Unmanned aerial vehicle formation control method and system based on hybrid topological structure

Abstract

The invention discloses an unmanned aerial vehicle formation control method and system based on a hybrid topological structure. The method comprises the steps: communication connection is established among ground stations of a plurality of sub-formations, so as to form a mesh topological structure; the ground station in each sub-formation is in wireless communication connection with the plurality of unmanned aerial vehicles of the sub-formation to which the ground station belongs so as to form a tree topology structure; and a first ground station in the ground stations of the plurality of sub-formations creates a main formation task, the other ground stations join the main formation task, and the first ground station sets main formation task data of all the unmanned aerial vehicles of the plurality of sub-formations and sends the main formation task data to the other ground stations. According to the invention, the operation burden of a single ground station can be reduced, the unmanned aerial vehicles controlled by all the ground stations form a sub-formation, and a plurality of ground stations jointly control a plurality of unmanned aerial vehicle sub-formations.

Description

technical field [0001] The invention relates to the technical field of UAV control, in particular to a method and system for UAV formation control based on a hybrid topology. Background technique [0002] UAV has the characteristics of small size, light weight, high maneuverability, strong concealment, low cost and no casualties. It has very broad application prospects in the commercial and military fields. With the continuous expansion of UAV applications and the continuous improvement of use requirements, it is difficult to use only one UAV at a time to meet the requirements in terms of load and endurance, while using multiple UAVs at the same time to form a UAV formation can be effective. It solves the problems of load and battery life and has many advantages. [0003] UAV formation refers to a way in which two or more UAVs divide and cooperate to complete flight tasks. The traditional UAV formation control method uses a set of ground station equipment to control multip...

AI Technical Summary

Problems solved by technology

The traditional UAV formation control method uses a set of ground station equipment to control multiple groups of UAVs. Therefore, the data processing pressure of the ground station is relatively high, which is prone to data processing blockage, and even collisions of UAVs in the same formation. crash occurred

Images