An aircraft large-scale bionic formation transformation method and system

Abstract

The application discloses a kind of aircraft large-scale bionic formation transformation method and system, comprising: through the radio ad hoc network equipment of each aircraft, information interaction between each aircraft is carried out by constructing virtual bus program;Select the aircraft in the most central space position in large-scale fleet formation as command aircraft, and send flight instruction to each small-scale fleet formation;Receive the flight instruction of command aircraft, and fly to predetermined position;Determine whether the energy consumption of long machine in small-scale fleet formation reaches threshold value, if not, long machine continues to carry out formation navigation;If yes, through virtual bus program, long machine in each small-scale fleet formation issues rotation instruction to wingman, and the rotation of flight position is carried out;Realize aircraft large-scale bionic formation transformation.The application designs the formation coordination method between each small-scale fleet formation, and through the information interaction between long machine and command aircraft, the flexible transformation of large-scale unmanned aerial vehicle formation can be realized.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of unmanned aerial vehicle flight control, and relates to a method and system for changing formation of large-scale bionic aircraft formation. BACKGROUND

[0002] Bionics is to form a theory by studying the behavior or physiological structure of creatures in nature, and the main reason why bionics is popular in practical research is to obtain new ideas for improving the operation of machines from the theory. Through the application of bionics in the design process, the performance of the machine can be greatly improved, and the same machine can produce better efficiency.

[0003] For bionic flight of aircraft formation, in certain cases, the aircraft formation needs a considerable scale to perform flight tasks in a swarm manner. When the aircrafts fly in a large scale, the whole formation will be unstable. In addition, when the aircraft formation needs to be maneuvered to avoid, the maneuverability of the aircraft formation is not as good as that of a single aircraft. Therefore, the large-scale aircraft formation needs to be properly divided to optimize the performance of the flight formation.

[0004] Formation keeping is one of the cores of formation control research. Stable and effective formation keeping control law can ensure that the aircraft formation maintains a specific formation when flying. However, the current formation keeping and transformation algorithm is generally only for small formation composed of several aircrafts, and there is little research on large-scale aircraft swarm formation. The contradictions faced by the current large-scale aircraft formation flight are: the contradiction between the demand for large-scale aircraft formation flight and the maneuvering performance of the aircraft formation flight; the contradiction between the demand for large-scale aircraft formation flight and the maneuvering performance of the aircraft formation flight; the contradiction between the pursuit of long-range flight of the aircraft and the energy consumption caused by the induced drag of the aircraft. Therefore, there is an urgent need to design a method for changing the formation of large-scale bionic aircraft formation to overcome the above problems. SUMMARY

[0005] The purpose of the present application is to solve the problems in the prior art, and to provide a method and system for changing the formation of large-scale bionic aircraft formation, which takes small-scale formation as the basic unit of formation transformation, and changes the formation of the basic unit by taking turns as the leader, the leader hosting the virtual bus, and the wingman tracking the position of the leader. The present application meets the functional requirements of the current large-scale bionic aircraft formation transformation technology, and effectively solves the contradictions faced by the current large-scale bionic aircraft formation transformation technology.

[0006] In the first aspect, the present application provides a method for changing the formation of large-scale bionic aircraft formation, comprising:

[0007] Step 1: Through the radio ad hoc network equipment of each aircraft, the information interaction between each aircraft is carried out through the virtual bus program;

[0008] Step 2: select the aircraft with the most central spatial position in the large-scale formation as the command aircraft, and send flight instructions to each small-scale formation;

[0009] Step 3: each small-scale formation receives the flight instructions of the command aircraft and flies to the predetermined position;

[0010] Step 4: determine whether the energy consumption of the long aircraft in the small-scale formation reaches a threshold value, if not, the long aircraft continues to lead the formation; if yes, proceed to step 5;

[0011] Step 5: the long aircraft in each small-scale formation issues rotation instructions to the wingman through the virtual bus program to rotate the flight position;

[0012] Step 6: repeat steps 4 and 5 to realize large-scale bionic formation transformation of the aircraft.

[0013] In a second aspect, the present application provides a large-scale bionic formation transformation system of aircraft, comprising:

[0014] The construction module is used to construct a virtual bus program through the radio ad hoc network equipment of each aircraft to realize information interaction between the aircrafts;

[0015] The selection module is used to select the aircraft with the most central spatial position in the large-scale formation as the command aircraft, and send flight instructions to each small-scale formation;

[0016] The receiving module is used to receive the flight instructions of the command aircraft and fly to the predetermined position;

[0017] The judgment module is used to determine whether the energy consumption of the long aircraft in the small-scale formation reaches a threshold value;

[0018] The flight position rotation module is used to issue rotation instructions to the wingman through the virtual bus program by the long aircraft in each small-scale formation to rotate the flight position;

[0019] The output module is used to realize large-scale bionic formation transformation of the aircraft.

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

[0021] The application realizes information interaction between each aircraft in large-scale aircraft formation shape changing process by designing virtual bus; the application realizes formation shape transformation of each aircraft in small-scale aircraft group formation by designing formation shape transformation method, and realizes long aircraft and wingman rotation flight by taking small-scale aircraft group formation as formation shape transformation basic unit, and realizes flexible transformation of large-scale unmanned aircraft formation shape by formation coordination between each small-scale aircraft group formation and information interaction between long aircraft and command aircraft. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiments, and it should be understood that the following drawings only show some of the embodiments of the application, and therefore should not be regarded as a limitation to the scope, and for those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0023] Figure 1 The flow chart of the aircraft large-scale bionic formation shape transformation method of the embodiment of the application.

[0024] Figure 2 The communication realization flow chart between aircraft nodes of the embodiment of the application.

[0025] Figure 3 The formation shape transformation flow chart of the embodiment of the application.

[0026] Figure 4 The large-scale aircraft formation division schematic diagram of the embodiment of the application.

[0027] Figure 5 The aircraft large-scale bionic formation shape transformation schematic diagram of the embodiment of the application.

[0028] Figure 6 The aircraft large-scale bionic formation shape transformation system structure diagram of the embodiment of the application. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solutions and advantages of the embodiments of the application more clear, the following will combine the drawings in the embodiments of the application to clearly and completely describe the technical solutions in the embodiments of the application, and obviously, the described embodiments are some of the embodiments of the application, but not all the embodiments. The components of the embodiments of the application described and shown in the drawings here can be arranged and designed in various different configurations.

[0030] Therefore, the following detailed description of the embodiments of the application provided in the accompanying drawings is not intended to limit the scope of the application claimed, but merely represents selected embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the application.

[0031] It should be noted that similar reference numerals and letters represent similar items in the following drawings, and therefore, once an item is defined in one drawing, it need not be further defined and explained in subsequent drawings.

[0032] In the description of the embodiments of the application, it should be noted that if the terms such as "upper", "lower", "horizontal", "inner" and the like indicate the 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 application is usually placed, and are merely for the convenience of describing the application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the application. In addition, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0033] In addition, if the term "horizontal" appears, it does not mean that the component must be absolutely horizontal, but can be slightly inclined. For example, "horizontal" only means that its direction is relatively more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0034] In the description of the embodiments of the application, it should also be noted that unless otherwise explicitly specified and limited, if the terms "arrangement", "installation", "connection", "connection" appear, they should be understood in a broad sense, for example, they can be fixedly connected, or can be detachably connected, or integrally connected; can be mechanically connected, or can be electrically connected; can be directly connected, or can be indirectly connected through an intermediate medium; can be the communication inside two elements. For those of ordinary skill in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0035] The application will be described in further detail below in conjunction with the accompanying drawings:

[0036] Referring to Figure 1 The application discloses a large-scale bionic formation transformation method for an aircraft, comprising:

[0037] S101: Construct a virtual bus program through the radio ad hoc network equipment of each aircraft to realize information interaction between the aircrafts.

[0038] The virtual bus method takes ARINC629 bus as a virtual prototype, and controls the transmission sequence of each aircraft node by detecting whether information transmission exists in the bus.

[0039] Each aircraft node converts the information transmission and reception into information packets, and judges the information transmission time by detecting whether a signal being transmitted exists in the channel.

[0040] The virtual bus program supports error code detection and error code information packet retransmission, reduces the error code occurrence rate by limiting the information packet size, and corrects the information packet arrival sequence by packet coding.

[0041] S102: Select an aircraft with the most central spatial position in the large-scale formation as a command aircraft, and send flight instructions to each small-scale formation.

[0042] The small-scale formation adopts a "V" formation for flight, and the "V" formation aircraft includes one leader and eight wingmen.

[0043] S103: Receive the flight instructions of the command aircraft and fly to the predetermined position.

[0044] The leader of the small-scale formation receives the flight instructions of the command aircraft, and sends instructions to the wingmen of the small-scale formation, and flies to the predetermined position.

[0045] S104: Determine whether the energy consumption of the leader in the small-scale formation reaches a threshold value, if not, the leader continues to lead the formation; if yes, proceed to S105.

[0046] The "V" formation adopts a left and right two unmanned aerial vehicle queue rotation mode to serve as a leader; the rotation instruction includes the time of formation change and the position change of each aircraft in the formation.

[0047] S105: Through the virtual bus program, the leader in each small-scale formation issues rotation instructions to the wingmen to rotate the flight position.

[0048] The leader issues rotation instructions, and the receiving nodes of the instructions are all aircraft nodes in a random branch of the "V" formation; at the formation change time point, the leader moves to the tail end of the unmanned aerial vehicle, and then the remaining aircrafts move to the original leader position direction respectively until a new "V" formation is formed; after the formation change is completed, the new leader serves as the formation leader and performs the navigation task, and the next rotation is replaced to the other branch of the "V" formation for rotation.

[0049] Each formation leader is used to receive the command aircraft instructions for real-time path planning, preside over the rotation work of the local formation, and monitor the state of each aircraft in the formation.

[0050] S106: repeat S104 and S105 to realize large-scale aircraft formation shape transformation.

[0051] Before reaching the predetermined position, the lead aircraft and wingmen in each small-scale aircraft formation continuously transform to realize large-scale aircraft formation shape transformation.

[0052] The large-scale aircraft formation shape transformation method designed by the application imitates the behavior of birds, arranges the unmanned aerial vehicles in a "V" shape, and establishes a communication mechanism to ensure the flight safety of each aircraft during formation shape transformation.

[0053] I. Overall design

[0054] The large-scale aircraft formation shape transformation method designed by the application mainly includes three parts, namely, inter-aircraft communication method design, formation transformation method, and formation division method. Through the use of the inter-aircraft communication method, the aircraft can interact with other aircraft during autonomous formation flight and formation transformation to achieve the purpose of orderly transformation of the aircraft formation; through the use of the formation transformation method, the aircraft imitates birds to rotate in formation, effectively improving the overall range of the formation aircraft; through the use of the formation division method, the large-scale aircraft formation can be reorganized in the form of small-scale aircraft formation aggregation, and when it is necessary to perform avoidance operation, the formation can be more flexible to maneuver to avoid.

[0055] II. Design of inter-aircraft communication method

[0056] For the inter-aircraft communication method of large-scale aircraft formation, the application proposes a virtual bus concept, that is, to realize the function of data bus by radio, and the communication topology structure is as shown in Figure 2

[0057] The virtual bus program is based on ARINC629 bus, and relies on existing radio ad hoc network transceiver equipment for hardware. Each aircraft accesses as a node in the virtual bus, and each node in the virtual bus independently performs information receiving and transmitting work. There is no virtual bus controller to avoid the serious consequences of communication paralysis of the formation caused by the crash of the aircraft where the virtual bus controller is located due to force majeure. Each node connected to the virtual bus needs to obtain virtual bus access permission to obtain the required communication node number list, node number, information code format and information receiving and transmitting authority connected to the virtual bus. After the node unmanned aerial vehicle obtains the access permission, the above information will be used as the node startup file, which is sent to the newly accessed node when the node accesses the virtual bus. The new node will communicate with other nodes accessing the virtual bus at the same frequency and in the same format.

[0058] ​The node converts the information transmission and reception into information packets, and judges the information transmission opportunity by detecting whether there is a signal being transmitted in the channel.

[0059] The first part is the information type code, which is used to mark the data type of the information, and each information code represents different information to distinguish the information categories, such as the distinction between instruction information and state parameter information of the node, and the target node will determine whether to use the information packet through the identification code in the information packet.

[0060] The second part is the identification information of the publishing node, which is used by other nodes to determine the source of the information.

[0061] The third part is the identification information of the receiving node, that is, to determine the address of the node in the bus except the publisher node.

[0062] The fourth part is the information contained in the information packet, which is the main part of the information packet, and the components in the information packet are not mentioned in the present application, such as instruction information, inquiry information, node startup file and other information transmission.

[0063] The fifth part is the identification check bit, the size of each information packet is strictly limited by the information packet standard, and the specific size of the information packet is adjusted according to the application condition in the standard, so as to avoid the error code caused by the influence of noise due to the long transmission of information at a time, therefore, when the information is long, the information will be sent in segments, and the order of the information packet in the information report sequence is marked in the identification check bit, so as to avoid the delay of the information packet to disorder the order of the information packet, when the target node receives the information packet, the information packet information is recalculated, when the last information packet is received, all the information is combined for operation, each packet contains a parity check bit to preliminarily determine whether the information packet is affected by interference and has error code phenomenon, when the error code occurs, the sending node is requested to resend.

[0064] III. Formation transformation method design

[0065] The formation transformation process designed by the present application is shown in Figure 3

[0066] During the formation flight of the aircraft, the head machine bears the largest induced drag of the whole formation because it provides upwash airflow for the rest of the formation for a long time, and its energy consumption speed is also the fastest. In order to avoid the situation that the head machine has a shorter range than the whole formation due to the inconsistent energy consumption speed of the whole formation, the present application designs a formation transformation method, which makes each aircraft take turns to serve as the head machine position. Since the aircraft in the front has the best forward field of view, it is beneficial to the deployment of infrared imaging and other detection technologies, therefore, the head machine also serves as the long machine of the whole formation, and is responsible for leading the other wingmen in the formation to fly in formation. ​

[0067] When the head aircraft is in a single mission as a leader, the fuel consumption during the leading period reaches a set threshold, and the formation transformation program is triggered. Taking the "V" formation as an example, when the aircraft formation is rotated, the head aircraft first issues a rotation instruction, and the receiving node of the instruction is all the aircraft nodes in the V-shaped random branch. The rotation instruction information includes the time of formation transformation and the position change of each aircraft in the formation. At the formation transformation time point, the head aircraft moves to the tail end of the unmanned aerial vehicle, and then the remaining aircraft moves to the original head aircraft position direction respectively until a new "V" formation is formed. After the formation transformation is completed, the new head aircraft takes on the role of the leader and performs the leading task. In the next rotation, it is replaced by the other branch of the "V" shape for rotation.

[0068] IV. Formation division method design

[0069] As described above, due to the task demand of large-scale aircraft formation in some specific situations, it is difficult to meet the performance requirements in terms of formation stability, obstacle avoidance and formation mobility, so the entire aircraft formation needs to be divided. The aircraft formation division diagram is shown in Figure 4 .

[0070] The entire aircraft formation is divided into several small-scale aircraft formations according to the spatial position, each small-scale aircraft formation contains one leader and eight wingmen, and the "V" shape structure is used for spatial distribution. The leader is located at the top of the "V" formation, and the wingmen follow in the two branches. Each wingman only follows the aircraft in front of it. The leader of the aircraft formation adopts the rotation mode in the small-scale aircraft formation to avoid the situation that the leader is shot down or the leader cannot continue to serve as the leader due to failure, causing the aircraft formation to be in a paralyzed state. The entire large-scale aircraft formation is based on small-scale aircraft formation for formation flight. Since the distance between the two small aircraft formations in the large-scale aircraft formation is large, the aerodynamic coupling can be ignored, so there is no need to rotate between small-scale aircraft formations, only the spatial position arrangement for task division.

[0071] The leader of the small-scale aircraft formation mainly performs three tasks. First, it performs formation flight with other aircraft formations and implements path planning accordingly. Second, it is responsible for the rotation of the aircraft formation and transfers the data of the uncompleted task before rotation to the new leader. Third, it monitors the status of each aircraft in the formation. When a fault aircraft needs to return due to insufficient energy to complete the task or failure, the leader needs to guide the formation aircraft to escort the fault aircraft to return in order to increase the probability of successful return of the fault aircraft by using the additional lift provided by the formation.

[0072] The space position most central one of each small-scale aircraft formation leader is taken as a command aircraft, which publishes the designated position that each small-scale aircraft formation should reach at a specified time, and sends the data to each leader for the implementation path planning of the small-scale aircraft formation.

[0073] The present application designs a set of aircraft large-scale bionic formation flight method based on the existing aircraft hardware equipment, and the specific implementation manner is as follows, and the flow chart is as shown in Figure 5

[0074] Firstly, the leader is randomly appointed as the head aircraft for performing the navigation task in the formation before the aircraft takes off, then the virtual bus program is run on the first leader of the formation, and the virtual bus is established through the aircraft ad hoc network equipment, and then each aircraft in the small-scale aircraft formation is connected to the bus network of the aircraft formation.

[0075] Secondly, when a certain aircraft is connected to the virtual bus of the unmanned aircraft, the virtual bus program is first run, the program initializes the aircraft nodes in the communication network, that is, adjusts the communication frequency to the aircraft formation communication frequency, and automatically matches with the radio ad hoc network equipment of the leader, and the matching is successful, that is, the virtual bus access permission is obtained, then the node start file is issued from the leader node to the new joined wingman node, including the communication node serial number list of the aircraft formation, the node serial number, the information receiving and transmitting authority and the information code format, the information code format of each small-scale aircraft formation is different, so as to distinguish from other small-scale aircraft formations in the aircraft formation and avoid mutual interference. After receiving the node start file, the new joined wingman node adjusts its parameters according to the data in the node start file, that is, changes the information code format of the node, sets the information receiving and transmitting authority bit according to the leader node, and sets the IP of the node as the allocated node name, after completion, the wingman node sends the empty information packet meeting the requirements to the leader node as the symbol of successful access to the virtual bus. When the new node is connected, the receiving node identification information of the node start file sent by the leader in the form of information packet is set as the IP name of the new joined node, so as to ensure that the IP of the node is not reset by other joined nodes. After all the remaining aircraft are connected to the virtual bus of each small-scale aircraft formation, the aircraft formation can take off.

[0076] ​Again, in the process of small-scale formation flight, when the lead aircraft needs to interact with a specific aircraft, it sends an information packet to the target aircraft node, opening the sending permission in the receiving and sending permission of the target aircraft node. The sending permission of the rest of the aircraft nodes is set to off when there is no need for interaction, and at this time it still generates local state information. When the sending permission is off, the aircraft node can only actively send emergency warning information such as failure and energy shortage, and the receiving permission of all aircraft nodes is set to allow receiving at any time.

[0077] Then, when the energy consumption of the lead aircraft reaches the threshold in a single navigation task, the formation changes the lead aircraft. First, the formation flight program in the flight control computer of the lead aircraft calculates the aircraft rotation order and implementation method, and determines the list of aircraft nodes that need to change position. At this time, the lead aircraft sends a directional information packet to the aircraft nodes that need to change, informing the time-varying expected position information of the aircraft rotation and the time point of the formation change. Since the other wingmen do not implement path planning, and each aircraft only tracks the aircraft in front of the local side, the lead aircraft simultaneously sends a relative position maintenance instruction to the wingmen adjacent to the lead aircraft on the side that does not change, i.e. the aircraft stops tracking the lead aircraft, and the entire formation flies forward in a horizontal uniform speed straight flight state. Before the lead aircraft moves to the tail of the formation, the lead aircraft node opens the sending permission of the new lead aircraft, sends all the data of the unfinished process to the new lead aircraft in the same batch of information packets, and finally closes the sending permission of the local aircraft, leaving the plane where the formation is located and moving to the tail to become a new wingman. After that, all aircraft in this branch move to the specified position of the formation at the predetermined time point, and a new "V" shaped formation is formed, and the formation shape transformation is completed.

[0078] Finally, in a large-scale aircraft formation, an additional virtual bus is established between the lead aircrafts of each small-scale formation. The structure and operation of the virtual bus are basically the same as that in the small-scale formation, except that there is no need to unify the information packet format, which is used to identify different lead aircrafts. In the entire large-scale aircraft formation, each small-scale formation is regarded as a whole, and information interaction is performed by each lead aircraft. Among the lead aircrafts of each small-scale formation, the one with the most central spatial position is used as the command aircraft, which sends the specified position that each small-scale formation should reach at a specified time to each lead aircraft for path planning of the small-scale formation.

[0079] Further, when there is energy shortage or a malfunctioning aircraft in a small-scale aircraft formation, the wing aircraft sends an emergency warning signal to the lead aircraft, the lead aircraft sends a request for return to the command aircraft, the command aircraft receives the request and provides a designated position that the lead aircraft and nearby lead aircrafts of the formation should reach at a specified time, and the nearby other formations fly away from the formation route to avoid interference and collision between the formations, thereby ensuring the safety of the formation. After leaving the large-scale aircraft formation, the lead aircraft places the malfunctioning aircraft at the tail of a team in the formation, and the remaining aircrafts take turns to perform the navigation task. When the wing aircraft in the small-scale aircraft formation crashes due to malfunction or is shot down, the wing aircraft that is tracking the crashed aircraft stops following after leaving the height interval of the small-scale aircraft formation by a certain threshold, maintains the relative position in the formation, and sends a malfunction information packet to the lead aircraft when the target aircraft cannot be further detected, or the lead aircraft sends an inquiry information packet for 20 times without response and other wing aircrafts cannot detect the wing aircraft, and then it is determined that the wing aircraft has crashed. Subsequently, the lead aircraft node sends an information packet to inquire the spatial position and aircraft state data such as speed, height, GPS position, and remaining energy of the aircraft to other wing aircraft nodes, the wing aircrafts receiving the information maintain the position in the formation and respond, and then the lead aircraft reassigns the spatial position of each wing aircraft in the formation according to the nearest principle and reorganizes the “V”-shaped formation. When the lead aircraft of the small-scale aircraft formation crashes due to malfunction or is shot down, the remaining wing aircrafts immediately stop tracking and voting, and the nearest two aircrafts to the position of the lead aircraft are voted to obtain a new lead aircraft, and then the new lead aircraft takes over the navigation task and reorganizes the small-scale aircraft formation. When the command aircraft of the entire large-scale aircraft formation crashes due to malfunction or is shot down, a new command aircraft is generated by the remaining aircrafts of the small-scale aircraft formation according to the above method.

[0080] Referring to Figure 6 The present application discloses a large-scale aircraft formation shape transformation system, comprising:

[0081] A construction module is configured to construct a virtual bus program through a radio self-organizing network device of each aircraft to realize information interaction between the aircrafts.

[0082] A selection module is configured to select an aircraft with the most central spatial position in the large-scale aircraft formation as a command aircraft, and send a flight instruction to each small-scale aircraft formation.

[0083] A receiving module is configured to receive the flight instruction of the command aircraft and fly to a predetermined position.

[0084] A judgment module is configured to judge whether the energy consumption of the lead aircraft in the small-scale aircraft formation reaches a threshold value.

[0085] A flight position rotation module is configured to issue rotation instructions to wingmen by a virtual bus program, so as to rotate the flight position of each small-scale fleet formation;

[0086] An output module is configured to realize the large-scale bionic formation shape transformation of the aircraft.

[0087] The above only the preferred embodiments of the present application, and not for limiting the present application, for those skilled in the art, the present application can have various changes and variations. Any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application, should be included in the scope of protection of the present application.

Claims

1. A method for large-scale biomimetic formation transformation of aircraft, characterized in that, include: Step 1: Through the radio self-organizing network equipment of each aircraft, the aircraft exchange information via a virtual bus program; Step 2: Select the aircraft that is most centrally located in the large-scale formation as the command aircraft, and send flight instructions to each small-scale formation. Step 3: Each small formation receives flight instructions from the command aircraft and flies to its designated position; Step 4: Determine whether the energy consumption of the lead aircraft in a small formation has reached the threshold. If not, the lead aircraft continues to lead the formation; if so, proceed to Step 5. Step 5: In each small-scale aircraft formation, the lead aircraft issues a rotation command to the wingmen via a virtual bus program to rotate flight positions. The virtual bus program uses the ARINC629 bus as a virtual prototype. Each aircraft connects to the virtual bus as a node. Each node in the entire virtual bus autonomously transmits and receives information. There is no virtual bus controller. The transmission order of each aircraft node is controlled by detecting whether there is information transmission within the bus. Each node connected to the virtual bus needs to obtain virtual bus access permission to obtain the list of communication node serial numbers, its own serial number, information code format, and information transmission and reception permissions required to connect to the virtual bus. After the node UAV obtains access permission, the above information will be used as the node startup file and sent to the newly connected node at the same time as the node connects to the virtual bus. Each aircraft node converts the transmitted and received information into information packets, and determines the timing of information transmission by detecting whether there is a signal being transmitted in the channel; the virtual bus program supports error detection and retransmission of erroneous information packets; it reduces the error rate by limiting the information packet size; and it corrects the arrival order of information packets by encoding them. The node converts the sent and received information into information packets, which contain the following five parts: The first part is the information type code. This type of code is used to mark the data type of this information. Each information code represents different information to distinguish the information category. The target node will use the identification code in the information packet to determine whether to use the information packet. The second part is the publishing node identification information, which is used by other nodes to determine the source of the information; The third part is the receiving node identification information, which is used to determine the addresses of other nodes in the bus besides the publisher node itself. The fourth part is the information contained in the information package, which is the main body of the information package; The fifth part is the identification check bit. The size of each information packet is limited by the information packet standard. The specific size of the information packet is adjusted according to the application conditions in this standard to avoid errors caused by noise due to excessively long information transmitted at one time. When the information length exceeds the threshold, the information is sent in segments, and the order of the information packet in the information packet sequence is marked in the identification check bit to avoid the transmission delay from disrupting the order of the information packets. When the target node receives the information packet, it re-decodes the information packet information; when the last information packet is received, it combines all the information and performs calculations. Each packet contains a parity check bit to preliminarily determine whether the information packet has been affected by interference and has caused a code error. If an error occurs, a retransmission is requested from the sending node; Step 6: Repeat steps 4 and 5 to achieve large-scale biomimetic formation transformation of aircraft.

2. The large-scale biomimetic formation transformation method for aircraft according to claim 1, characterized in that, The small-scale aircraft formation flies in a "V" formation, which includes one lead aircraft and eight wingmen. The "V" formation rotates between the two drone squadrons on the left and right, with each drone taking turns as the lead aircraft. The rotation instructions include the timing of the formation change and the positional changes of each aircraft within the formation.

3. The method for large-scale biomimetic formation transformation of aircraft according to claim 2, characterized in that, Step 5 is described in detail below: The lead aircraft issues a rotation command, which is received by all aircraft nodes of a random branch in the "V" shaped formation. At the formation change time, the lead aircraft moves to the very end of the "V" shaped formation, and then the remaining aircraft move toward the original lead aircraft's position until a new "V" shaped formation is formed. After the formation change is completed, the new lead aircraft becomes the formation leader and performs the navigation task. During the next rotation, the lead aircraft will switch to another branch of the "V" shaped formation.

4. The large-scale biomimetic formation transformation method for aircraft according to claim 3, characterized in that, The command aircraft of the large-scale aircraft formation is selected from the lead aircraft based on their formation positions.

5. The method for large-scale biomimetic formation transformation of aircraft according to claim 4, characterized in that, The lead aircraft of each formation is used to receive instructions from the command aircraft to perform real-time path planning, preside over the rotation of the aircraft group, and monitor the status of each aircraft in the formation.

6. A large-scale biomimetic formation transformation system for aircraft used to implement the method of claim 1, characterized in that, include: The building module is used to build a virtual bus program through the radio ad hoc networking equipment of each aircraft to facilitate information exchange between the aircraft. The selection module is used to select the aircraft that is most centrally located in the large-scale formation as the command aircraft and send flight instructions to each small-scale formation. A receiving module, which is used to receive flight instructions from the command aircraft and fly to a predetermined location; The judgment module is used to determine whether the energy consumption of the lead aircraft in a small-scale aircraft swarm formation has reached a threshold. The flight position rotation module is used to issue rotation instructions from the lead aircraft to the wingmen in each small-scale aircraft formation through a virtual bus program to rotate flight positions. The output module is used to realize large-scale biomimetic formation transformation of aircraft.

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