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Formation flight method of fixed-wing unmanned aerial vehicles based on position information

A technology of formation flight and position information, applied in three-dimensional position/channel control, vehicle position/route/altitude control, instruments and other directions, can solve problems such as difficulty in applying small and low-cost unmanned aerial vehicles, and achieve the effect of low hardware requirements

Active Publication Date: 2022-02-11
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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  • Formation flight method of fixed-wing unmanned aerial vehicles based on position information
  • Formation flight method of fixed-wing unmanned aerial vehicles based on position information
  • Formation flight method of fixed-wing unmanned aerial vehicles based on position information

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Experimental program
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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 an automatic formation flight device and method for fixed-wing unmanned aerial vehicles based on position information. The goal of formation control is to control each wingman to the target station, and has the same ground speed and direction as the lead plane. Firstly, a star-shaped one-to-many communication network is established, and the position information of the lead plane is sent to the ground control station (GCS) through the downlink, and the GCS then sends the position information of the lead plane to each wingman; secondly, the wingman The formation position and the position information of the lead aircraft are calculated in real time to calculate the target position coordinates; thirdly, the wingman calculates and decomposes the longitudinal and lateral navigation information according to his actual position and target position information; then, the formation flight control algorithm is called to obtain The target attitude, speed and height of the wingman; finally, the attitude, speed and position control module of the autopilot of the wingman is called to control the wingman 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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Patent Type & Authority Patents(China)
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