Unmanned aerial vehicle formation flight path control method and terminal

Abstract

The invention discloses an unmanned aerial vehicle formation flight path control method and terminal. The method comprises the following steps: obtaining initial position information, an initial speed, target position information, the maximum speed, the maximum acceleration and a flight time of each unmanned aerial vehicle in an unmanned aerial vehicle formation; calculating according to the initial position information and the target position information to obtain a flight path of the corresponding unmanned aerial vehicle; determining the flight acceleration of each unmanned aerial vehicle according to the initial speed, the maximum speed and the flight time; and controlling each unmanned aerial vehicle to fly along the flight path according to the flight acceleration and the maximum acceleration. According to the control method, the flight path of each unmanned aerial vehicle can be smoother, the situation that the speed changes suddenly is avoided, the synchronism of the multiple unmanned aerial vehicles is good, the collision probability can be effectively reduced, and the safety of the flight process is improved.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a track control method and terminal of an unmanned aerial vehicle formation. Background technique [0002] With the continuous development of modern science and technology information technology, the application of drones is becoming more and more extensive. In recent years, drones have been widely used in aerial photography, power inspection, environmental monitoring, forest fire prevention, disaster inspection, anti-terrorism lifesaving, military reconnaissance and battlefield assessment and other fields. With people's familiarity and love for drones, drones have gradually entered the lives of ordinary people. People can control the UAV formation to perform corresponding flight tasks, that is, control the UAV to fly according to the preset flight plan, and when flying to the predetermined waypoint position, perform a light show or form a specific aerial patter...

AI Technical Summary

Problems solved by technology

However, during the formation flight of UAVs, the flight conditions of each UAV are different, such as the initial flight conditions of the UAVs, the flight routes, and the hardware flight conditions. Flying in the formation of UAVs will cause the synchronization of the entire UAV formation flight to be weak, and even some UAVs cannot accurately fly to the target waypoint to complete the formation flight task, resulting in low accuracy and low accuracy of UAV formation flight control. The synchronization is poor, and in severe cases, it will cause collisions and other phenomena

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