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A Heterogeneous Multi-unmanned System Formation and Cooperative Target Driving Method

A target and drive away technology, applied in general control systems, control/regulation systems, instruments, etc., can solve the problems of narrow task types, difficult to achieve accurate positioning of aerial drones and surface unmanned boats to work at close range, etc. low cost effect

Active Publication Date: 2021-11-23
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 driving method, which belongs to the unmanned system cooperative formation technology, uses unmanned aerial vehicles to identify and track unknown targets, build communication links between unmanned aerial vehicles and unmanned boats, and multi-unmanned systems Boat formation navigation, unmanned aerial vehicle-multi-unmanned boat coordinated driving away and other steps, to achieve the purpose of the coast to carry out the mission of driving away illegal ships. The invention obtains the illegal target information through the pre-reconnaissance of the UAV, provides a large amount of data for formulating a more targeted driving away plan, and then serves as a communication and navigation relay, effectively solving the problem of unmanned boats in complex ocean environments. Therefore, it provides an important guarantee for the effective implementation of unmanned boat formation and coordinated repelling.

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 Patents(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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