A formation transformation system and method for manned and unmanned aircraft cooperative formation

Abstract

The present invention discloses a system and method for transforming formations of manned and unmanned aircraft in a coordinated formation, which relates to the field of aviation aircraft control technology, and includes a manned MAV module, a formation control module, and a task planning module. The manned MAV module is used to receive the status data of each unmanned aircraft in the information pool of the communication network; the formation control module and the task planning module respectively receive the instructions sent by the manned MAV module; the formation control module and the task planning module are connected to the information pool of the communication network; the unmanned aircraft UAV module interacts with the information pool of the communication network. The present invention constructs a mixed formation transformation system of manned and unmanned aircraft, in which the manned aircraft publishes the formation instructions corresponding to each unmanned aircraft and the status difference between the manned aircraft and the unmanned aircraft according to the flight data of the unmanned aircraft, so that the unmanned aircraft can plan a new route, and the unmanned aircraft flies to the corresponding position according to the relative position coordinates. It can effectively control the formation transformation of the unmanned aircraft and improve the safety of the mixed formation.

Description

Technical Field

[0001] The invention belongs to the technical field of aviation vehicle control, and relates to a system and method for changing the formation of a coordinated formation of manned and unmanned aircraft. Background Art

[0002] Unmanned aerial vehicles (UAVs) have many obvious advantages over manned aerial vehicles (MAVs), such as low cost, ease of use, good maneuverability, strong adaptability, and no pilot casualties. Tasks that are boring, harsh, and dangerous for humans can be replaced by drones, so drones are playing an increasingly important role. However, due to the limitations of the drone's own payload and intelligence, a single drone is often unable to complete certain specific tasks. Multiple drones form a formation and cooperate with each other to perform the same task, which can significantly improve the efficiency of task execution and the probability of task completion, and can also perform more complex and diverse tasks. However, to date, the intelligence level of drones is still insufficient, and the ability of drones to cooperate with each other is not yet mature. It is very difficult to achieve fully autonomous execution of tasks by multiple drone formations.

[0003] At present, the research field of manned and / or unmanned aerial vehicle collaborative formation control technology is still in the initial theoretical research stage. The various formation control systems designed so far are still not perfect. The communication network during the formation control process is messy and difficult to manage. The control system design is complex and difficult to implement, and most of them do not take into account the interference of external factors. Summary of the invention

[0004] The purpose of the present invention is to solve the problems in the prior art and to provide a system and method for cooperative formation transformation of manned and unmanned aircraft, which can improve the ability of information communication and cooperative formation transformation between manned and unmanned aircraft.

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

[0006] In a first aspect, the present invention provides a method for changing the formation of a manned and unmanned aircraft cooperative formation, comprising the following steps:

[0007] Generate formation instructions based on formation change tasks and publish status data of manned and unmanned aircraft;

[0008] Calculate the status difference between manned aircraft and unmanned aircraft based on formation instructions and status data;

[0009] Adjust the drone to the desired position based on the status difference.

[0010] In a second aspect, the present invention provides a formation transformation system for manned and unmanned aircraft cooperative formations, comprising:

[0011] A formation instruction generation module, which is used to generate formation instructions according to the formation transformation task and publish the status data of manned aircraft and unmanned aircraft;

[0012] A state difference calculation module, which is used to calculate the state difference between the manned aircraft and the unmanned aircraft according to the formation instruction and the state data;

[0013] The formation execution module is used to adjust the UAV to the desired position according to the state difference.

[0014] In a third aspect, the present invention provides a formation transformation system for manned and unmanned aircraft cooperative formations, comprising:

[0015] A manned MAV module, which is connected to an information pool of a communication network, and is used to generate formation instructions according to a formation change task, and publish status data of manned and unmanned aircraft;

[0016] A formation control module, the formation control module is connected to the information pool of the communication network, and is used to calculate the state difference between the manned aircraft and the unmanned aircraft according to the formation instructions and the state data, and adjust the unmanned aircraft to reach the desired position according to the state difference;

[0017] The UAV module interacts with the information pool of the communication network; it is used to calculate the distance difference between the UAV and the manned aircraft in real time, and when the distance difference is greater than the preset distance of the formation control, control the UAV to return to the formation and reach the desired position.

[0018] In a fourth aspect, the present invention provides a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above method when executing the computer program.

[0019] In a fifth aspect, the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and the computer program implements the steps of the above method when executed by a processor.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] The present invention constructs a mixed formation transformation system of manned aircraft and unmanned aircraft. The manned aircraft issues the corresponding formation instructions of each unmanned aircraft and the state difference between the manned aircraft and the unmanned aircraft according to the flight data of the unmanned aircraft, so that the unmanned aircraft can plan a new route, and the unmanned aircraft flies to the corresponding position according to the relative position coordinates. It can effectively control the formation transformation of unmanned aircraft, improve the safety of the mixed formation of manned aircraft and unmanned aircraft, and at the same time improve the coordination of the formation. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 Flow chart of the method of the present invention.

[0024] Figure 2 It is a framework diagram of the system of the present invention.

[0025] Figure 3 A system framework diagram of an embodiment of the present invention.

[0026] Figure 4 A detailed structural diagram of a system according to an embodiment of the present invention.

[0027] Figure 5 It is a wedge formation diagram of the present invention;

[0028] Figure 6 It is the ladder formation diagram of the present invention;

[0029] Figure 7 It is a diagram of the four-corner guard formation of the present invention;

[0030] Figure 8 It is a straight line formation diagram of the present invention;

[0031] Fig. 9 Demonstration diagram for task allocation of the present invention.

[0032] Among them: 1- manned MAV module; 2- formation control module; 3- mission planning module; 4- communication network; 5- UAV module; 6- UAV direct control channel. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0034] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0036] In the description of the embodiments of the present invention, it should be noted that if the terms "upper", "lower", "horizontal", "inner", etc. indicate an orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the invention is usually placed when in use, it is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0037] In addition, if the term "horizontal" appears, it does not mean that the component must be absolutely horizontal, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", which does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0038] In the description of the embodiments of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0039] The present invention is further described in detail below in conjunction with the accompanying drawings:

[0040] See also Figure 1 The embodiment of the present invention discloses a formation transformation method for a manned and unmanned aircraft cooperative formation, comprising the following steps:

[0041] S1 generates formation instructions based on the formation change task and publishes the status data of manned and unmanned aircraft;

[0042] S2 calculates the status difference between the manned aircraft and the unmanned aircraft based on the formation instructions and status data;

[0043] S3 adjusts the drone to the desired position based on the state difference.

[0044] In a feasible implementation manner, the above method further comprises the following steps:

[0045] The distance difference between the UAV and the manned aircraft is calculated in real time. When the distance difference is greater than the preset distance for formation control, the UAV is controlled to return to the formation and reach the desired position. The preset distance for formation control includes a self-adjustment preset distance and a passive control preset distance. When the distance difference is greater than the self-adjustment preset distance and less than the passive control preset distance, the UAV adjusts itself according to the distance difference to return to the formation and reach the desired position. When the distance difference is greater than the passive control preset distance, the manned aircraft controls the manned aircraft to return to the formation according to the distance difference and reach the desired position.

[0046] In another feasible implementation manner, the above method further comprises the following steps:

[0047] Based on the mission information released by the manned aircraft, the mission cost of the UAV to perform the mission is calculated; based on the mission cost, the UAV that meets the authorization standards is authorized, and the mission instructions are generated according to the mission information; based on the mission instructions and the status data of the authorized UAV, the authorized UAV is controlled to reach the desired location to perform the mission.

[0048] like Figure 2 As shown, the embodiment of the present invention discloses a formation transformation system for manned and unmanned aircraft cooperative formation, including:

[0049] A formation instruction generation module, which is used to generate formation instructions according to the formation transformation task and publish the status data of manned aircraft and unmanned aircraft;

[0050] A state difference calculation module, which is used to calculate the state difference between the manned aircraft and the unmanned aircraft according to the formation instruction and the state data;

[0051] The formation execution module is used to adjust the UAV to the desired position according to the state difference.

[0052] In a feasible implementation manner, the above system further includes:

[0053] A falling-behind control module, which is used to calculate the distance difference between the UAV and the manned aircraft in real time, and when the distance difference is greater than the preset distance for formation control, control the UAV to return to the formation and reach the desired position;

[0054] In another feasible embodiment, the above system further includes:

[0055] A task cost calculation module, which is used to calculate the task cost of the UAV to perform the task according to the task information released by the manned aircraft;

[0056] A task authorization module, which is used to authorize UAVs that meet the authorization criteria according to the task cost and generate task instructions according to the task information;

[0057] A task execution module is used to control the authorized drone to reach the desired location to perform the task according to the task instruction and the status data of the authorized drone.

[0058] like Figure 3 As shown, an embodiment of the present invention discloses another manned and unmanned aircraft collaborative formation transformation system, including a manned MAV module 1, a formation control module 2, a task planning module 3, a communication network 4, an unmanned aerial vehicle (UAV) module 5 and an unmanned aerial vehicle direct control channel 6.

[0059] The manned MAV module 1 is connected to the information pool of the communication network 4, and is used to generate formation instructions according to the formation transformation task, and publish the status data of the manned and unmanned aircraft; the manned MAV module 1 is used to receive the status data of each unmanned aircraft in the information pool of the communication network 4; the formation control module 2 and the task planning module 3 receive the instructions sent by the manned MAV module 1 respectively; the formation control module 2 and the task planning module 3 are connected to the information pool of the communication network 4; the unmanned aircraft UAV module 5 interacts with the information pool of the communication network 4; the unmanned aircraft direct control channel 6 connects the manned MAV module 1 and the unmanned aircraft UAV module 5, and the manned MAV module 1 directly communicates with the unmanned aircraft UAV module 5. At the same time, external environmental factors are considered, but not as part of the system.

[0060] The manned and unmanned formation adopts a centralized control mode in the formation mode, with the formation manned MAV module 1 as the core to control the entire formation. The drones do not communicate and control each other, and all control instructions come from the manned MAV module 1. The communication network 4 of the formation adopts the pub-sub (publish-subscribe) mode. Each module in the formation system publishes its own data information to the information pool of the communication network 4 in real time. Other modules that need the data subscribe and use it by themselves. There is no direct communication between manned and unmanned aircraft (except for the direct control of unmanned aircraft by manned aircraft).

[0061] The manned MAV module 1 is the command and control core of the formation, which mainly includes pilots, command and control interface, manned autopilot, communication module, etc. The manned MAV module 1 receives the status data of each UAV in the information pool of the communication module 7 and displays it on the command and control interface. The main displayed information includes the position, attitude, route planning and load status of each UAV relative to the manned aircraft, among which the position information is visualized in the form of a two-dimensional plane map to the command and control interface. After the pilot makes a comprehensive judgment based on the actual environment and the status of each aircraft, the formation instructions and task instructions are issued through the command and control interface. At the same time, the manned MAV module needs to continuously publish its own status data, including position, attitude and other information, for the formation control module 2 and the UAV module 5 to subscribe to update and adjust the module's own information.

[0062] The control of the coordinated formation of manned and unmanned aircraft can be divided into two channels. One channel is the control channel for the flight formation of manned and unmanned aircraft, which mainly controls the position of the unmanned aircraft relative to the manned aircraft, so that the unmanned aircraft can fly following the manned aircraft in a set formation; the other control channel is the control channel for the formation combat mission, which is used to control and command the unmanned aircraft to complete designated reconnaissance, strike and other combat missions.

[0063] The formation control module 2 is connected to the information pool of the communication network 4, and is used to calculate the state difference between the manned aircraft and the unmanned aircraft according to the formation instructions and state data, and adjust the unmanned aircraft to reach the desired position according to the state difference; the formation control module 2 receives the instructions sent by the manned aircraft MAV module 1, including: formation instructions and manned aircraft state data; the manned aircraft state data includes the manned aircraft flight altitude, manned aircraft flight speed, manned aircraft flight heading and manned aircraft flight attitude; after the data is released, it will first be sent to the formation control module 2, and then the formation control module 2 will be packaged and released to the information pool of the communication network 4 together with other data. The formation flight formation control channel is used to control the formation of the formation instructions. The formation instructions are used to control the formation of manned and unmanned aircraft flight formations, including formation interval instructions and formation formation instructions; the formation interval instructions are used to control the distance between each aircraft when the manned and unmanned aircraft formations fly, and control the looseness of the formation; the formation formation instructions are used to control the formation structure of the manned and unmanned aircraft formations; the formation formation instructions correspond to the formation formation library of the formation control module 2, and each instruction corresponds to a formation formation.

[0064] The UAV mission instructions use the formation combat mission control channel. The mission planning module 3 receives the instructions sent by the manned MAV module 1, including: mission instructions; mission instructions include reconnaissance instructions, strike instructions and direct control instructions; reconnaissance instructions include target area coordinate data and reconnaissance methods, which are used to control the UAV to use its own airborne radar and airborne camera equipment to conduct reconnaissance on the target area, and then the UAV module 5 publishes the reconnaissance data to the information pool of the communication network 4 waiting for the manned MAV module 1 to subscribe, completing the entire reconnaissance mission; strike instructions include target coordinate data and strike count data, which are used to control the UAV module 5 to go to the target area and launch a specified number of strike weapons to carry out a destruction mission, and return the target image data after the strike, waiting for the manned MAV module 1 to subscribe and read, completing the entire strike mission; direct control instructions are used to specify that the UAV module 5 is directly controlled by the manned MAV module 1, and the manned MAV module 1 is directly connected to the UAV module 5 through the UAV direct control channel 6.

[0065] The formation control module 2 is used to process formation instructions and issue flight control instructions to each UAV; the formation control module mainly includes a pre-designed and stored manned and UAV formation formation library, see Figure 5 , Figure 6 , Figure 7 and Figure 8 The present invention designs four basic formations: wedge formation, ladder formation, four-corner guard formation and straight formation. When there is no formation change command from the manned MAV module 1, the formation control module 2 sends the state difference between the flight states of the manned MAV module 1 and the unmanned aerial vehicle UAV module 5. The unmanned aerial vehicle UAV module 5 corrects the route in real time according to the state difference so that the formation can be maintained; after receiving the formation change command, the formation command corresponding to each unmanned aerial vehicle and the state difference between the manned aircraft and the unmanned aerial vehicle are issued for the unmanned aerial vehicle to plan a new route.

[0066] The UAV module 5 interacts with the information pool of the communication network 4; it is used to calculate the distance difference between the UAV and the manned aircraft in real time, and when the distance difference is greater than the preset distance of the formation control, the UAV is controlled to return to the formation and reach the desired position. The manned MAV module 1 is directly connected to the UAV module 5 through the UAV direct control channel 6. The UAV module 5 is the actuator of the entire flight formation, which includes sensors, weapon loads, autopilots, route planning modules, etc. When the UAV module 5 is not directly controlled by the manned MAV module 1, the UAV module 5 subscribes to the UAV formation instructions, UAV mission instructions and the state difference with the manned aircraft from the information pool of the communication network 4, plans its own flight route through the state difference and the formation instructions, and reads the mission information and execution method through the mission instructions; at the same time, the UAV publishes its own flight status data, load information and mission feedback information to the information pool of the communication network 4; in the case of direct control, the controlled UAV directly communicates with the manned MAV module 1 through the direct control channel 6, and at the same time closes the communication channel between the UAV and the information pool of the communication network 4.

[0067] In a feasible implementation manner, this embodiment further includes:

[0068] The task planning module 3 is connected to the information pool of the communication network 4, and is used to control the authorized drone to reach the desired location to perform the task according to the task instruction and the status data of the authorized drone. The task planning module 3 is used to handle the allocation of formation tasks. The processing method is to use the contract network protocol mechanism supervised by the manned MAV module 1 to allocate tasks to each drone; after planning the task through the contract network protocol, the task instruction is sent to the corresponding drone, and each drone only performs one task at a time.

[0069] The manned and unmanned aircraft cooperative formation transformation system disclosed in the present invention can achieve the following functions:

[0070] (1) Real-time monitoring of drones falling behind:

[0071] When the drone calculates that the distance difference between itself and the manned aircraft is greater than the distance preset by the formation control, it adjusts itself to reach the desired position;

[0072] When the UAV cannot reach the desired position through its own adjustment, a manned aircraft is required to directly control the manned aircraft to reach the desired position.

[0073] (2) Formation change:

[0074] The manned aircraft reads the flight data of each UAV from the communication network, publishes the formation instructions to the formation control module according to the mission, and publishes the status data of itself and the UAV to the formation control module.

[0075] The formation control module calculates the state difference between the manned aircraft and the unmanned aircraft based on the formation instructions, preset formation and state data (the state difference includes the difference in position and speed), and sends the state difference to the communication network for the unmanned aircraft to read.

[0076] After the drone reads the status difference, it adjusts its position according to the status difference to reach the desired position.

[0077] (3) Execution of tasks:

[0078] Manned aircraft issues missions, UAVs bid for them, and pilots authorize missions based on mission costs. Ultimately, UAVs obtain authorization, execute missions, and provide feedback on mission status.

[0079] Another embodiment of the present invention discloses a method for changing the formation of a manned and unmanned aircraft cooperative formation, comprising the following steps:

[0080] The manned MAV module 1 receives the status data of each UAV in the information pool of the communication network 4; the manned MAV module 1 sends instructions to the formation control module 2 and the task planning module 3 based on the received UAV status data, and sends the received instructions to the information pool of the communication network 4 through the formation control module 2 and the task planning module 3, so that the UAV module 5 can subscribe to control the flight formation and flight mission of the UAV; the UAV module 5 publishes the data of task execution to the information pool of the communication network 4, so that the manned MAV module 1 can subscribe to it;

[0081] When the UAV module 5 is not directly controlled by the manned MAV module 1, the UAV module 5 subscribes to the instructions issued by the manned MAV module 1 from the information pool of the communication network 4; when it is directly controlled, the controlled UAV communicates directly with the manned MAV module 1 through the direct control channel 6, and at the same time closes the communication channel between the UAV and the information pool of the communication network 4.

[0082] Taking the reconnaissance and attack on specific targets in the target area as an example, the specific implementation method and system operation process of the manned and unmanned aerial vehicle collaborative formation control system designed by the present invention are introduced.

[0083] After receiving the combat mission, the formation takes off from the airport in an orderly manner. From the take-off stage to the stable flight, the aircraft fly in a straight formation. The manned aircraft flies in front of the formation, reads the flight data of each drone in the communication network, determines whether each drone in the formation can follow normally, and leads the formation until the status of each drone is stable. The drone publishes its own status data to the information pool in real time for the manned aircraft and the formation control module to read and use.

[0084] After the status of each aircraft is stable, in order to save the power source of each aircraft, the formation is changed and the wedge formation is used for flight. The pilot issues the formation command to the formation control module. The formation control module issues the formation flight command of each drone and the status difference between the manned aircraft and the drone to the communication network information pool based on the drone formation library data and the flight data of the manned aircraft and the drone. After the drone reads the corresponding command and data from the information pool, it plans a new follow-up route through the route planning module. Each aircraft adjusts its own route according to the status difference between itself and the manned aircraft until the formation requirements of the wedge formation are met.

[0085] When approaching the mission target area, enemy flying units may appear. At this time, the flight formation will be changed into a four-corner guard formation according to the actual situation, and the formation spacing will be increased to increase the defense range. When enemy units appear in front, it can be changed into a trapezoidal formation to guide the drone in front of the manned aircraft to protect the manned aircraft, while also being able to better attack enemy units through drones.

[0086] According to the mission plan, it is necessary to carry out reconnaissance and strike missions. Fig. 9 As shown, assuming that there are two targets in the target area, one needs to be investigated and the other needs to be attacked, the following introduces the operation mechanism of the contract network protocol under human supervision:

[0087] Mission release: The manned aircraft releases two missions, attacking target 1 and detecting target 2;

[0088] Bidding: Each drone calculates the mission cost based on its own location information, load conditions, etc., and participates in the bidding. UAV1 and UAV2 each have different advantages. UAV1 is close to the target point, but the weapon load is low, while UAV2 is far from the target point, but it carries enough weapons. Therefore, UAV1 performs reconnaissance missions and UAV2 performs strike missions.

[0089] Authorization: The pilot authorizes the mission based on the mission cost calculated by each drone, according to the pre-specified authorization standards and actual conditions;

[0090] Execution: After obtaining authorization, the drone begins to perform the mission and provides feedback on the mission status.

[0091] In the specific implementation process, the cost function can add calculation parameters according to the specific situation, such as the remaining power energy of the UAV, the failure condition of the UAV, etc.

[0092] After the drone completes the reconnaissance / strike mission, it records the reconnaissance data / post-strike images and publishes them to the communication network data pool. After reading, the manned aircraft determines the completion of the mission and returns to the formation after the mission is completed. When performing a mission, the pilot can take control of the mission drone and directly control the drone to perform the mission, so as to improve the accuracy and completion of the mission.

[0093] During the entire mission, the formation control of the UAVs mainly relies on the formation library in the formation control module. During the entire formation flight and formation change process, the formation control module calculates and publishes the state difference between the UAVs and the manned aircraft in real time, which is the core of formation maintenance and change. The task allocation of the formation mainly relies on the task planning module. Under the framework of the contract network protocol, pilots can understand the battlefield situation more clearly and make more reasonable judgments.

[0094] A computer device is provided in one embodiment of the present invention. The computer device in this embodiment includes: a processor, a memory, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps in the above-mentioned method embodiments are implemented, for example: Figure 1 Alternatively, when the processor executes the computer program, the functions of each module / unit in the above-mentioned device embodiments are implemented, such as the task execution module.

[0095] The computer program may be divided into one or more modules / units, and the one or more modules / units are stored in the memory and executed by the processor to accomplish the present invention.

[0096] The computer device may be a desktop computer, a notebook computer, a palm computer, a cloud server, etc. The computer device may include, but is not limited to, a processor and a memory.

[0097] The processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0098] The memory may be used to store the computer programs and / or modules, and the processor implements various functions of the computer device by running or executing the computer programs and / or modules stored in the memory and calling the data stored in the memory.

[0099] If the module / unit integrated in the computer device is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0100] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for changing the formation of a manned and unmanned aircraft cooperative formation, characterized in that: The following steps are involved: Generate formation instructions based on formation change tasks and publish status data of manned and unmanned aircraft; Calculate the status difference between manned aircraft and unmanned aircraft based on formation instructions and status data; Adjust the drone to the desired position based on the status difference; Also includes: Calculate the distance difference between the UAV and the manned aircraft in real time. When the distance difference is greater than the preset distance for formation control, control the UAV to return to the formation and reach the desired position. The formation control preset distance includes a self-adjustment preset distance and a passive control preset distance; When the distance difference is greater than the preset distance for self-adjustment and less than the preset distance for passive control, the drone will adjust itself to return to the formation according to the distance difference and reach the desired position; When the distance difference is greater than the preset distance of passive control, the manned aircraft is controlled according to the distance difference to return to the formation and reach the desired position.

2. The formation transformation method of manned and unmanned aircraft cooperative formation according to claim 1, characterized in that: Also includes: According to the mission information released by the manned aircraft, the mission cost of the UAV to perform the mission is calculated; Authorize drones that meet the authorization criteria based on the mission cost, and generate mission instructions based on the mission information; According to the mission instructions and the status data of the authorized drone, the authorized drone is controlled to reach the desired location to perform the mission.

3. A formation change system for manned and unmanned aircraft cooperative formation for implementing the method described in claim 1, characterized in that: include: A formation instruction generation module, which is used to generate formation instructions according to the formation transformation task and publish the status data of manned aircraft and unmanned aircraft; A state difference calculation module, which is used to calculate the state difference between the manned aircraft and the unmanned aircraft according to the formation instruction and the state data; The formation execution module is used to adjust the UAV to the desired position according to the state difference.

4. The formation transformation system for manned and unmanned aircraft cooperative formation according to claim 3 is characterized in that: Also includes: A falling-behind control module, which is used to calculate the distance difference between the UAV and the manned aircraft in real time, and when the distance difference is greater than the preset distance for formation control, control the UAV to return to the formation and reach the desired position; A task cost calculation module, which is used to calculate the task cost of the UAV to perform the task according to the task information released by the manned aircraft; A task authorization module, which is used to authorize UAVs that meet the authorization criteria according to the task cost and generate task instructions according to the task information; A task execution module is used to control the authorized drone to reach the desired location to perform the task according to the task instruction and the status data of the authorized drone.

5. A formation change system for manned and unmanned aircraft cooperative formation for implementing the method described in claim 1, characterized in that: include: A manned MAV module (1), the manned MAV module (1) being connected to an information pool of a communication network (4), and being used to generate formation instructions according to a formation change task, and to publish status data of manned and unmanned aircraft; A formation control module (2), the formation control module (2) being connected to an information pool of a communication network (4), and being used to calculate a state difference between a manned aircraft and an unmanned aircraft according to formation instructions and state data, and to adjust the unmanned aircraft to a desired position according to the state difference; An unmanned aerial vehicle (UAV) module (5), wherein the unmanned aerial vehicle (UAV) module (5) interacts with an information pool of the communication network (4); It is used to calculate the distance difference between the UAV and the manned aircraft in real time. When the distance difference is greater than the preset distance for formation control, the UAV is controlled to return to the formation and reach the desired position.

6. The formation transformation system for manned and unmanned aircraft cooperative formation according to claim 5 is characterized in that: Also includes: A mission planning module (3) is connected to an information pool of a communication network (4) and is used to control the authorized drone to reach a desired location to perform the mission according to the mission instruction and the status data of the authorized drone.

7. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to claim 1 or 2 are implemented.

8. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to claim 1 or 2 are implemented.

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