A security envelope construction method for UAV dense formation

Abstract

The present invention provides a method for constructing a security envelope of a dense formation of UAVs, the construction of which includes the following steps: S1: collecting all n The flight state parameters of the UAV, including the maximum length, width and height of the fuselage, and the maximum forward flight, backward flight, climb, descent, and lateral movement speed; S2: The spatial position points of all UAVs in the formation can be enveloped in the solution space The position and radius of the center of the minimum enveloping sphere S; S3: Calculate the maximum flight distance that the UAV formation can reach in all directions within a given safety response time; S4: According to the maximum length, width and height of the fuselage, the minimum The radius of the envelope sphere S and the maximum flight distance in each direction, solve the diagonal matrix M j ; S5: Construct the UAV safety envelope model. The method proposed in the present invention comprehensively considers the spatial position distribution, flight state and response speed of the UAVs in the formation, has low model complexity, and can be effectively used for low-altitude conflict prediction and obstacle avoidance planning of dense formations composed of multiple UAVs.

Description

Technical field [0001] The present invention relates to the field of aircraft safety area modeling techniques, and more particularly to a method for secure envelope construction of a unmanned collection formation. Background technique [0002] The intensive formation made from multiple drones, compared to individual drones, the flight airspace is larger, and during flight, it needs to be adjusted according to the task and environmental changes, dynamics, and real-time adjustment formulation. This leads to the possibility of a larger flight conflict, and the flight safety has been greatly threatened. [0003] For the flight safety regional research of drone aquame, the international is less unfolded. Studies have focused on single drones, and most of the number of ideas is close to civil aviation aircraft safety area. Among them, the Dutch National Defense Research Institute and the Dutch Delft University of Delfft proposed the concept of motor space in a perceived studies in UAV,...

AI Technical Summary

Problems solved by technology

[0005] The technical problem to be solved by the present invention is how to construct a safe area model of a dense formation composed of multiple unmanned aerial vehicles. Effectively used for UAV formation low-altitude conflict prediction and obstacle avoidance planning

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