A UAV swarm formation flying method for saving communication bandwidth

A formation flight and communication bandwidth technology, applied in control/regulation systems, instruments, three-dimensional position/course control, etc., can solve the problems of poor stability of networking communication links, communication bandwidth occupation, etc., and achieve engineering feasibility, Effect of avoiding sharing, reducing dependencies

Active Publication Date: 2022-07-22
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] Aiming at the deficiencies of the prior art, the embodiment of the present invention provides a UAV cluster formation flight method for saving communication bandwidth, which can solve the technical problems of poor stability of networking communication links and communication bandwidth occupation in the prior art

Method used

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  • A UAV swarm formation flying method for saving communication bandwidth
  • A UAV swarm formation flying method for saving communication bandwidth
  • A UAV swarm formation flying method for saving communication bandwidth

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Embodiment 1

[0057] like figure 1 shown, figure 1 A schematic flowchart of a method for swarm formation flying of UAVs for saving communication bandwidth provided by an embodiment of the present invention is shown. The method in this embodiment may include the following steps:

[0058] S10. In the formation flight of the UAV swarm based on the ad hoc network link, each UAV F i According to the current state of the communication link between itself and the lead plane, the preset lead plane processing strategy determines the lead plane identifier for follow-up flight.

[0059] For example, if there is a drone F in the drone swarm i If the first type of message shared by the leader of the current following flight cannot be received, the leader processing strategy is used to determine a new leader identity for the follow-up flight.

[0060] S20, each UAV F i Share the message with the leader ID determined by itself, and receive other UAV F j Shared message; F i and F j Represents any tw...

Embodiment 2

[0077] An embodiment of the present invention provides a formation flying method for a swarm of unmanned aerial vehicles for saving communication bandwidth. The execution subject of this embodiment can be each unmanned aerial vehicle in the swarm of unmanned aerial vehicles, which belongs to the technical solution of the first embodiment. A further refinement or another specific implementation. The method of this embodiment can be described in detail as follows:

[0078] In the formation flight of the UAV swarm based on the ad hoc network link, based on the communication bandwidth saving rule, the UAV currently serving as the lead aircraft in the UAV swarm shares the first type of report according to the first preset duration. The document, the UAV currently serving as a wingman sends the second type of message according to the second preset duration, so as to avoid the state of unstable communication in the ad hoc network link;

[0079] The communication bandwidth saving rul...

Embodiment 3

[0094] This embodiment proposes a technical solution for formation flight for a swarm of unmanned aerial vehicles with limited network communication bandwidth and unstable communication. combine Figure 2 to Figure 5 As shown, this embodiment is an initialization process of defining or establishing policies or rules in a computer program from a swarm of unmanned aerial vehicles before flying in formation. After the initialization is completed, the first and second embodiments above can be implemented. The technical solution of the present embodiment is as follows before initialization.

[0095] The following Q01 to Q05 belong to the initialization process of the UAV swarm before the formation flight, and the initialization process can be realized by the host computer of the UAV swarm, or individually configured for the equipment required by each UAV.

[0096] Q01. When building a UAV swarm, a networking link can be installed for each UAV in the UAV swarm; It can realize the ...

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Abstract

The present invention relates to a formation flying method for swarms of unmanned aerial vehicles for saving communication bandwidth. i It is pre-integrated with a computer control program for the long aircraft in formation flight to process strategy information and long and short messages. When the UAV F i Other UAV F received j For shared long and short messages, check that its own ID is the same as the long machine ID in the long and short messages. At the same time, the long machine processing policy information updates its own level information and shares the long message; the long message has location information and is shared as the long machine. The message information of the short message is the message information without location information shared by the UAV as a wingman. In the method of the invention, the UAV can flexibly switch the long plane, send the position on demand, dynamically use the bandwidth, avoid the sharing of invalid data, and effectively solve the problems of poor stability of the network communication link and occupied communication bandwidth in the prior art. technical problem.

Description

technical field [0001] The invention relates to the self-organizing network technology of unmanned aerial vehicle swarms, in particular to a formation flying method of unmanned aerial vehicle swarms and unmanned aerial vehicles for saving communication bandwidth. Background technique [0002] UAV formation flight refers to the flight of multiple UAVs in the air in a designated formation. At present, there are three main technical solutions for UAV formation flight. The first is that the ground controls the position of each UAV in the air through a one-to-many ground-to-air communication link; the second is to designate one of the swarms. The drone is the leader, and the other drones are wingmen. The leader sends its position to the wingman through a one-to-many link in the air, and the wingman automatically follows the leader after obtaining the leader's position; the third type is the designated cluster. One UAV is the lead plane, and the other UAVs are wingmen. All UAVs s...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/10
CPCG05D1/104
Inventor 郑丽丽张秦岭张利刚王立志王放
Owner BEIHANG UNIV
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