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Unmanned aerial vehicle cluster collaborative navigation method and device

A technology of unmanned aerial vehicles and cooperative navigation, which is applied in the field of unmanned aerial vehicle cluster cooperative navigation methods and devices, and can solve problems such as poor concealment

Pending Publication Date: 2020-04-03
上海迈波科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] Aiming at at least one defect or improvement requirement of the prior art, the present invention provides a method and device for unmanned aerial vehicle swarm cooperative navigation. Concealment is poor, and complex delay time compensation is required

Method used

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  • Unmanned aerial vehicle cluster collaborative navigation method and device
  • Unmanned aerial vehicle cluster collaborative navigation method and device
  • Unmanned aerial vehicle cluster collaborative navigation method and device

Examples

Experimental program
Comparison scheme
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Embodiment 1

[0066] The present embodiment provides a coordinated navigation solution for a cluster of unmanned aerial vehicles, which belongs to an omnidirectional coordinated navigation method; figure 1 It is a schematic diagram of the composition and structure of the collaborative navigation device for the unmanned aerial vehicle cluster provided by this embodiment;

[0067] like figure 1 As shown, in this embodiment, the unmanned vehicle cluster includes an underwater unmanned vehicle 1, an underwater unmanned vehicle 2 and an underwater unmanned vehicle 3, wherein the underwater unmanned vehicle 1 is a pilot navigation The underwater unmanned vehicle 2 and the underwater unmanned vehicle 3 are slave vehicles.

[0068] A launch array 101, a navigation and attitude measurement device 104, a signal source 103 and a transmitter 102 are installed on the pilot vehicle; wherein, the launch array 101 can be installed at the end or bottom of the pilot vehicle, which is not specifically limite...

Embodiment 2

[0089] The present embodiment provides a collaborative navigation solution for a cluster of unmanned aerial vehicles, which belongs to a lateral collaborative navigation method; image 3 It is a schematic diagram of the composition and structure of the collaborative navigation device for the unmanned aerial vehicle cluster provided by this embodiment;

[0090] like image 3 As shown, in this embodiment, the unmanned vehicle cluster includes an underwater unmanned vehicle 1, an underwater unmanned vehicle 2 and an underwater unmanned vehicle 3, wherein the underwater unmanned vehicle 1 is a pilot vehicle , the underwater unmanned vehicle 2 and the underwater unmanned vehicle 3 are slave vehicles. The slave aircraft 2 and the slave aircraft 3 maintain relative formation sailing on the left and right sides of the pilot aircraft 1 .

[0091] A launch array 101 , a navigation and attitude measurement device 104 , a guidance signal source 103 and a transmitter 102 are installed on t...

Embodiment 3

[0110] This embodiment provides a method for cooperative navigation of a group of unmanned aerial vehicles, which is suitable for omnidirectional or lateral cooperative navigation. See Figure 5 , the method includes:

[0111] S1: Select one unmanned vehicle as the pilot vehicle from the unmanned vehicle cluster, and the rest are used as slave vehicles; multiple emission sound sources installed on the pilot vehicle transmit orthogonal navigation signals according to the preset transmission time and broadcast The position and attitude information of the pilot vehicle at the launch moment;

[0112] S2: The position information of the slave aircraft is obtained by receiving the above-mentioned orthogonal navigation signals and position and attitude information from the receiving array installed on the aircraft and performing position calculation; wherein, the process of performing position calculation specifically includes:

[0113] Obtain the distance difference between each tr...

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Abstract

The invention discloses an unmanned aerial vehicle cluster collaborative navigation method and device, and relates to the technical field of unmanned aerial vehicle navigation. The method comprises the following steps: selecting one unmanned aircraft from an unmanned aircraft cluster as a pilot aircraft, and taking rest unmanned aircrafts as slave aircrafts, wherein at least two emission sound sources installed on the pilot aircraft emit orthogonal navigation signals according to a preset emission moment and broadcast position and attitude information of the pilot aircraft at the emission moment; receiving orthogonal navigation signals and position attitude information from a receiving array mounted on the slave aircrafts, and performing position calculation to obtain position informationof the slave aircrafts; and adjusting the attitudes and running speeds of the slave aircrafts according to the position information so as to keep a formation of cluster navigation. Real-time positioning of the slave aircrafts can be achieved, the updating rate is higher, positioning is more accurate, and meanwhile cooperative and concealed navigation of any number of unmanned aircrafts can be achieved.

Description

technical field [0001] The invention belongs to the technical field of unmanned aircraft navigation, relates to a swarm cooperative navigation technology, and more particularly, to a method and device for swarm cooperative navigation of unmanned aircraft. Background technique [0002] With the development of artificial intelligence technology, the use of unmanned aerial vehicles is becoming more and more extensive, and the problem of collaborative work of multiple unmanned aerial vehicles will inevitably arise. The collaborative navigation of unmanned aerial vehicle swarms has become a key technical issue. [0003] Acoustic localization methods are classified according to the size of the receiving array or the baseline length of the transponder array. Underwater acoustic localization systems can be divided into three types: long baseline (LBL), short baseline (SBL) and ultra-short baseline (USBL). The above three acoustic baseline positioning systems have their own advantag...

Claims

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Application Information

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IPC IPC(8): G01C21/20G01S5/26
CPCG01C21/20G01S5/26
Inventor 杨海亮
Owner 上海迈波科技有限公司