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Multi-plane formation pattern control description, transformation control and target tracking method

A technology of transformation control and formation, which is applied in the field of target tracking and can solve problems such as formation invariance

Active Publication Date: 2020-07-14
NAVAL AVIATION UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the existing four methods for determining the formation shape are not invariant under the three basic movements of rotation, translation and scaling.

Method used

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  • Multi-plane formation pattern control description, transformation control and target tracking method
  • Multi-plane formation pattern control description, transformation control and target tracking method
  • Multi-plane formation pattern control description, transformation control and target tracking method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0197] Let N=4, that is, using a formation composed of 4 UAVs as an example, respectively control the formation change and control the formation at two target speeds v t The formation target tracking problem in different situations is simulated and verified, and at the same time for different values ​​of k 1 、k 2 Simulation verification of the influence of UAV formation performance, and with the literature "SUMMERS T H, AKELLA M R, MEARS M J. Coordinated standoff tracking of moving targets: Control laws and information architectures [J]. Journal of Guidance, Control, and Dynamics, 2009,32(1):56-69." The proposed method is simulated and compared.

[0198] At the beginning of the simulation, the initial states of the UAV and the target are set. Set the minimum flying speed of the UAV to 6m / s, and let the initial positions of the four UAVs be (-500m,0), (0,500m), (0,-500m) and (500m,0); the initial speed v i is [20,0] T m / s; UAV l The initial position of is the center point ...

Embodiment 2

[0204] When tracking against a target v t min case, let r i =200, i∈Θ. Other simulation parameters are the same as in Embodiment 1.

[0205] Set target speed v t is [4,4] T m / s, the minimum rotational angular velocity ω can be obtained from (42) i = 1 / 100 rad / s. Figure 7 It shows that four UAVs start from their respective positions, form a circular formation during the process of tracking the target, and then maintain the formation flight state to track the target. After the UAV formation tracks the target, due to the target speed v t Fixed-wing UAV minimum flight speed v not reached min , so the UAV formation maintains a fixed distance Standoff tracking around the target. Figure 8 Error e before and after generation for the UAV formation i =p i -p l -C i p b It can be seen from the figure that the formation error tends to 0 at about 10.8s, which is the expected formation state between UAVs; at 19.7s, the error curve has a slight jitter, but at 24.4s the error te...

Embodiment 3

[0207] When tracking against a target v t ≥v min In the case of , set the target speed v t is [10,10] T m / s. Other simulation parameters are the same as in Embodiment 1.

[0208] Figure 9 It shows the trajectories of four UAVs tracking the target in a formation state. Due to the target speed v t Greater than the fixed-wing UAV minimum flight speed v min , so the UAV formation does not need to hover around the target, but only needs to keep the phase around the target to track the target. Figure 10 is the error e of the UAV formation i image, same as v t min Consistent, at 10.8s, the expected formation formation was formed between UAVs, and the formation error tended to 0; at 48.3s, the error curve showed a slight jitter, but at 52.4s, the error tended to 0 again, which was also due to the UAV’s caused by speed adjustment.

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Abstract

The invention discloses a multi-plane formation pattern control description method, a formation pattern change control and target tracking method based on the multi-plane formation pattern control description method and a target tracking method. According to the formation control description method, a formation parameter group is constructed, and a formation control problem is converted into parameter group description of three motions of rotation, translation and scaling; the corresponding transformation control method can be used to realize accurate generation and transformation of the dynamic formation pattern; according to the corresponding target tracking method, the target tracking problem is divided into Standoff tracking and Persistent tracking for moving targets at different speeds, the moving distance of the unmanned aerial vehicle formation is shortened, the complexity of problem analysis is greatly simplified, accurate generation and transformation of the dynamic formationpattern are realized, and the methods have relatively high practical engineering value.

Description

technical field [0001] The invention belongs to the field of UAV formation cooperative control, and mainly relates to a multi-UAV formation control description method, a formation change control method based on the formation control description method, and a formation control description and change The control method is based on the target tracking method. Background technique [0002] Tracking targets by unmanned aerial vehicles (UAVs) is one of the important tasks of UAVs. However, due to the limitations of the UAV's own onboard sensors and the complexity of the use environment, the task execution capability of a single UAV is limited. Therefore, the study of multi-UAV cooperative missions has become a current hot issue. For multi-UAV cooperative missions, more scholars have turned their attention to the method of formation control to realize the cooperative control of multi-UAV. [0003] The current research on formation control mainly includes the leader in the litera...

Claims

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/104
Inventor 杨秀霞方国伟张毅严瑄杨士锋高恒杰
Owner NAVAL AVIATION UNIV
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