A control method and system for synchronously surrounding a formation of unmanned aerial vehicles

Abstract

The present invention discloses a control method and system for synchronized circling of a formation of unmanned aerial vehicles. In an embodiment of the present invention, a ground station establishes communication with each unmanned aerial vehicle in the formation. The ground station sends the calculated synchronized circling information of each unmanned aerial vehicle in the formation in a set global coordinate system to the corresponding unmanned aerial vehicle. Each unmanned aerial vehicle in the formation receives the synchronized circling information of the formation in the set global coordinate system and calculates its own position information in the set global coordinate system. Based on the position information and the synchronized circling information of the formation, circling flight control information is calculated. In this way, since the communication between the ground station and each unmanned aerial vehicle in the formation only transmits the synchronized circling information of the formation in the set global coordinate system, the synchronized circling flight can be controlled, and the amount of data is small. Moreover, since the global coordinate system is set, each unmanned aerial vehicle in the formation can calculate the circling flight control information, which can be non-planar circling control information, so that the synchronized circling of the unmanned aerial vehicle formation in any normal vector plane can be realized.

Description

Technical Field

[0001] The present invention relates to the field of computer technology, and in particular to a control method and system for the synchronous surrounding of a formation of unmanned aerial vehicles. Background Art

[0002] With the development of drone technology, drone control systems for controlling formation flight of multiple drones have gradually matured, and drone formation performances have gradually become a new form of performance, with the advantages of being environmentally friendly, not restricted by venues, and reusable. When multiple drones perform in formation, the drone control system controls multiple drones at the same time, making them rotate or circle in a certain formation.

[0003] At present, the method usually adopted by the UAV control system when controlling the formation synchronous orbit of UAVs is as follows: after the ground station establishes a communication connection with each UAV in the formation, the ground station sends the formation synchronous orbit information to each UAV in the formation, and the UAVs in the formation calculate the data values ​​required for their respective flights according to the received formation synchronous orbit information, and then fly according to the calculated data values ​​required for the flight. Here, the formation synchronous orbit information is different when different control methods are adopted. For example, for different UAVs, the ground station can send the calculated waypoints or track functions based on time coordinates as the formation synchronous orbit information; or only send the center coordinate values ​​of the circle to be orbited by each UAV as the formation synchronous orbit information, and then different UAVs calculate the expected angular velocity and attitude angle according to the received waypoints or track functions based on time coordinates, and fly; or different UAVs obtain the angular velocity according to the linear velocity set by themselves and the received center coordinate values, and fly in the horizontal plane.

[0004] If the calculated waypoint or track function based on time coordinates is sent as the formation synchronous orbiting information, the amount of data is large and the calculation is complex, which puts high demands on the computing efficiency of the ground station and the communication between the ground station and each UAV in the formation. Once an error occurs, it will affect the control of the synchronous orbiting of the UAV formation; if the coordinate value of the center of the circle to be orbited by each UAV is sent as the formation synchronous orbiting information, it can only achieve the synchronous orbiting of the UAV formation within the horizontal plane, which greatly limits the flexibility of the synchronous orbiting of the UAV formation. Summary of the invention

[0005] In view of this, an embodiment of the present invention provides a control method for the synchronous orbit of a drone formation. The method can realize the synchronous orbit of a drone formation in any normal vector plane on the basis of reducing the amount of communication data between a ground station and each drone in the formation.

[0006] An embodiment of the present invention also provides a control system for the synchronous orbiting of a drone formation, which can realize the synchronous orbiting of a drone formation in any normal vector plane on the basis of reducing the amount of communication data between a ground station and each drone in the formation.

[0007] The embodiment of the present invention is implemented as follows:

[0008] A method for controlling a formation of unmanned aerial vehicles to synchronously surround each other, comprising:

[0009] Each UAV in the formation receives the formation synchronous surround information in the set global coordinate system;

[0010] Each drone calculates its own position information in a set global coordinate system;

[0011] Each UAV calculates and obtains the circling flight control information according to the position information and the formation synchronous circling information.

[0012] Before each UAV in the formation receives the formation synchronous surround information in the set global coordinate system, the method further includes:

[0013] Each of the drones establishes a communication connection with the ground station;

[0014] Each UAV receives set global coordinate system information from the ground station.

[0015] Each UAV in the formation receives the formation synchronous surround information in the set global coordinate system, including:

[0016] The orbit-related time value, orbit center coordinate value, orbit plane normal vector and drone angular velocity parameter value;

[0017] The calculated circling flight control information includes: an expected circling position value and an expected speed value.

[0018] The calculation of the expected value of the surrounding position includes:

[0019] Based on the position information and the coordinate value of the center of the surrounding circle, a unit vector of the surrounding radius and an initial orientation vector is calculated;

[0020] The orbiting azimuth vector at any time within the orbiting correlation time is obtained by calculating the unit vector of the initial azimuth vector;

[0021] Obtaining an expected value of the orbiting position according to the orbiting azimuth vector, the orbiting radius value and the orbiting circle center coordinate value at the arbitrary moment;

[0022] The calculation of the speed expectation value includes:

[0023] Obtaining the tangent vector of the orbiting trajectory according to the orbiting azimuth vector and the orbiting plane normal vector at any time;

[0024] According to the tangent vector of the orbiting trajectory, the orbiting radius value and the angular velocity value of the UAV at any time, the expected velocity value at any time within the orbiting related time is obtained, wherein the angular velocity value of the UAV at any time is calculated according to the UAV angular velocity parameter value and the set relationship function between the UAV angular velocity and time.

[0025] After obtaining the expected speed value at any time, the method further includes:

[0026] Set a first weight value and a second weight value, the sum of which is 1, and take the product of the expected speed value and the first weight value and the product of the difference between the expected position value and the position value and the second weight value as the modified expected speed value.

[0027] A method for controlling a formation of unmanned aerial vehicles to synchronously surround each other, comprising:

[0028] The ground station calculates the formation synchronization surround information of each UAV in the formation in the set global coordinate system;

[0029] The ground station sends the calculated formation synchronization surround information of each UAV in the set global coordinate system to the corresponding UAV.

[0030] Before the ground station calculates the formation synchronization surrounding information of each UAV in the formation in the set global coordinate system, the method further includes:

[0031] The ground station establishes a communication connection with each of the drones;

[0032] The ground station sends the set global coordinate system information to each of the drones.

[0033] The ground station calculates the formation synchronization surrounding information of each UAV in the formation in the set global coordinate system, including:

[0034] The orbit-related time value, the orbit center coordinate value, the orbit plane normal vector and the drone angular velocity parameter value, wherein the drone angular velocity value is determined based on the relationship function between the angular velocity value of each drone and time, and the relationship function between the sweep angle value of each drone and time.

[0035] A control system for synchronized circling of a UAV formation, the system comprising: a ground station and a plurality of UAVs in the formation, wherein:

[0036] The ground station is used to establish communication with each UAV in the formation and send the calculated formation synchronization surround information of each UAV in the formation in the set global coordinate system to the corresponding UAV;

[0037] Each UAV in the formation is used to establish communication with the ground station, receive the formation synchronous orbiting information in the set global coordinate system; calculate its own position information in the set global coordinate system; and calculate the orbiting flight control information based on the position information and the formation synchronous orbiting information.

[0038] A control device for synchronized circling of a formation of unmanned aerial vehicles, comprising:

[0039] Memory; and

[0040] A processor coupled to the memory, wherein the processor is configured to execute any of the above-mentioned methods for controlling the synchronous circling of a drone formation based on instructions stored in the memory.

[0041] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements any of the above-mentioned control methods for synchronized circling of a formation of unmanned aerial vehicles.

[0042] As can be seen above, the ground station in the embodiment of the present invention establishes communication with each drone in the formation, and the ground station sends the calculated formation synchronous surround information of each drone in the formation in the set global coordinate system to the corresponding drone; each drone in the formation receives the formation synchronous surround information in the set global coordinate system and calculates its own position information in the set global coordinate system, and calculates the surround flight control information based on the position information and the formation synchronous surround information. In this way, since the communication between the ground station and each drone in the formation only transmits the formation synchronous surround information in the set global coordinate system, the control of the synchronous surround flight can be realized, and the amount of data is small. Moreover, since the global coordinate system is set, each drone in the formation can calculate the surround flight control information, which can be non-planar surround control information, so that the drone formation synchronous surround of any normal vector plane can be realized. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 A flowchart of an example of a control method for synchronized circling of a UAV formation provided by an embodiment of the present invention;

[0044] Figure 2 A flowchart of Example 2 of a control method for synchronously surrounding a formation of unmanned aerial vehicles provided by an embodiment of the present invention;

[0045] Figure 3 A schematic diagram of the structure of a control system for synchronized circling of a formation of unmanned aerial vehicles provided by an embodiment of the present invention;

[0046] Figure 4 A flow chart of the control interaction process of a synchronous surround of a UAV formation provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0047] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments.

[0048] There are actually two specific methods for using the solution in the background technology: time trajectory control method and circle center fixed point control method.

[0049] The time trajectory control method is as follows: after the ground station calculates the waypoint or track function based on the time coordinates of each UAV, the corresponding waypoint or track function based on the time coordinates is sent to each UAV according to the UAV number. Each UAV obtains the corresponding expected position value according to the received waypoint or track function based on the time coordinates, and then obtains the expected acceleration value and the expected attitude angle value according to the expected position value and the current position value, and then flies based on the expected acceleration value and the expected attitude angle value.

[0050] The center-fixed-point control method is as follows: after the ground station determines the center position information of each UAV, the corresponding center position information of the orbiting circle is sent to each UAV according to the UAV number. Each UAV obtains the orbiting radius according to the received center position information of the orbiting circle and the current position value, obtains the angular velocity value according to the orbiting radius and the preset linear velocity value, and flies clockwise or counterclockwise based on the obtained angular velocity value.

[0051] However, both of the above methods have disadvantages: the time trajectory control method requires the ground station to obtain the position information of each drone before circling in order to calculate the waypoint or track function based on the time coordinates of each drone. Once the communication between the ground station and the drone fails, the waypoint or track function corresponding to each drone cannot be generated, and the synchronous circling flight of multiple drones cannot be completed. Especially when the number of drones is large, higher requirements are placed on the calculation efficiency of the ground station, which greatly affects the real-time performance of the synchronous circling of the drone formation. In addition, each drone corresponds to a different waypoint or track function based on the time coordinates, and the amount of data is large during transmission. Once there is a problem with the communication between the ground station and the drone or an error occurs in the transmitted data, it will cause multiple drones to lose control, affecting the integrity of the synchronous circling flight of multiple drones, and even causing chain reactions such as collisions between drones, greatly affecting the safety of personnel and property on the ground. The center-of-circle fixed-point control method can only realize the synchronous circling flight of multiple drones in the horizontal plane, and cannot realize the synchronous circling flight of drones in the arbitrary normal vector plane, which greatly limits the flexibility of the synchronous circling flight of drones. In addition, when controlling the drone to fly in a circle, the angular velocity value of the drone is calculated based on the pre-set linear speed, which is calculated independently by each drone. The uniformity of multiple drones flying in a circle cannot be guaranteed, which greatly affects the synchronization of the drones' flying in a circle.

[0052] Therefore, in order to overcome the above-mentioned problems, the ground station in an embodiment of the present invention establishes communication with each UAV in the formation, and the ground station sends the calculated formation synchronous orbiting information of each UAV in the formation in the set global coordinate system to the corresponding UAV; each UAV in the formation receives the formation synchronous orbiting information in the set global coordinate system and calculates its own position information in the set global coordinate system, and calculates the orbiting flight control information based on the position information and the formation synchronous orbiting information.

[0053] In this way, since the communication between the ground station and each drone in the formation only transmits the formation synchronous orbiting information in the set global coordinate system, the synchronous orbiting flight can be controlled. The ground station calculates less data and transmits less data, and does not require multiple communication interactions between the ground station and each drone in the formation, reducing the risk of loss of control of the drone's orbiting flight. Furthermore, since the global coordinate system is set, each drone in the formation can calculate the orbiting flight control information, which can be non-planar orbiting control information, so that the synchronous orbiting of drone formations in any normal vector plane can be achieved.

[0054] Figure 1 A flowchart of an example of a control method for synchronously surrounding a formation of unmanned aerial vehicles provided by an embodiment of the present invention, wherein the specific steps are as follows:

[0055] Step 101, each UAV in the formation receives formation synchronous surround information in a set global coordinate system;

[0056] Step 102, each drone calculates its own position information in a set global coordinate system;

[0057] Step 103: Each UAV calculates and obtains the circling flight control information according to the position information and the formation synchronous circling information.

[0058] In the method, before each UAV in the formation receives the formation synchronous orbit information in the set global coordinate system, the method also includes: each UAV establishes a communication connection with a ground station; each UAV receives the set global coordinate system information from the ground station.

[0059] Specifically, before the formation performs a synchronized circling flight show, it will set a certain point in space as the origin of the global coordinate system. The latitude, longitude and altitude coordinates of the origin are expressed as (lat0, lon0, alt0), and the x-axis square is the due north direction, establishing a global North East Earth (NED) coordinate system. Of course, other types of global coordinate systems can also be established, which are not limited here. Before the drones in the formation take off, the ground station can upload the global coordinate system information to all drones in the formation, and perform a corresponding communication handshake process between the ground station and all drones in the formation to ensure that the communication connection is successfully established.

[0060] In the method, each UAV in the formation receives the formation synchronous surround information in the set global coordinate system, including:

[0061] The orbit-related time value, orbit center coordinate value, orbit plane normal vector and drone angular velocity parameter value;

[0062] The calculated circling flight control information includes: an expected circling position value and an expected speed value.

[0063] Specifically, the surround-related time value may include: the surround start time and the surround time.

[0064] Before the ground station sends the formation synchronization surround information to each drone in the formation, it needs to calculate and plan the formation synchronization surround information, which is described in detail below.

[0065] When the drones in the formation form a certain pattern in the air and need to perform overall synchronous orbiting, set the corresponding parameters according to the performance requirements: the orbiting start time t0, the orbiting angle α, the orbiting time T, and the coordinate value of the orbiting center in the global coordinate system (x r ,y r ,z r ), the unit normal vector of the surrounding plane When the circling starts, the angular velocity of the drones in the formation is w0 (0rad / s-0.01rad / s). When the circling ends, the angular velocity of the drones is w T (0rad / s—0.01rad / s).

[0066] In order to ensure the smoothness of the speed change of the drones in the formation during the circling flight and prevent the drones from experiencing large sudden changes in their attitude during flight, the circling angle and angular velocity of the drones are planned according to the above-mentioned parameters. Assume that the relationship between the angle swept by the drones during flight and the time change is: θ(t) = k0 + k1(t-t0) + k2(t-t0) 2 +k3(t-t0) 3 , then the relationship between the angular velocity w(t) of the drone and time is w(t)=k1+2k2(t-t0)+3k3(t-t0) 2 According to the boundary conditions of equations (1)-(4), the angular velocity parameter value k of the UAV is obtained i (i=0,1,2,3).

[0067] θ(t0)=0 (1)

[0068] θ(t0+T)=α (2)

[0069] w(t0)=w0 (3)

[0070] w(t0+T)=w T (4)

[0071] After completing the above parameter settings, the ground station sends the formation synchronization circling information to each aircraft in the formation. Specifically, the circling start time t0, the circling center coordinate value (x r ,y r ,z r ), the normal vector of the surrounding plane And the angular velocity parameter value k of the drone i (i=0,1,2,3) is uploaded to all drones in the formation, and all drones in the formation provide feedback for confirmation.

[0072] Here, when planning the angular velocity parameter values ​​for UAV flight, the two relationship functions used are not limited to third-order polynomial curves, but can also be higher-order polynomial curves or other suitable planning curves, etc., which are not limited here.

[0073] Here, the angular velocity parameter value of the drone is sent, and the drone subsequently calculates the angular velocity value of the drone based on the angular velocity parameter value, which can save the amount of communication data. Of course, the angular velocity value of the drone can also be directly transmitted, so that the subsequent drone does not need to calculate.

[0074] For each UAV in the formation that receives the above-mentioned formation synchronous orbiting information, the expected orbiting position and speed can be calculated.

[0075] Take one of the drones P i As an example, the corresponding orbital trajectory is generated. The latitude, longitude and altitude information are obtained according to the navigation module set in the drone, and the equidistant azimuthal projection algorithm is used to obtain the position information of the drone in the set global coordinate system, that is, the position coordinate (x i ,y i ,z i ), before the wrapping starts, get the wrapping radius:

[0076]

[0077]

[0078] Also get the initial orientation vector:

[0079] Then we get the unit vector of the initial orientation vector

[0080] Using the Rodriguez vector rotation algorithm, the azimuth vector of the UAV on the circle at any time t is obtained as:

[0081]

[0082] According to the azimuth vector, the expected orbital position of the drone is obtained:

[0083] That is, the calculation of the expected value of the surrounding position includes:

[0084] Based on the position information and the coordinate value of the center of the surrounding circle, a unit vector of the surrounding radius and an initial orientation vector is calculated;

[0085] The orbiting azimuth vector at any time within the orbiting correlation time is obtained by calculating the unit vector of the initial azimuth vector;

[0086] The expected value of the orbiting position is obtained according to the orbiting azimuth vector, the orbiting radius value and the orbiting circle center coordinate value at the arbitrary moment.

[0087] The expected speed is calculated as:

[0088] According to the unit direction vector and the unit normal vector Get the tangent vector of the drone's orbital trajectory

[0089]

[0090] p v and p s are the weight coefficients of the two settings, satisfying p v +p s =1

[0091] That is, the calculation of the expected speed value includes: obtaining the tangent vector of the orbiting trajectory according to the orbiting azimuth vector and the orbiting plane normal vector at any time;

[0092] According to the tangent vector of the orbiting trajectory, the orbiting radius value and the angular velocity value of the UAV at any time, the expected velocity value at any time within the orbiting related time is obtained, wherein the angular velocity value of the UAV at any time is calculated according to the UAV angular velocity parameter value and the set relationship function between the UAV angular velocity and time.

[0093] In this way, only the angular velocity parameter value of the UAV is transmitted between the ground station and the UAV, instead of the two relationship functions, which saves the amount of transmission data during communication.

[0094] In an embodiment of the present invention, the obtained expected speed value can also be modified, including: setting a first weight value and a second weight value, the sum of the first weight value and the second weight value is 1, and taking the product value of the expected speed value and the first weight value, and the product value of the difference between the expected position value and the position value and the second weight value, as the modified expected speed value.

[0095] In the present invention, after obtaining the circling flight control information including the expected value of the circling position and the expected value of the speed, the existing proportional integral differential (PID) algorithm can be used to obtain the expected value of the acceleration of the UAV, and then the expected value of the attitude can be obtained. The UAV is controlled according to the expected value of the attitude, and the motor speed input set by the UAV is controlled to realize the circling flight control of the UAV.

[0096] Figure 2 A second flow chart of a control method for synchronously surrounding a UAV formation provided by an embodiment of the present invention, wherein the specific steps are as follows:

[0097] Step 201: The ground station calculates the formation synchronization surround information of each UAV in the formation in a set global coordinate system;

[0098] Step 202: The ground station sends the calculated formation synchronization surround information of each UAV in the set global coordinate system to the corresponding UAV.

[0099] In the method, before the ground station calculates the formation synchronization surrounding information of each UAV in the formation in the set global coordinate system, the method further includes:

[0100] The ground station establishes a communication connection with each of the drones;

[0101] The ground station sends the set global coordinate system information to each of the drones.

[0102] In the method, the ground station calculates the formation synchronization surround information of each UAV in the formation in the set global coordinate system, including:

[0103] The orbit-related time value, the orbit center coordinate value, the orbit plane normal vector and the drone angular velocity parameter value, wherein the drone angular velocity value is determined based on the relationship function between the angular velocity value of each drone and time, and the relationship function between the sweep angle value of each drone and time.

[0104] Figure 3 A schematic diagram of a control system for a UAV formation synchronous surround provided by an embodiment of the present invention includes: a ground station and multiple UAVs in the formation, wherein:

[0105] The ground station is used to establish communication with each UAV in the formation and send the calculated formation synchronization surround information of each UAV in the formation in the set global coordinate system to the corresponding UAV;

[0106] Each UAV in the formation is used to establish communication with the ground station, receive the formation synchronous orbiting information in the set global coordinate system; calculate its own position information in the set global coordinate system; and calculate the orbiting flight control information based on the position information and the formation synchronous orbiting information.

[0107] Figure 4 A flow chart of the control interaction process of a UAV formation synchronous surround provided by an embodiment of the present invention, wherein the specific steps are as follows:

[0108] Step 401, establishing a global coordinate system;

[0109] Step 402: Upload the established global coordinate system to all UAVs in the formation;

[0110] Step 403, setting various parameters used for synchronous orbiting flight;

[0111] Step 404: The ground station calculates the formation synchronous orbiting information in the set global coordinate system based on the set parameters.

[0112] Step 405: The ground station sends the formation synchronous surround information in the set global coordinate system to all UAVs in the formation;

[0113] Step 406: Determine whether the transmission is successful. If yes, execute step 407; if not, return to execute step 405;

[0114] Step 407: The UAV that receives the formation synchronous surround information in the set global coordinate system determines whether the current time is greater than the initial surround time. If so, execute steps 408 and 409; if not, continue to determine again;

[0115] Step 408: The UAV calculates an expected value of the orbiting position according to the formation synchronous orbiting information in the set global coordinate system;

[0116] Step 409: The UAV calculates the expected speed value according to the formation synchronous orbiting information in the set global coordinate system;

[0117] Step 410: The UAV controls the motor speed output of the UAV through a PID control method according to the expected position value and the expected speed value.

[0118] The embodiment of the present invention further provides a control device for synchronized circling of a drone formation, comprising:

[0119] Memory; and

[0120] A processor coupled to the memory, wherein the processor is configured to execute any of the above-mentioned methods for controlling the synchronous circling of a drone formation based on instructions stored in the memory.

[0121] An embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements any of the above-mentioned control methods for the synchronous circling of a formation of unmanned aerial vehicles.

[0122] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for controlling a synchronous circling of a UAV formation, characterized in that: include: Each UAV in the formation receives the formation synchronous surround information in the set global coordinate system; Each drone calculates its own position information in a set global coordinate system; Each UAV calculates the circling flight control information according to the position information and the formation synchronous circling information; each UAV in the formation receives the formation synchronous circling information in the set global coordinate system, including: circling related time value, circling center coordinate value, circling plane normal vector and UAV angular velocity parameter value; the circling flight control information obtained by calculation includes: circling position expected value and velocity expected value; The calculation of the expected value of the surrounding position includes: Based on the position information and the coordinate value of the center of the surrounding circle, a unit vector of the surrounding radius and an initial orientation vector is calculated; The orbiting azimuth vector at any time within the orbiting correlation time is obtained by calculating the unit vector of the initial azimuth vector; Obtaining an expected value of the orbiting position according to the orbiting azimuth vector, the orbiting radius value and the orbiting circle center coordinate value at the arbitrary moment; The calculation of the speed expectation value includes: Obtaining the tangent vector of the orbiting trajectory according to the orbiting azimuth vector and the orbiting plane normal vector at any time; According to the tangent vector of the orbiting trajectory, the orbiting radius value and the angular velocity value of the UAV at any time, the expected velocity value at any time within the orbiting related time is obtained, wherein the angular velocity value of the UAV at any time is calculated according to the UAV angular velocity parameter value and the set relationship function between the UAV angular velocity and time; The relationship between the angle swept by the drone during flight and the change in time is: θ(t) = k0 + k1(t-t0) + k2(t-t0) 2 +k3(t-t0) 3 ; The relationship function between the angular velocity of the drone and time is: w(t)=k1+2k2(t-t0)+3k3(t-t0) 2 ;According to the following boundary conditions, the angular velocity parameter value k of the UAV is obtained i (i=0,1,2,3): θ(t0)=0;θ(t0+T)=α;w(t0)=w0;w(t0+T)=w T ; Where t0 is the start time of the orbit, α is the orbit angle, T is the orbit time, w0 is the angular velocity of the UAVs in the formation when the orbit starts; w T The angular velocity of the drone when the orbit ends.

2. The method according to claim 1, characterized in that Before each UAV in the formation receives the formation synchronous surround information in the set global coordinate system, the method further includes: Each of the drones establishes a communication connection with the ground station; Each UAV receives set global coordinate system information from the ground station.

3. The method according to claim 1, characterized in that After obtaining the expected speed value at any time, it also includes: A first weight value and a second weight value are set, the sum of the first weight value and the second weight value is 1, and the product of the expected speed value and the first weight value and the product of the difference between the expected surrounding position value and the position value corresponding to the position information of the drone itself and the second weight value are taken as the modified expected speed value.

4. A method for controlling a synchronous circling of a drone formation, characterized in that: include: The ground station calculates the formation synchronization surround information of each UAV in the formation in the set global coordinate system; The formation synchronous surround information includes: surround-related time value, surround circle center coordinate value, surround plane normal vector and drone angular velocity parameter value; The ground station sends the calculated formation synchronous orbiting information of each UAV in the set global coordinate system to the corresponding UAV; the UAV uses the formation synchronous orbiting information to calculate the orbiting flight control information; the calculated orbiting flight control information includes: an expected orbiting position value and an expected speed value; wherein the calculation of the expected orbiting position value includes: based on the position information and the coordinate value of the orbiting circle center, calculating the orbiting radius value and the unit vector of the initial azimuth vector; the position information is the position information corresponding to the position calculated by the UAV itself in the set global coordinate system; the orbiting phase is calculated according to the unit vector of the initial azimuth vector. The calculation of the expected speed includes: obtaining the tangent vector of the orbiting trajectory according to the orbiting azimuth vector at any time and the orbiting plane normal vector; obtaining the expected speed value at any time within the orbiting related time according to the tangent vector of the orbiting trajectory, the orbiting radius value and the angular velocity value of the UAV at any time, wherein the angular velocity value of the UAV at any time is calculated according to the UAV angular velocity parameter value and the set relationship function between the UAV angular velocity and time; The relationship between the angle swept by the drone during flight and the change in time is: θ(t) = k0 + k1(t-t0) + k2(t-t0) 2 +k3(t-t0) 3 ; The relationship function between the angular velocity of the drone and time is: w(t)=k1+2k2(t-t0)+3k3(t-t0) 2 ;According to the following boundary conditions, the angular velocity parameter value k of the UAV is obtained i (i=0,1,2,3): θ(t0)=0;θ(t0+T)=α;w(t0)=w0;w(t0+T)=w T ; Where t0 is the start time of the orbit, α is the orbit angle, T is the orbit time, w0 is the angular velocity of the UAVs in the formation when the orbit starts; w T The angular velocity of the drone when the orbit ends.

5. The method according to claim 4, characterized in that Before the ground station calculates the formation synchronization surrounding information of each UAV in the formation in the set global coordinate system, the method further includes: The ground station establishes a communication connection with each of the drones; The ground station sends the set global coordinate system information to each of the drones.

6. A control system for synchronized circling of a drone formation, characterized in that: The system includes: a ground station and multiple drones in formation, among which: The ground station is used to establish communication with each UAV in the formation, and send the calculated formation synchronization surround information of each UAV in the formation in the set global coordinate system to the corresponding UAV; the formation synchronization surround information includes: surround-related time value, surround circle center coordinate value, surround plane normal vector and UAV angular velocity parameter value; Each UAV in the formation is used to establish communication with the ground station, receive the formation synchronous orbiting information in the set global coordinate system; calculate its own position information in the set global coordinate system; calculate the orbiting flight control information according to the position information and the formation synchronous orbiting information; the orbiting flight control information includes: the expected value of the orbiting position and the expected value of the speed; The calculation of the expected value of the circling position includes: calculating the circling radius value and the unit vector of the initial orientation vector based on the position information and the coordinate value of the center of the circling circle; calculating the circling orientation vector at any time within the circling related time according to the unit vector of the initial orientation vector; and obtaining the expected value of the circling position according to the circling orientation vector at any time, the circling radius value and the coordinate value of the center of the circling circle; The calculation of the expected speed value includes: obtaining the tangent vector of the orbiting trajectory according to the orbiting azimuth vector and the orbiting plane normal vector at any time; obtaining the expected speed value at any time within the orbiting related time according to the tangent vector of the orbiting trajectory, the orbiting radius value and the angular velocity value of the UAV at any time, wherein the angular velocity value of the UAV at any time is calculated according to the UAV angular velocity parameter value and the set relationship function between the UAV angular velocity and time; The relationship between the angle swept by the drone during flight and the change in time is: θ(t) = k0 + k1(t-t0) + k2(t-t0) 2 +k3(t-t0) 3 ; The relationship function between the angular velocity of the drone and time is: w(t)=k1+2k2(t-t0)+3k3(t-t0) 2 ;According to the following boundary conditions, the angular velocity parameter value k of the UAV is obtained i (i=0,1,2,3): θ(t0)=0;θ(t0+T)=α;w(t0)=w0;w(t0+T)=w T ; Where t0 is the start time of the orbit, α is the orbit angle, T is the orbit time, w0 is the angular velocity of the UAVs in the formation when the orbit starts; w T The angular velocity of the drone when the orbit ends.

7. A control device for synchronized circling of a drone formation, characterized in that: include: Memory; as well as A processor coupled to the memory, the processor being configured to execute the control method for synchronized circling of a drone formation as described in any one of claims 1 to 5 based on instructions stored in the memory.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the control method for the synchronous surround of a formation of unmanned aerial vehicles described in any one of claims 1 to 5 is implemented.

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