Anti-collision method during formation type transformation of multi-unmanned aerial vehicle formation

Abstract

The invention discloses an anti-collision method during formation type transformation of multi-unmanned aerial vehicle formation. The method is based on a plurality of unmanned aerial vehicles and a command and dispatch center, namely a ground command base station, and comprises the steps of: releasing unmanned aerial vehicles, enabling the unmanned aerial vehicle formation to keep the initial formation to fly, and controlling, transmitting and receiving data with high-speed communication module on the unmanned aerial vehicles through using a ground base station by a commander in a high-speed communication mode, so that the horizontal positions of the unmanned aerial vehicles in the formation are mastered in real time; and meanwhile, using a barometer positioning module capable of detecting the height of the unmanned aerial vehicles for height calibration, and keeping the unmanned aerial vehicle formation at the same initial height. The unmanned aerial vehicle formation state can be updated in real time according to the actual situation, the number of the unmanned aerial vehicles needing to change flight routes is reduced as much as possible under the safety condition, a formation transformation instruction is issued through a dispatching center, a "distance matrix" and a "risk matrix" are calculated according to a preset "critical value", the relation between the distance between the flight routes of the unmanned aerial vehicles and the critical value is checked, and normal flight, route adjustment and risk relief commands are send out respectively.

Description

technical field [0001] The invention relates to an anti-collision method when a multi-unmanned aerial vehicle formation changes, in particular to an automatic anti-collision method when a multi-unmanned aerial vehicle formation changes using a dynamic matrix algorithm. Background technique [0002] The Chinese patent application CN109814594A disclosed in the prior art is a UAV swarm anti-collision control method, device and computer-readable storage medium, including: counting the current space coordinates and flight speed of each UAV in the UAV swarm; The current spatial coordinates and flight speed of the UAV determine whether a collision event will occur at the first preset time in the future; statistical analysis of the number of UAV collision events that will occur within the first preset period of time in the future; according to the chronological order of the collision events Sorting the number of collision events of each drone; adjusting the route or speed of the dro...

AI Technical Summary

Problems solved by technology

[0009] The invention relies on the UAV flight control platform and makes full use of various modules to realize the application of UAV formation in two-dimensional formation transformation, and solve the mutual interference or even collision that may be caused by multi-UAV formation transformation. question

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