ground control station (GCS) by means of a downlink, and transmitting the position information of the lead aircraft to each wing aircraft by means of the GCS; secondly, solving coordinates of the target position in real time by means of each wing aircraft according to a predetermined formation station and the position information of the lead aircraft; thirdly, calculating and decomposing to obtain longitudinal and horizontal heading navigation information by means of each wing aircraft according to its actual position and target position information; fourthly, calling a formation flight control algorithm to obtain a target attitude, speed and altitude of each wing craft; and finally, calling the attitude, speed and a position control module of an autopilot of each wing craft to control each wing craft to the target position.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicle formation flight control, in particular to a low-cost method and device for automatic formation flight of fixed-wing unmanned aerial vehicles based on position information. Background technique [0002] With the continuous development of aviation technology, automatic control technology, and communication technology, UAVs have been more and more widely used in military and civilian fields. A contradiction in actual use is that from the perspective of ease of use such as storage, transportation, take-off and landing, it is hoped that the UAV platform should be lighter and smaller, the better; from the perspective of mission execution, it is hoped that it can carry more loads The heavier the better, that means the drone platform needs to be as big as possible. One of the ways to solve this contradiction is to disperse and install the load on multiple small UAVs, and combine the mult...

Claims

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/104
Inventor 王睿周洲王正平丁昱心陈明哲邸伟承孙蓬勃童心雨郑黎明
Owner NORTHWESTERN POLYTECHNICAL UNIV