Unmanned aerial vehicle group control method and device

A control method and control device technology, applied in the field of unmanned aerial vehicles, can solve the problems that affect the overall control of unmanned aerial vehicles, the control error is gradually enlarged, and the formation is out of control.

Inactive Publication Date: 2021-01-08
TSINGHUA UNIV
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  • Claims
  • Application Information

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Problems solved by technology

However, when the lead plane breaks down, it will cause the entire formation to lose control,

Method used

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  • Unmanned aerial vehicle group control method and device
  • Unmanned aerial vehicle group control method and device
  • Unmanned aerial vehicle group control method and device

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Embodiment Construction

[0044] In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application.

[0045] see figure 1 , the present application provides a method for controlling a UAV swarm, the method for controlling a UAV swarm includes:

[0046] Multiple UAVs in the UAV swarm activate themselves as the leader;

[0047] A plurality of said lead planes respectively send a first lead plane positioning signal to a plurality of wingmen in the drone group;

[0048] Each wingman receives a plurality of positioning signals of the first lead plane, and performs real-time positioning and calculation to control its own flight status, complete formation instructions and maint...

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Abstract

The invention relates to an unmanned aerial vehicle group control method and device. Each lead plane sends a first leader plane positioning signal to a plurality of wing planes. When each wing plane receives a plurality of first lead plane positioning signals sent by a plurality of lead planes, the position of each wing plane is positioned through the positions of the plurality of lead planes. Based on the plurality of first lead plane positioning signals, the high-precision positioning of each wing plane can be achieved. And each wing plane regulates and controls the flight attitude of the wing plane in real time based on the plurality of first lead plane positioning signals so as to complete a formation instruction and maintain a formation form. When one lead plane breaks down, each wingplane can still continue to conduct high-precision positioning based on the other first lead plane positioning signals, control errors cannot be amplified step by step, and the problem that in a traditional control method, the whole unmanned aerial vehicle group is out of control due to the fact that the lead plane breaks down is solved. And the robustness of an unmanned aerial vehicle formationcontrol system is improved.

Description

technical field [0001] The present application relates to the technical field of unmanned aerial vehicles, in particular to a method and device for controlling an unmanned aerial vehicle group. Background technique [0002] Multi-UAV Coordinated Formation Flight (Coordinated Formation Flight, CFF) refers to the arrangement of multiple UAVs with autonomous control capabilities according to the specified three-dimensional formation and structure, so that all UAVs can not only Maintain the stability of the formation, coordinate to complete various tasks, and can adjust the formation in real time. UAV formation has wide application value, and it is also a very complex technical solution, involving positioning technology, communication, control, decision-making algorithms, etc. [0003] However, the traditional UAV swarm control method selects one UAV as the leader in the formation, and the other single drones maintain the formation by maintaining the relative position and speed...

Claims

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/104
Inventor 王力军赵琴王时光陈一婷汤雪逸
Owner TSINGHUA UNIV
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