A collaborative algorithm-based flight test to verify the modification method of civilian drones

Abstract

This application belongs to the field of aircraft testing technology, specifically relating to a method for modifying civilian unmanned aerial vehicles (UAVs) for collaborative algorithm flight test verification. It includes installing a data link system on multiple UAVs participating in the collaborative algorithm flight test verification, establishing information exchange links between the UAVs and command and control links from ground stations; installing a task processor on each UAV to run the sensor collaborative algorithm; and installing radar and electro-optical payloads on the same UAVs to verify the sensor collaborative algorithm. The radar payload is used to detect the target drone and feed back its 3D information to the task processor, while the electro-optical payload is used to measure the angles of the target drone. This application allows for multiple flight tests, offers high system safety, and provides fast algorithm iteration, meeting the current verification needs of various collaborative flight test algorithms.

Description

Technical Field

[0001] This application belongs to the field of aircraft testing technology, specifically relating to a collaborative algorithm-based flight test verification method for modifying civilian unmanned aerial vehicles. Background Technology

[0002] With the continuous development of multi-UAV collaborative mission technology, there is an urgent need for high-fidelity and rapid flight testing and verification of algorithms. There is an urgent need to build a flight testing system for multiple UAVs that is easy to maintain and expand, so as to quickly improve the maturity of collaborative algorithms.

[0003] Currently, there is no verification technology for multi-UAV collaborative algorithms in engineering applications. If existing mature aircraft platforms with similar functions and performance are selected for flight testing, each aircraft possesses excellent flight qualities, maneuverability similar to the main unit, and multi-functional communication, navigation, and fire control capabilities. Only minor modifications to key hardware and software are needed to meet the requirements of flight test subjects and scenarios. However, aircraft have strict restrictions on flight sites and airspace. Multiple aircraft require certain scheduling and support resources, resulting in high flight test costs. An accident during flight testing could cause significant losses. While a single aircraft can use a data link to simulate collaborative flight testing, the simulated results are not realistic compared to actual flight test results. Summary of the Invention

[0004] To address the aforementioned issues, this application provides a method for modifying existing drones to perform collaborative algorithm test flights and verification, thereby enabling the test flights and verification of collaborative algorithms among multiple drones.

[0005] The method for modifying civilian UAVs for collaborative algorithm flight testing and verification in this application mainly includes: installing a data link system on multiple UAVs participating in the collaborative algorithm flight testing and verification to build information transmission links between the UAVs and command and control links between the UAVs and the ground station; installing a task processor on multiple UAVs participating in the collaborative algorithm flight testing and verification to run the sensor collaborative algorithm; and installing radar and optoelectronic payloads on multiple UAVs participating in the collaborative algorithm flight testing and verification to complete the verification of the sensor collaborative algorithm. The radar payload is used to detect the target UAV and feed back the three-dimensional information of the target UAV to the task processor, while the optoelectronic payload is used to measure the angle of the target UAV.

[0006] Preferably, the data link system includes a formation data link, an integrated image and data transmission link, and a flight control backup link. The formation data link is used to realize data transmission between multiple UAVs and data transmission between the ground station and each UAV. The integrated image and data transmission link is used to realize the back transmission of image information from the optoelectronic payload. The flight control backup link is used to provide separate backup for the flight control system data transmission of each UAV. Each link is installed between the ground station and each UAV and does not interfere with each other.

[0007] Preferably, the task processor is an independent device separate from the UAV flight control system, uses the Ubuntu operating system, and has a processor memory capacity of at least 8GB.

[0008] Preferably, the radar payload is a 30kg seeker radar, installed inside the nose of the aircraft.

[0009] Preferably, the photoelectric load is a 18kg civilian photoelectric pod, which is suspended below the front of the nose of the machine.

[0010] Preferably, the task processor is configured as follows:

[0011] Based on mission instructions and environmental information, data fusion is completed between multiple radar-type UAVs and multiple optoelectronic-type UAVs to form a unified situation.

[0012] The data fusion results are pushed to the decision-making module, which calculates the target allocation results and the occupancy points for occupancy guidance.

[0013] The location points are pushed to the route planning module, which then provides the guide waypoints for each UAV.

[0014] Preferably, before installing the data link system and mission processor, it is further necessary to determine the data interconnection relationships between the various UAV systems within the flight test platform and between the platform and the ground station.

[0015] Preferably, the data interconnection relationship includes: the mission processor transmitting control information to the radar or optoelectronic payload; the mission processor receiving target data transmitted by the radar or optoelectronic payload; the mission processor transmitting formation navigation control information to the flight control system; the mission processor receiving inertial navigation information transmitted by the flight control system; the mission processor transmitting the output results of the cooperative algorithm to the ground station via a data link; the ground station transmitting control commands to the aircraft via a data link; the target data and image data of the radar or optoelectronic payload being transmitted to the ground station via a data link; the ground station transmitting control commands to the radar or optoelectronic payload via a data link; the flight control system transmitting backup flight data and flight attitude information to the ground station via a data link; the ground station transmitting backup flight commands to the flight control system via a data link; and the flight control system transmitting formation mission, flight data, and flight attitude information to the payload.

[0016] This application adopts a modified civilian drone to build a test flight system, which can effectively ensure the high fidelity of the test flight, realize multiple test flight sorties, have high safety of the test flight system, fast algorithm iteration speed, meet the verification needs of various collaborative test flight algorithms at this stage, and have good scalability. Attached Figure Description

[0017] Figure 1This is a schematic diagram of data link installation for a preferred embodiment of the method for modifying a civilian drone to verify the collaborative algorithm in this application.

[0018] Figure 2 This is a schematic diagram of the task processor software architecture of a preferred embodiment of the method for flight testing and verification of the collaborative algorithm for modifying civilian drones according to this application. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be described in more detail below with reference to the accompanying drawings. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are only some, not all, of the embodiments of this application. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application. The embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0020] This application provides a collaborative algorithm-based method for flight testing and verification of civilian drone modifications, such as... Figures 1-2 As shown, this includes: installing a data link system on multiple UAVs participating in the collaborative algorithm flight test verification to build information exchange links between the UAVs and command and control links between the UAVs and the ground station; installing a task processor on multiple UAVs participating in the collaborative algorithm flight test verification to run the sensor collaborative algorithm; and installing radar and optoelectronic payloads on multiple UAVs participating in the collaborative algorithm flight test verification to complete the verification of the sensor collaborative algorithm. The radar payload is used to detect the target UAV and feed back the three-dimensional information of the target UAV to the task processor, while the optoelectronic payload is used to measure the angle of the target UAV.

[0021] In some optional implementations, the data link system includes a formation data link, an integrated image and data transmission link, and a flight control backup link. The formation data link is used to realize data transmission between multiple UAVs and data transmission between the ground station and each UAV. The integrated image and data transmission link is used to realize the return transmission of image information from the optoelectronic payload. For flight safety considerations, the flight control backup link is used to separately back up the data transmission of the flight control system of each UAV. Each link is installed between the ground station and each UAV and does not interfere with each other.

[0022] This embodiment mainly describes data link modification, including the following three aspects:

[0023] (1) Install a formation data link between the ground station and each UAV. This link is a many-to-many transmission link, mainly used to complete the ground station's control of the UAV and data exchange between multiple UAVs. This link has low bandwidth requirements but high requirements for communication testing.

[0024] (2) An integrated image and data transmission link is installed between the ground station and each UAV. This link is a many-to-one long-distance image and data transmission link to realize the transmission of data and control commands between the radar / electro-optical payload and the ground station. In the downlink direction, the detection data of the radar payload and the detection data information of the electro-optical pod in laser mode will be transmitted back to the ground station for data analysis and display through this link. When transmitting data signals, the link is characterized by low latency. The image and video information of the electro-optical payload in visible light and infrared modes will be transmitted back to the ground station for display through this link. When transmitting image and video signals, the link is characterized by high transmission bandwidth and large data transmission capacity. The control commands of the ground station for the airborne radar and electro-optical pod are transmitted uplink to the sky equipment through this link, with low data latency and high real-time performance. This link uses the integrated image and data transmission technology to complete the transmission requirements of different data types of the two devices through a single link, and this link does not interfere with the other two data links, ensuring the stable transmission and control of the detection equipment.

[0025] (3) A flight control backup link is installed between the ground station and each UAV. This link supports one-to-one data reception / transmission and remote control command transmission. In the event of failure of the formation data link and the integrated image and data transmission link, this link serves as the communication channel between the ground station and the flight controller. The flight controller directly receives mission commands from the ground station to achieve a safe return-to-home function.

[0026] In some optional implementations, the task processor is a separate device independent of the UAV flight control system, running the Ubuntu operating system, with 8GB of 128-bit LPDDR4 processor memory at a speed of 58.3GB / s. The GPU has 256 NVIDIA CUDA cores. This independent design of the task processor and flight control system supports the porting and computation of collaborative algorithms, and its architectural design facilitates verification of various collaborative methods and allows for algorithm expansion and verification over the next few years.

[0027] The task processor hardware operating system in this embodiment uses Linux, which offers high stability and strong operability; it also allows for embedded development of C / C++ related content. The built-in multi-machine collaborative algorithm software system adopts a modular structure design, supporting distributed collaborative computing.

[0028] In some optional embodiments, the radar payload is a 30kg seeker radar, installed inside the nose of the aircraft. As a sensor device, the radar payload can measure the range, angle, and velocity of targets, and should possess target detection, localization, and tracking capabilities to meet the requirements of collaborative algorithm verification scenarios. Based on the radar payload's field of view requirements, and considering factors such as its weight and structural form, this embodiment embeds the radar payload within the nose of the aircraft.

[0029] In some optional embodiments, the optoelectronic payload is a 18kg civilian optoelectronic pod, suspended below the front of the fuselage. As a sensor device, the optoelectronic payload, combined with visible light imaging and infrared thermal imaging capabilities, can measure the angle of a target and should possess target detection and tracking functions. Based on the optoelectronic payload's field-of-view requirements, and considering its weight and structural shape, this embodiment suspends the optoelectronic payload below the front of the fuselage.

[0030] In some optional implementations, the task processor is configured to: perform data fusion between multiple radar-type UAVs and multiple electro-optical UAVs based on task instructions and environmental information to form a unified situation; push the data fusion results to the decision module, which calculates the target allocation results and the occupancy points for positioning guidance; and push the occupancy points to the route planning module, which provides the guidance waypoints for each UAV.

[0031] In some alternative implementations, prior to installing the data link system and mission processor, it further includes determining the data interconnection relationships between the various unmanned aerial vehicle systems within the flight test platform and between the platform and the ground station.

[0032] In some optional implementations, the data interconnection relationship includes: the mission processor transmitting control information to the radar or electro-optical payload; the mission processor receiving target data transmitted by the radar or electro-optical payload; the mission processor transmitting formation navigation control information to the flight control system; the mission processor receiving inertial navigation information transmitted by the flight control system; the mission processor transmitting the output results of the cooperative algorithm to the ground station via a data link; the ground station transmitting control commands to the aircraft via a data link; the target data and image data of the radar or electro-optical payload being transmitted to the ground station via a data link; the ground station transmitting control commands to the radar or electro-optical payload via a data link; the flight control system transmitting backup flight data and flight attitude information to the ground station via a data link; the ground station transmitting backup flight commands to the flight control system via a data link; and the flight control system transmitting formation mission, flight data, and flight attitude information to the payload.

[0033] Although this application has been described in detail above with general descriptions and specific embodiments, some modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, such modifications or improvements made without departing from the spirit of this application are all within the scope of protection claimed in this application.

Claims

1. A method for test-flying and verifying the modification of civilian unmanned aerial vehicles using a collaborative algorithm, characterized in that, include: Data link systems were installed on multiple drones participating in the collaborative algorithm test flight verification to build information exchange links between drones and command and control links between drones from the ground station. Task processors were added to multiple drones participating in the collaborative algorithm flight test verification to run the sensor collaborative algorithm; radar and electro-optical payloads were added to multiple drones participating in the collaborative algorithm flight test verification to complete the verification of the sensor collaborative algorithm. The radar payload was used to detect the target drone and feed back the three-dimensional information of the target drone to the task processor, and the electro-optical payload was used to measure the angle of the target drone. The data link system includes a formation data link, an integrated image and data transmission link, and a flight control backup link. The formation data link is used to realize data transmission between multiple UAVs and data transmission between the ground station and each UAV. The integrated image and data transmission link is used to realize the return transmission of image information from the optoelectronic payload. The flight control backup link is used to provide separate backup for the data transmission of the flight control system of each UAV. Each link is installed between the ground station and each UAV and does not interfere with each other. The task processor is an independent device separate from the UAV flight control system, using the Ubuntu operating system, and the processor has at least 8GB of RAM. The radar payload is a 30kg seeker radar, installed inside the nose of the aircraft; or the optoelectronic payload is an 18kg civilian optoelectronic pod, suspended below the front of the nose of the aircraft. The task processor is configured to: Based on mission instructions and environmental information, data fusion is completed between multiple radar-type UAVs and multiple optoelectronic-type UAVs to form a unified situation. The data fusion results are pushed to the decision-making module, which calculates the target allocation results and the occupancy points for occupancy guidance. The occupancy point is pushed to the route planning module, which then provides the guide waypoints for each UAV. Before installing the data link system and mission processor, it is necessary to further determine the data interconnection relationships between the various UAV systems within the flight test platform and between the platform and the ground station; The data interconnection relationships include: the mission processor transmitting control information to the radar or optoelectronic payload; the mission processor receiving target data transmitted by the radar or optoelectronic payload; the mission processor transmitting formation navigation control information to the flight control system; the mission processor receiving inertial navigation information transmitted by the flight control system; the mission processor transmitting the output results of the cooperative algorithm to the ground station through the data link system; the ground station transmitting control commands to the UAV through the data link system; the target data and image data of the radar or optoelectronic payload being transmitted to the ground station through the data link system; the ground station transmitting control commands to the radar or optoelectronic payload through the data link system; the flight control system transmitting backup flight data and flight attitude information to the ground station through the data link system; the ground station transmitting backup flight commands to the flight control system through the data link system; and the flight control system transmitting formation mission, flight data, and flight attitude information to the payload.

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