A security envelope construction method for UAV dense formation

A construction method, UAV technology, applied in computer-aided design, complex mathematical operations, geometric CAD, etc., can solve problems such as low model complexity

Active Publication Date: 2022-02-08
BEIHANG UNIV
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  • Description
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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

Method used

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  • A security envelope construction method for UAV dense formation
  • A security envelope construction method for UAV dense formation
  • A security envelope construction method for UAV dense formation

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Embodiment 1

[0054] Safety envelope modeling of sample drone secret sets is used in the present invention. Assuming a formation of seven drones in the formation, all the body size of the drone is the same as the performance parameters, the length of the fuselage L = 8m ,width W = 16m ,high H = 2.4m . Maximum flying speed V f = 100m / s Maximum flying speed V b = 0m / s Maximum vertical climb speed V u = 20m / s Maximum vertical falling speed V d = 25m / s , Maximum lateral moving speed V l = 10m / s .

[0055] Set 7 drone center in the inertial coordinate system O xyz Spatial position coordinates are 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 method of solving the minimum envelope circle described in this step, the minimum envelope ball in all drone spatial position points in the envelope formation in the space can be obtained. S Spherical heart position ...

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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,...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F30/15G06F30/20G06F17/16G06F119/12
CPCG06F30/15G06F30/20G06F17/16G06F2119/12G05D1/104
Inventor 李道春申童姚卓尔邵浩原阚梓刘奕良赵仕伟罗漳平
Owner BEIHANG UNIV
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