Unmanned aerial vehicle dense formation safety envelope construction method
A construction method and unmanned aerial vehicle technology, applied in computer-aided design, complex mathematical operations, special data processing applications, etc., can solve the problem of low model complexity
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[0054] The invention is used to carry out safety envelope modeling on the dense formation of sample unmanned aerial vehicles. Assume that there are 7 UAVs in the formation, and the body size and performance parameters of all UAVs are the same, and the body length L=8m ,width W=16m ,high H=2.4m . Maximum forward speed V f =100m / s , the maximum backward flight speed V b =0m / s , the maximum vertical climb speed V u =20m / s , the maximum vertical descent speed V d = 25m / s , the maximum lateral movement speed V l =10m / s .
[0055] Set the centers of 7 UAVs in the inertial coordinate system O xyz The spatial position coordinates in X 1 =[520,110,225], X 2 =[500,130,220], X 3 =[545,145,225], X 4 =[510,115,205], X 5 =[540,135,205], X 6 =[510,135,235], X 7 =[530,125,250]. According to the solution method of the minimum enveloping circle described in step 2, the minimum enveloping sphere of all UAV spatial position points in the enveloping forma...
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