A UAV formation change control method, device and equipment

Abstract

The present invention discloses a method, device and equipment for controlling the transformation of a drone formation, which relates to the field of drone flight control technology, and enables a drone formation to achieve a stable formation transformation within a preset time. The method includes: obtaining the flight position of the drone formation in the real airspace; obtaining the preset desired formation of the drone formation and the preset time for completing the transformation of the drone formation; controlling the convergence of the preset time, and transforming and controlling the flight position of the drone formation according to the desired formation, so that the drone formation completes a stable formation transformation within the preset time; and controlling the drone formation that has completed the stable formation transformation to maneuver toward a target area. The drone formation ensures that the formation transformation control error of the drone formation converges to zero within the preset time by transforming in both the time domain and the airspace at the same time, which can effectively improve the formation transformation efficiency of the drone formation, and also improve the control reliability and robustness of the drone formation transformation system.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle flight control, and in particular to a method, device and equipment for controlling formation change of unmanned aerial vehicles. Background Art

[0002] Compared with a single UAV, UAV formations are widely used in military and civilian fields due to their higher work efficiency. However, formation change control is an important issue that cannot be ignored in the formation system. Especially for some UAV formation systems with specific mission requirements, it is often necessary to complete the formation change within a limited time. Otherwise, it will not only be difficult to achieve the desired formation, but also cause chain collisions of UAVs in the formation. In practical applications, the speed of formation change convergence is particularly important for the completion of related tasks. For example, in military UAV formation operations, the formation needs to avoid obstacles and enemy attacks through formation changes within a certain period of time, and complete multi-target detection and strike tasks.

[0003] Therefore, it is urgent to study a more effective UAV formation change control method. Summary of the invention

[0004] The purpose of the present invention is to provide a method, device and equipment for controlling the change of formation of unmanned aerial vehicles, so that the formation of unmanned aerial vehicles can achieve stable formation change within a preset time.

[0005] In order to achieve the above object, the present invention provides the following technical solutions:

[0006] In a first aspect, the present invention provides a method for controlling a formation change of unmanned aerial vehicles, the method comprising:

[0007] Obtain the flight position of the drone formation in the real airspace;

[0008] Obtaining a preset expected formation of the drone formation and a preset time for completing the transformation of the drone formation; the expected formation is a drone formation corresponding to the drone formation under a standard configuration in the virtual airspace;

[0009] Controlling the preset time convergence, and changing the flight position of the UAV formation according to the desired formation, so that the UAV formation completes the stable formation change within the preset time;

[0010] Control the drone formation that has completed stable formation transformation and maneuver it towards the target area.

[0011] In a second aspect, the present invention provides a UAV formation change control device, the device comprising:

[0012] The real flight position acquisition module is used to obtain the flight position of the UAV formation in the real airspace;

[0013] An expected formation and preset time acquisition module, used to acquire a preset expected formation of the drone formation and a preset time for completing the transformation of the drone formation; the expected formation is a drone formation corresponding to the standard configuration of the drone formation in the virtual airspace;

[0014] A stable formation transformation control module is used to control the convergence of the preset time and transform the flight position of the UAV formation according to the desired formation, so that the UAV formation completes the stable formation transformation within the preset time;

[0015] The UAV formation maneuvering control module is used to control the UAV formation that has completed stable formation transformation to maneuver towards the target area.

[0016] In a third aspect, the present invention provides a UAV formation change control device, the device comprising:

[0017] Communication unit / communication interface, used to obtain the flight position of the UAV formation in the real airspace;

[0018] Obtaining a preset expected formation of the drone formation and a preset time for completing the transformation of the drone formation; the expected formation is a drone formation corresponding to the drone formation under a standard configuration in the virtual airspace;

[0019] A processing unit / processor, configured to control the convergence of the preset time and to transform the flight position of the UAV formation according to the desired formation, so that the UAV formation completes the stable formation transformation within the preset time;

[0020] Control the drone formation that has completed stable formation transformation and maneuver it towards the target area.

[0021] In a fourth aspect, the present invention provides a computer storage medium, wherein instructions are stored in the computer storage medium, and when the instructions are executed, the above-mentioned UAV formation transformation control method is implemented.

[0022] Compared with the prior art, the present invention provides a method, device and equipment for controlling the transformation of drone formations. The scheme includes: obtaining the flight position of the drone formation in the real airspace; obtaining the preset desired formation of the drone formation and the preset time for completing the transformation of the drone formation; controlling the convergence of the preset time, and transforming and controlling the flight position of the drone formation according to the desired formation, so that the drone formation completes the stable formation transformation within the preset time; controlling the drone formation that has completed the stable formation transformation to maneuver to the target area. The drone formation ensures that the formation transformation control error of the drone formation converges to zero within the preset time by transforming in the time domain and airspace at the same time, and the formation maintains the desired formation flight, which can effectively improve the formation transformation efficiency of the drone formation, and also improve the control reliability and robustness of the drone formation transformation system. In addition, based on the transformation in the time domain and airspace, a multi-feedback, large closed-loop control architecture for complex control systems is built, which has good control effects on the control problems of many complex systems and has important engineering application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0024] Figure 1 A schematic diagram of the flow chart of the UAV formation change control method provided by the present invention;

[0025] Figure 2 A transformation schematic diagram of the UAV formation transformation control method provided by the present invention;

[0026] Figure 3 A schematic diagram of time domain transformation in the UAV formation transformation control scheme provided by the present invention;

[0027] Figure 4 A schematic diagram of the overall implementation framework of the UAV formation transformation provided by the present invention;

[0028] Figure 5 A simulation schematic diagram of the UAV formation transformation control method provided by the present invention;

[0029] Figure 6 A schematic diagram of a conversion curve of an error in tracking an expected signal of a UAV formation in the UAV formation conversion control method provided by the present invention;

[0030] Figure 7 A schematic diagram of the structure of the UAV formation change control device provided by the present invention;

[0031] Figure 8 This is a schematic diagram of the structure of the UAV formation change control device provided by the present invention. DETAILED DESCRIPTION

[0032] In order to clearly describe the technical solutions of the embodiments of the present invention, in the embodiments of the present invention, words such as "first" and "second" are used to distinguish the same items or similar items with basically the same functions and effects. For example, the first threshold and the second threshold are only used to distinguish different thresholds, and their order is not limited. Those skilled in the art can understand that words such as "first" and "second" do not limit the quantity and execution order, and words such as "first" and "second" do not necessarily limit them to be different.

[0033] It should be noted that, in the present invention, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the present invention should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0034] In the present invention, "at least one" means one or more, and "plurality" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the associated objects before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, the combination of a and b, the combination of a and c, the combination of b and c, or the combination of a, b and c, where a, b, c can be single or multiple.

[0035] In the prior art, in the current formation control, the commonly used control methods are: leader following method, behavior-based method, virtual structure method and graph theory-based method. Based on these methods, UAV formation operations in general simple task environments can be realized, but for complex formation operation tasks with limited time requirements, it is often necessary to combine the above control methods with convergence time control methods. Currently, the commonly used convergence time control methods are: finite time convergence, fixed time convergence and preset time convergence. Among them, the control of finite time convergence is too dependent on the initial state of the system, and fixed time convergence cannot give an exact error convergence time. There are few related studies on preset time convergence, and a lot of research is still needed.

[0036] In this regard, the present invention provides a more reliable UAV formation change control solution.

[0037] Next, the solution provided by the embodiments of this specification is described in conjunction with the accompanying drawings:

[0038] Figure 1 The following is a flow chart of the control method for the formation change of unmanned aerial vehicles provided by the present invention. Figure 1 As shown, the process may include the following steps:

[0039] Step 110: Obtain the flight position of the UAV formation in the real airspace.

[0040] UAV formation flight is a technology that has been pursued by the military and scientific researchers of various countries. Its key technical issues mainly include formation design, aerodynamic coupling, dynamic adjustment of formation, trajectory planning, information exchange, and formation flight control strategy. The formation flight of multiple UAVs, coordinated reconnaissance and combat modes, can improve the success probability of a single combat mission of a single aircraft to a certain extent. In military reconnaissance, target strike, communication relay, electronic countermeasures, battlefield assessment and other aspects, UAV formation flight can improve the efficiency of completing a single mission. For example, in a target strike mission, multiple attack / combat UAVs can simultaneously attack the same target from different angles in all directions, expand the hit range, and improve the lethality and hit rate; they can also attack multiple enemy targets at the same time, disrupt the enemy's air defense system, and improve the timeliness of the battle. The formation of UAVs is usually closely related to the actual mission scenario.

[0041] When a drone formation flies in real airspace, it corresponds to the corresponding flight position. However, when the drone formation needs to be changed, the position of each drone in the drone formation needs to be adjusted and changed.

[0042] Step 120: Obtain a preset expected formation of the drone formation and a preset time for completing the transformation of the drone formation; the expected formation is a drone formation corresponding to the standard configuration of the drone formation in the virtual airspace.

[0043] The desired formation may be pre-set, and when setting, the desired formation of the drone formation may be set according to the specific tasks that the drone formation needs to perform, the surrounding environment information of the drone flight, etc. The environmental information may include obstacle information, climate information, interference information, etc.

[0044] The time for completing the drone formation change can also be preset, and the time can also be determined according to the actual application scenario requirements.

[0045] Step 130: Control the convergence of the preset time, and transform and control the flight position of the UAV formation according to the desired formation, so that the UAV formation can complete the stable formation transformation within the preset time.

[0046] In actual operation, controlling the convergence of the preset time can be understood as ensuring that the control error of the UAV formation transformation converges to zero within the preset time.

[0047] The control of the UAV formation transformation can be understood as the transformation control of the flight position of the UAV formation in the real airspace according to the desired formation, that is, controlling the UAV formation in the real airspace to transform into the desired formation and maintain a stable formation for flight. It should be emphasized that in the actual implementation process, there may be errors between the formation of the UAV formation completed by the transformation of the UAV formation in the real airspace and the desired formation. The stable formation only needs to meet the requirement that its error converges to 0 within the preset time.

[0048] Step 140: Control the UAV formation that has completed the stable formation transformation to maneuver toward the target area.

[0049] The target area may be a target area where the drone formation needs to perform a task, and the target area may be pre-set. After the drone formation changes and maintains a stable formation, the target task may be performed.

[0050] Figure 1 The method in the paper obtains the flight position of the UAV formation in the real airspace; obtains the expected formation of the pre-set UAV formation and the preset time to complete the UAV formation transformation; controls the convergence of the preset time, and transforms the flight position of the UAV formation according to the expected formation, so that the UAV formation completes the stable formation transformation within the preset time; controls the UAV formation that has completed the stable formation transformation to maneuver to the target area. The UAV formation ensures that the formation transformation control error of the UAV formation converges to zero within the preset time by transforming in both the time domain and the airspace domain at the same time, and the formation maintains the expected formation flight, which can effectively improve the formation transformation efficiency of the UAV formation, and also improve the control reliability and robustness of the UAV formation transformation system. In addition, based on the transformation in the time domain and airspace domain, a multi-feedback, large closed-loop control architecture for complex control systems is built, which has good control effects on the control problems of many complex systems and has important engineering application prospects.

[0051] based on Figure 1 The method, the embodiments of this specification also provide some specific implementation methods of the method, which are described below.

[0052] Optionally, the UAV formation maintains the desired formation under the control law in the standard configuration; the control law is an algorithm for the flight control system to form control instructions, which describes the functional relationship between the controlled state variables and the system input signals. It characterizes the mathematical model of the flight control system. For the flight control system, the control law is related to the working mode of the system, and one working mode corresponds to one control law.

[0053] The step of obtaining the preset desired formation of the drone formation and the preset time for completing the transformation of the drone formation; wherein the desired formation is the drone formation corresponding to the standard configuration of the drone formation in the virtual airspace, may further include:

[0054] A general configuration of a UAV formation in real airspace is established, and a first control law under the general configuration in the real airspace is determined.

[0055] Obtain the control law in the real airspace:

[0056] Based on the leader-follower model, a UAV formation model is established, which is specifically expressed as follows:

[0057]

[0058]

[0059] In formula (1) and formula (2), are the position of the pilot drone, the speed of the pilot drone and the control input of the pilot drone, i=1, 2, ..., N are the position, speed and control input of the ith following drone, respectively, and N is the number of following drones;

[0060] Establish a standard configuration of UAV formation, which is specifically expressed as follows:

[0061]

[0062] In formula (3), is the expected distance between the ith following UAV and the leading UAV in the formation; T represents the transpose of the matrix;

[0063] The control law of the UAV formation in the general configuration in the real airspace is established, which is specifically expressed as:

[0064]

[0065] In formula (4), c m >0, m=1, 2, 3, ||·|| σ is the σ norm, a ij is the adjacency matrix element, matrix B∈R N is the traction matrix, N i (t) is the neighborhood of the i-th following drone; r represents the communication radius of the drone, φ(z) is the potential energy function, when ||q j -q i || σ →0, φ reaches its maximum value; when ||q j -q i ||σ →r, φ also reaches its maximum value; when ||q j -q i || σ When it is within the expected range, φ→0; p j represents the speed of the jth UAV in the formation, and i is not equal to j. And p j The value range of j in jeN i (t) consistent; Indicates q i Find the gradient value for the variable, q i Indicates the position of the i-th following drone.

[0066] Furthermore, the UAV formation receives the formation change control instruction and changes the relative position of the UAV formation in the real airspace. During the change, the UAV formation in the real airspace is changed according to the standard configuration in the virtual airspace, as shown in the attached figure. Figure 2 As shown, Figure 2 The following is a schematic diagram of the transformation of the UAV formation transformation control method provided by the present invention. Figure 2 , establish the spatial transformation relationship between the real airspace and the virtual airspace; map the general configuration of the UAV formation in the real airspace to the standard configuration in the virtual airspace, where the real airspace and the virtual airspace are transformed by using the full space transformation matrix T s Mutual mapping, specifically expressed as:

[0067]

[0068] In formula (5), q is the position matrix of the UAV formation in real airspace, is the position matrix of the UAV formation in the virtual airspace; using the full space transformation matrix T s Map the positions of drones in the formation in the real airspace to the virtual airspace.

[0069] Obtain the control law in a virtual airspace:

[0070] Based on the above method of determining the control law of the general configuration of the UAV formation in the real airspace, the standard configuration control law of the UAV formation in the virtual airspace is established. in, That is, the standard configuration control law of the i-th UAV in the virtual airspace can be specifically expressed as:

[0071]

[0072] Using the standard configuration control law in virtual airspace Guide the control law u in real airspace to achieve stable formation changes in real airspace.

[0073] Next, for the solution provided by the present invention, the spatial transformation and temporal transformation of the drone formation are discussed respectively:

[0074] Regarding the spatial transformation of the UAV formation, optionally, the flight position of the UAV formation is transformed and controlled according to the desired formation, which may specifically include:

[0075] Mapping the positions of drones in a drone formation in real airspace to the virtual airspace;

[0076] Determine the second control law of the UAV formation in the standard configuration in the virtual airspace;

[0077] The second control law of the standard configuration in the virtual airspace is used to guide the first control law in the real airspace to achieve the formation transformation of the UAV formation in the real airspace.

[0078] In the spatial domain, when the spatial position of a drone formation is transformed, the positions of the drones in the drone formation need to be changed, and the positions of each drone in the drone formation in the real airspace need to be transformed and adjusted according to the desired formation. Each drone needs to maintain the corresponding formation under the action of the corresponding control law. Therefore, when you want to adjust the formation of the drone formation, you need to use the control law of the standard configuration in the virtual airspace to guide the control law in the real airspace.

[0079] Furthermore, mapping the positions of the drones of the drone formation in the real airspace to the virtual airspace may specifically include:

[0080] Establish the spatial transformation relationship between the real airspace and the virtual airspace;

[0081] Based on the spatial transformation relationship, a full-space transformation matrix is ​​used to map the positions of the drones of the drone formation in the real airspace to the virtual airspace, thereby mapping the general configuration in the real airspace to the standard configuration in the virtual airspace.

[0082] In the specific implementation, the following steps are adopted: the general configuration of the UAV formation in the real airspace is mapped to the standard configuration in the virtual airspace, and the real airspace and the virtual airspace are transformed by using the full space transformation matrix T s Mutual mapping, specifically expressed as:

[0083]

[0084] In formula (7), q is the position matrix of the UAV formation in real airspace, is the position matrix of the UAV formation in the virtual airspace. Using the full space transformation matrix T s Map the positions of drones in the formation in the real airspace to the virtual airspace.

[0085] In the time domain, when the time of the drone formation is transformed, the preset time convergence is controlled, which may specifically include:

[0086] Establishing the time transformation relationship between the real time domain and the virtual time domain;

[0087] Based on the time transformation relationship, mapping the control law in the virtual airspace to the virtual time domain to obtain the control law in the virtual time domain;

[0088] The control law in the virtual time domain is used to guide the control law in the real time domain, so as to achieve the preset time convergence of the UAV formation transformation.

[0089] In the time domain, it is necessary to control the preset time convergence of the UAV formation transformation. Further, the preset time convergence of the UAV formation can be controlled by combining the attached Figure 3 To explain, Figure 3 The schematic diagram of the time domain transformation in the UAV formation transformation control scheme provided by the present invention is shown in the attached figure. Figure 3 As shown;

[0090] A time transformation relationship between the real time domain and the virtual time domain is established, and the time variable t in the real time domain is mapped to the time variable z in the virtual time domain, that is, stretching from t→T to z→∞, wherein the time transformation function t=η(z) is defined, and η(z) is specifically expressed as formula (8):

[0091] η(z)=T(1-e -z ) (8)

[0092] Through time transformation, the control law in the virtual airspace is transformed Mapped to the virtual time domain with z as the time variable; specifically, it can be expressed as formula (9):

[0093]

[0094] Based on the time transformation relationship shown in formula (8), the control law u′ in the virtual time domain is obtained; specifically, it can be expressed as formula (10):

[0095]

[0096] The control law u′ in the virtual time domain is used to guide the control quantity in the real time domain. Achieve the preset time convergence of the formation system.

[0097] The drone formation achieves a stable formation transformation with a preset time convergence by transforming in both the time domain and the air domain. After the transformation, the drone formation maneuvers toward the target area. Figure 4 To explain, Figure 4This is a schematic diagram of the overall implementation framework of the UAV formation transformation provided by the present invention. Figure 4 As shown in the figure, the UAV formation performs the corresponding task under the control law. The control law is guided by time and space respectively. In the real airspace and time domain, the input is the flight control command and the interference during the flight (for example: wind speed, noise, weather factors, environmental factors, etc.). In the real airspace, a general configuration is established to perform UAV formation flight based on the control law u.

[0098] In the virtual airspace, a standard configuration is established and the control law of the standard configuration is determined. Using the standard configuration control law in virtual airspace Guide the control law u in real airspace to achieve stable formation changes in real airspace.

[0099] In the virtual time domain, after time transformation based on the time transformation function, the control law u′ in the virtual time domain is used to guide the control quantity in the real time domain. Achieve the preset time convergence of the formation system.

[0100] It should be noted that the general configuration of the real airspace mentioned in this specification refers to the general UAV formation formation, which can be of many types. The standard configuration refers to a unique "formation configuration" defined by humans, and the control law in this scheme is determined based on the standard configuration. The control law designed for the general configuration is invalid. Therefore, it is necessary to map the general configuration of the UAV formation in the real airspace to the standard configuration in the virtual airspace. The control law corresponding to the general configuration is only used to describe the specific implementation process principle when the UAV formation is transformed.

[0101] Optionally, when the flight position of the UAV formation is transformed and controlled according to the desired formation, the error between the transformed UAV formation formation and the desired formation converges to 0 within a preset range.

[0102] The above implementation method of the present invention can be verified in the MATLAB environment. For example, in the specific implementation, the obstacle environment can be set, and the UAV can perform formation transformation within a preset time to avoid obstacles and finally fly safely to the target point. Under the action of the designed control law, the UAV can complete the formation transformation within the preset time and safely pass the obstacle area, so as to verify the effectiveness of the designed algorithm. Next, combined with Figure 5 To explain, Figure 5 This is a simulation diagram of the UAV formation transformation control method provided by the present invention. Figure 5 As shown in the figure, the flight process of 43 UAVs was simulated and verified. Specifically, the UAVs were divided into 6 groups, each group contained 7 UAVs, and the entire formation contained 1 pilot UAV. Figure 6 Corresponds to Figure 5 To explain, Figure 6 This is a schematic diagram of the error conversion curve of the UAV formation tracking expected signal in the UAV formation conversion control method provided by the present invention. Figure 6 As shown in the figure, in the simulation, the UAV formation is set to perform formation transformation at points A, B, C, and D, and the preset convergence time T1, T2, T3, and T4 are set to 105s, 115s, 130s, and 80s respectively. The UAV formation is allowed to fly away from obstacles, avoid obstacles, and then restore the formation to continue flying. The UAVs can complete the formation transformation within the preset time during the flight, the tracking expected errors of all groups tend to 0, and can effectively avoid obstacles to achieve safe, reliable and stable flight.

[0103] The method in the above embodiment performs time and space transformation on the formation system in the time domain and airspace domain at the same time, ensuring that the formation transformation control error converges to zero within a preset time and the formation maintains the desired formation flight; the method can effectively improve the formation transformation efficiency of the UAV formation, and also improves the control reliability and robustness of the UAV formation transformation system; the UAV formation transformation control method based on parallel control has strong portability. The present invention is based on time domain and airspace transformation, and builds a multi-feedback, large closed-loop control architecture for complex control systems. It has good control effects on the control problems of many complex systems and has important engineering application prospects.

[0104] Based on the same idea, the present invention also provides a UAV formation change control device. Figure 7 This is a schematic diagram of the structure of the UAV formation change control device provided by the present invention. Figure 7 As shown, the device may include:

[0105] The real flight position acquisition module 710 is used to acquire the flight position of the UAV formation in the real airspace;

[0106] The expected formation and preset time acquisition module 720 is used to acquire the preset expected formation of the drone formation and the preset time for completing the transformation of the drone formation; the expected formation is the drone formation corresponding to the standard configuration of the drone formation in the virtual airspace;

[0107] The stable formation transformation control module 730 is used to control the preset time convergence and transform the flight position of the UAV formation according to the desired formation, so that the UAV formation completes the stable formation transformation within the preset time;

[0108] The UAV formation maneuvering control module 740 is used to control the UAV formation that has completed the stable formation transformation to maneuver towards the target area.

[0109] based on Figure 7 The device in the embodiment may further include some specific implementation units:

[0110] Optionally, the UAV formation maintains the desired formation under the control law in the standard configuration;

[0111] The device may further include:

[0112] The real airspace general configuration establishing module is used to establish the general configuration of the UAV formation in the real airspace and determine the first control law under the general configuration in the real airspace.

[0113] Optionally, the spatial transformation function in the stable formation transformation control module 730 may specifically include:

[0114] A position mapping unit, used to map the positions of drones in the drone formation in the real airspace to the virtual airspace;

[0115] A standard configuration control law determination unit, used to determine the second control law of the UAV formation under the standard configuration in the virtual airspace;

[0116] A formation transformation control unit is used to use the second control law of the standard configuration in the virtual airspace to guide the first control law in the real airspace, so as to realize the formation transformation of the UAV formation in the real airspace.

[0117] Optionally, the location mapping unit may be specifically used for:

[0118] Establish the spatial transformation relationship between the real airspace and the virtual airspace;

[0119] Based on the spatial transformation relationship, a full-space transformation matrix is ​​used to map the positions of the drones of the drone formation in the real airspace to the virtual airspace, thereby mapping the general configuration in the real airspace to the standard configuration in the virtual airspace.

[0120] Optionally, the time domain transformation function in the stable formation transformation control module 730 may specifically include:

[0121] A time transformation relationship establishing unit, used to establish a time transformation relationship between the real time domain and the virtual time domain;

[0122] A control law mapping unit, used for mapping the control law in the virtual airspace to the virtual time domain based on the time transformation relationship to obtain the control law in the virtual time domain;

[0123] The preset time convergence unit is used to use the control law in the virtual time domain to guide the control law in the real time domain, so as to achieve the preset time convergence of the UAV formation transformation.

[0124] Optional, real airspace general configuration building module, specifically can be used for:

[0125] Using the formula:

[0126]

[0127] Establish the general configuration of UAV formation in real airspace; among them, is the expected distance between the ith following UAV and the leading UAV in the formation; T is the matrix transpose symbol, indicating the transpose of the matrix;

[0128] Using the formula:

[0129]

[0130] Determine the first control law under the general configuration in the real airspace; wherein c m >0, m=1, 2, 3, represents the control coefficient, ||·|| σ is the σ norm, a ij is the adjacency matrix element, matrix B∈R N is the traction matrix, N i (t) is the neighborhood of the i-th following drone; r represents the communication radius of the drone, φ(z) is the potential energy function, when ||q j -q i || σ →0, φ reaches its maximum value; when ||q j -q i || σ →r, φ also reaches its maximum value; when ||q j -q i || σ When it is within the expected range, φ→0; p j represents the speed of the jth UAV in the formation, and i is not equal to j. And p j The value range of j in jeN i (t) consistent; Indicates q i Find the gradient value for the variable, q i Indicates the position of the i-th following drone.

[0131] Optionally, when the flight position of the UAV formation is transformed and controlled according to the desired formation, the error between the transformed UAV formation formation and the desired formation converges to 0 within a preset range.

[0132] Based on the same idea, the embodiment of this specification also provides a UAV formation change control device. Figure 8 This is a schematic diagram of the structure of the UAV formation change control device provided by the present invention. The device may include:

[0133] Communication unit / communication interface, used to obtain the flight position of the UAV formation in the real airspace;

[0134] Obtaining a preset expected formation of the drone formation and a preset time for completing the transformation of the drone formation; the expected formation is a drone formation corresponding to the drone formation under a standard configuration in the virtual airspace;

[0135] A processing unit / processor, configured to control the convergence of the preset time and to transform the flight position of the UAV formation according to the desired formation, so that the UAV formation completes the stable formation transformation within the preset time;

[0136] Control the drone formation that has completed stable formation transformation and maneuver it towards the target area.

[0137] like Figure 8 As shown, the terminal device may further include a communication line. The communication line may include a path to transmit information between the components.

[0138] Optional, such as Figure 8 As shown, the terminal device may further include a memory. The memory is used to store computer-executable instructions for executing the solution of the present invention, and the execution is controlled by the processor. The processor is used to execute the computer-executable instructions stored in the memory, thereby implementing the method provided by the embodiment of the present invention.

[0139] like Figure 8 As shown, the memory may be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory may exist independently and be connected to the processor through a communication line. The memory may also be integrated with the processor.

[0140] Optionally, the computer-executable instructions in the embodiment of the present invention may also be referred to as application program codes, which is not specifically limited in the embodiment of the present invention.

[0141] In a specific implementation, as an example, Figure 8 As shown, the processor may include one or more CPUs, such as Figure 8 CPU0 and CPU1 in.

[0142] In a specific implementation, as an example, Figure 8 As shown, the terminal device may include multiple processors, such as Figure 8 Each of these processors can be a single-core processor or a multi-core processor.

[0143] Based on the same idea, the embodiments of this specification also provide a computer storage medium corresponding to the above embodiments, and the computer storage medium stores instructions. When the instructions are executed, the workpiece circular runout detection method in the above embodiments is implemented.

[0144] The above mainly introduces the solution provided by the embodiment of the present invention from the perspective of the interaction between the various modules. It is understandable that, in order to realize the above functions, each module includes a hardware structure and / or software unit corresponding to the execution of each function. It should be easily appreciated by those skilled in the art that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, the present invention can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0145] The embodiment of the present invention can divide the functional modules according to the above method example. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in the embodiment of the present invention is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0146] The processor in this specification may also have the function of a memory. The memory is used to store computer-executable instructions for executing the solution of the present invention, and the execution is controlled by the processor. The processor is used to execute the computer-executable instructions stored in the memory, thereby implementing the method provided by the embodiment of the present invention.

[0147] The memory may be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory may exist independently and be connected to the processor through a communication line. The memory may also be integrated with the processor.

[0148] Optionally, the computer-executable instructions in the embodiment of the present invention may also be referred to as application program codes, which is not specifically limited in the embodiment of the present invention.

[0149] The method disclosed in the above embodiment of the present invention can be applied to a processor or implemented by a processor. The processor may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by an integrated logic circuit of hardware in the processor or an instruction in the form of software. The above processor may be a general-purpose processor, a digital signal processor (digital signal processing, DSP), an ASIC, a field-programmable gate array (field-programmable gate array, FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present invention can be implemented or executed. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The steps of the method disclosed in the embodiment of the present invention can be directly embodied as being executed by a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software module may be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.

[0150] In a possible implementation, a computer-readable storage medium is provided, in which instructions are stored. When the instructions are executed, they are used to implement the logic operation control method and / or the logic operation reading method in the above-mentioned embodiment.

[0151] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented by software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer programs or instructions. When the computer program or instruction is loaded and executed on a computer, the process or function described in the embodiment of the present invention is executed in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, a terminal, a user device or other programmable device. The computer program or instruction can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer program or instruction can be transmitted from one website site, computer, server or data center to another website site, computer, server or data center by wired or wireless means. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that integrates one or more available media. The available medium can be a magnetic medium, such as a floppy disk, a hard disk, or a tape; it can also be an optical medium, such as a digital video disc (DVD); it can also be a semiconductor medium, such as a solid state drive (SSD).

[0152] Although the present invention is described herein in conjunction with various embodiments, in the process of implementing the claimed invention, those skilled in the art may understand and implement other variations of the disclosed embodiments by viewing the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other components or steps, and "one" or "an" does not exclude multiple situations. A single processor or other unit may implement several functions listed in the claims. Certain measures are recorded in different dependent claims, but this does not mean that these measures cannot be combined to produce good results.

[0153] Although the present invention has been described in conjunction with specific features and embodiments thereof, it is apparent that various modifications and combinations may be made thereto without departing from the spirit and scope of the present invention. Accordingly, this specification and the accompanying drawings are merely exemplary illustrations of the present invention as defined by the appended claims and are deemed to cover any and all modifications, variations, combinations or equivalents within the scope of the present invention. Obviously, those skilled in the art may make various modifications and variations to the present invention without departing from the spirit and scope of the present invention. Thus, the present invention is intended to include such modifications and variations if they fall within the scope of the claims of the present invention and their equivalents.

Claims

1. A UAV formation change control method, characterized in that the method include: Obtain the flight position of the drone formation in the real airspace; Obtaining a preset desired formation of the drone formation and a preset time for completing the transformation of the drone formation; The expected formation is the formation of the drones corresponding to the standard configuration of the drone formation in the virtual airspace; Controlling the preset time convergence, and changing the flight position of the UAV formation according to the desired formation, so that the UAV formation completes the stable formation change within the preset time; Control the UAV formation that has completed the stable formation transformation to maneuver towards the target area; The UAV formation maintains the desired formation under the control law in the standard configuration of the virtual airspace; Before obtaining the preset desired formation of the drone formation and the preset time for completing the drone formation transformation, the method further includes: Establishing a general configuration of a UAV formation in real airspace, and determining a first control law under the general configuration in the real airspace; The establishing of a general configuration of a UAV formation in a real airspace and determining a first control law under the general configuration in the real airspace specifically includes: Using the formula: ； Establish the general configuration of UAV formation in real airspace; among them, For the i The expected distance between the following drone and the leading drone in the formation; T is the matrix transpose symbol, indicating the transpose of the matrix; Using the formula: ； Determine a first control law under the general configuration in the real airspace; wherein, , represents the control coefficient, for norm, is the adjacency matrix element, the matrix is the traction matrix, For the i A neighborhood where a drone follows; r represents the communication radius of the UAV, is the potential energy function, when hour, reaches its maximum value when hour, also reaches its maximum value; when When it is within the expected range, ; represents the speed of the jth UAV in the formation, i is not equal to j; and The value range of j is Consistency; Indicates Find the gradient of a variable, Indicates the position of the i-th following drone.

2. The method according to claim 1, characterized in that The flight positions of the UAV formation are changed and controlled according to the desired formation, specifically including: Mapping the positions of drones in a drone formation in real airspace to the virtual airspace; Determine the second control law of the UAV formation in the standard configuration in the virtual airspace; The second control law is used to guide the first control law to achieve the formation change of the UAV formation in the real airspace.

3. The method according to claim 2, characterized in that Mapping the positions of the drones in the drone formation in the real airspace to the virtual airspace specifically includes: Establish the spatial transformation relationship between the real airspace and the virtual airspace; Based on the spatial transformation relationship, a full-space transformation matrix is ​​used to map the positions of the drones of the drone formation in the real airspace to the virtual airspace, thereby mapping the general configuration in the real airspace to the standard configuration in the virtual airspace.

4. The method according to claim 1, characterized in that: Controlling the preset time convergence specifically includes: Establishing the time transformation relationship between the real time domain and the virtual time domain; Based on the time transformation relationship, mapping the control law in the virtual airspace to the virtual time domain to obtain the control law in the virtual time domain; The control law in the virtual time domain is used to guide the control law in the real time domain, so as to achieve the preset time convergence of the UAV formation transformation.

5. The method according to claim 1, characterized in that When the flight positions of the UAV formation are transformed and controlled according to the desired formation, the error between the transformed UAV formation formation and the desired formation converges to 0 within a preset range.

6. A UAV formation change control device, characterized in that: The device includes: The real flight position acquisition module is used to obtain the flight position of the UAV formation in the real airspace; An expected formation and preset time acquisition module, used to acquire a preset expected formation of the drone formation and a preset time for completing the drone formation transformation; the expected formation is a drone formation corresponding to the drone formation under the standard configuration in the virtual airspace; A stable formation transformation control module is used to control the convergence of the preset time and transform the flight position of the UAV formation according to the desired formation, so that the UAV formation completes the stable formation transformation within the preset time; The UAV formation maneuvering control module is used to control the UAV formation that has completed the stable formation transformation to maneuver towards the target area; The UAV formation maintains the desired formation under the control law in the standard configuration; The device further comprises: A real airspace general configuration establishing module, used to establish a general configuration of a UAV formation in a real airspace, and determine a first control law under the general configuration in the real airspace; The real airspace general configuration establishment module is specifically used for: Using the formula: ； Establish the general configuration of UAV formation in real airspace; among them, For the i The expected distance between the following drone and the leading drone in the formation; T is the matrix transpose symbol, indicating the transpose of the matrix; Using the formula: ； Determine a first control law under the general configuration in the real airspace; wherein, , represents the control coefficient, for norm, is the adjacency matrix element, the matrix is the traction matrix, For the i A neighborhood where a drone follows; r represents the communication radius of the UAV, is the potential energy function, when hour, reaches its maximum value when hour, Also reaches the maximum value; when When within the expected range ; represents the speed of the jth UAV in the formation, and i is not equal to j; and The value range of j is Consistency; Indicates Find the gradient of a variable, Indicates the position of the i-th following drone.

7. A UAV formation change control device, characterized in that the device include: Communication unit / communication interface, used to obtain the flight position of the UAV formation in the real airspace; Obtaining a preset expected formation of the drone formation and a preset time for completing the transformation of the drone formation; the expected formation is a drone formation corresponding to the drone formation under a standard configuration in the virtual airspace; A processing unit / processor, configured to control the convergence of the preset time and to change the flight position of the UAV formation according to the desired formation, so that the UAV formation completes the stable formation change within the preset time; Control the UAV formation that has completed the stable formation transformation to maneuver towards the target area; The UAV formation maintains the desired formation under the control law in the standard configuration of the virtual airspace; Before obtaining the preset desired formation of the drone formation and the preset time for completing the drone formation transformation, the method further includes: Establishing a general configuration of a UAV formation in real airspace, and determining a first control law under the general configuration in the real airspace; The establishing of a general configuration of a UAV formation in a real airspace and determining a first control law under the general configuration in the real airspace specifically includes: Using the formula: ； Establish the general configuration of UAV formation in real airspace; among them, For the i The expected distance between the following drone and the leading drone in the formation; T is the matrix transpose symbol, indicating the transpose of the matrix; Using the formula: ； Determine a first control law under the general configuration in the real airspace; wherein, , represents the control coefficient, for norm, is the adjacency matrix element, the matrix is the traction matrix, For the i A neighborhood where a drone follows; r represents the communication radius of the UAV, is the potential energy function, when hour, reaches its maximum value when hour, Also reaches the maximum value; when When it is within the expected range, ; represents the speed of the jth UAV in the formation, i is not equal to j; and The value range of j is Consistency; Indicates Find the gradient of a variable, Indicates the position of the i-th following drone.

8. A computer storage medium, characterized in that: The computer storage medium stores instructions, and when the instructions are executed, the drone formation transformation control method described in any one of claims 1 to 5 is implemented.

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