Unmanned aerial vehicle formation cooperative control system and method based on distributed architecture

A distributed architecture and collaborative control technology, applied in general control systems, control/regulation systems, controllers with specific characteristics, etc. Information exchange and other issues

Pending Publication Date: 2020-10-27
AVIATION IND INFORMATION CENT
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The traditional centralized control mode ground station needs a lot of information interaction, and has extremely high requirements for the stability, fast and low delay of t

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  • Unmanned aerial vehicle formation cooperative control system and method based on distributed architecture
  • Unmanned aerial vehicle formation cooperative control system and method based on distributed architecture
  • Unmanned aerial vehicle formation cooperative control system and method based on distributed architecture

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Embodiment 1

[0109] A UAV formation cooperative control system based on a distributed architecture, which is a multi-UAV architecture. Such as figure 1 As shown, including: air terminal, communication layer and ground terminal. The air terminal includes: a plurality of unmanned aerial vehicles, a single unmanned aerial vehicle system arranged on each unmanned aerial vehicle node, and the single unmanned aerial vehicle system includes a perception layer and a control layer for obtaining the information of the unmanned aerial vehicle. Attitude, speed and position, the perception layer uses the Extended Kalman Filter (EKF, Extended Kalman Filter) algorithm for multi-sensor data fusion, the input is IMU (IMU, Inertial Measurement Unit) and GPS (Global Position System), after fusion After that, higher frequency and more accurate navigation data can be obtained, including attitude, velocity and position. The sensor is a navigation sensor module, a flight control system module, a receiver modul...

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Abstract

The invention discloses an unmanned aerial vehicle formation cooperative control system and method based on a distributed architecture, and belongs to the technical field of unmanned aerial vehicle control systems. The system comprises an air end, a communication layer and a ground end, wherein the air end comprises a plurality of unmanned aerial vehicles and a single unmanned aerial vehicle system arranged on each unmanned aerial vehicle node; the communication layer realizes information sharing and information sharing forms for all unmanned aerial vehicle nodes, and a switching algorithm fora PMP communication mode and a Mesh network communication mode is designed; and the ground end is a ground control system. According to the invention, a set of distributed communication scheme mainlybased on a Mesh network is designed by using a wireless transmission module; the control law of flight of the lead aircraft formation is optimized, and a new formation tracking algorithm, named as anoptimal turning radius (OTR) algorithm, is provided for solving the problem of real-time dynamic point tracking of the wing aircrafts in the formation flight stage; and the algorithm has better performance than a traditional PID algorithm through multiple times of simulation and test flight experiments.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicle control systems, and in particular relates to an unmanned aerial vehicle formation cooperative control system based on a distributed architecture and a method thereof. Background technique [0002] UAV formation coordination is one of the topics that has attracted much attention in the industry in recent years. UAV formation coordination is a concept inspired by humans from the highly coordinated group movements of birds and fish in the biological world. Through simple survival rules and local information interaction, social animals form self-organizing behaviors with strong adaptability and high flexibility. This swarm intelligence feature of autonomous coordination, no center and active consensus is very consistent with the cooperative control requirements of UAV formation flight. This distributed characteristic of biological groups is worth learning. [0003] In the field of t...

Claims

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Application Information

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IPC IPC(8): G05D1/10G05D1/08G05B11/42G05B13/04G05B19/418
CPCG05D1/104G05D1/0808G05B11/42G05B13/042G05B19/4189G05B19/41855G05B2219/25232
Inventor 谷全祥黃宇新陈宣友易建平吴强郑宇曾旭
Owner AVIATION IND INFORMATION CENT
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