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Heterogeneous multi-unmanned-system formation and cooperative target expelling method

A target and drive-away technology, applied in general control systems, control/adjustment systems, instruments, etc., can solve the problems of narrow task types, difficulty in realizing accurate positioning of aerial drones and close work of surface unmanned boats, etc., to prevent The effect of loss of communication

Active Publication Date: 2021-04-06
SHANGHAI UNIV
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Problems solved by technology

[0003] The existing unmanned system formations jointly perform tasks, and most of them use isomorphic unmanned systems, that is, multi-unmanned boats or multi-UAVs. The joint task of heterogeneous unmanned system formation also adopts the combination of surface and underwater unmanned systems, and at the same time copes with the ocean environment of waves. The precise positioning of man-machines and the close-range work of surface unmanned boats make the types of tasks that unmanned systems can perform extremely narrow. Therefore, there is an urgent need for a solution that can realize the coordinated formation of sea and air unmanned systems to perform repelling tasks

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[0026] The present invention will be further described below in conjunction with the accompanying drawings and specific preferred embodiments, but the protection scope of the present invention is not limited thereby.

[0027] A heterogeneous multi-unmanned system formation and cooperative target driving method, see figure 1 , including the following steps:

[0028] Step 1: UAV’s identification and tracking of unknown targets: Maritime radar captures unknown dynamic targets, the shore-based central control system issues target tracking instructions to the UAV, and the UAV reaches the sky above the dynamic target under the control of the tracking controller And carry out real-time monitoring on unknown targets. At the same time, the UAV transmits the target information to the shore-based central control system; the shore-based central control system determines whether the target is legal according to the obtained target information. When the target is a legal ship, there is no ...

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Abstract

A heterogeneous multi-unmanned-system formation and cooperative target expelling method belongs to an unmanned-system cooperative formation technology and comprises the steps of recognizing and tracking an unknown target by an unmanned aerial vehicle, constructing communication connection between the unmanned aerial vehicle and an unmanned ship, multi-unmanned-ship formation navigation, unmanned-vehicle multi-unmanned-ship cooperative expelling and the like. Therefore, the purpose of executing the expelling task on the illegal ship by the coast is achieved. Illegal target information is obtained through early-stage reconnaissance of the unmanned aerial vehicle, a large amount of data is provided for making a more targeted expelling scheme and then serves as a communication and navigation relay, the potential risk possibly caused by efficiency reduction of an unmanned ship-borne instrument in a complex marine environment is effectively avoided, and the unmanned ship-borne instrument is prevented from being damaged. Therefore, an important guarantee is provided for effective implementation of unmanned ship formation and cooperative expelling.

Description

technical field [0001] The invention relates to the technical field of unmanned system cooperative formation, in particular to a method for heterogeneous multi-unmanned system formation and cooperative target repelling. Background technique [0002] As an important part of coastal defense, unmanned boats are currently highly valued and favored by all parties. However, when traditional unmanned boats perform tasks such as driving away, they have less information about intruding ships (such as hull geometry, maneuverability, etc.) , often can only blindly dispatch unmanned boats to carry out the drive-off, which greatly increases the possibility of drive-off failure. In addition, if the main boat used as a communication relay collides with an illegal ship during the execution of the drive-off mission, the communication equipment will be damaged, which will cause the communication between the boats in the formation to lose contact, and the rest of the unmanned boats will not be...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 王曰英陈汇资成敏周卫祥吴乃龙严怀成杨希祥罗均
Owner SHANGHAI UNIV
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