A UAV formation control method and device

Abstract

The present invention discloses a method and device for controlling the formation of unmanned aerial vehicles, the method comprising: obtaining initial formation information and flight scene information of unmanned aerial vehicles; the initial formation information of unmanned aerial vehicles includes the position information of the leader, the position information of the wingman and the number information of the wingman; based on the flight scene information, determining the calculation model of the unmanned aerial vehicle formation; based on the initial formation information of the unmanned aerial vehicle and the calculation model of the unmanned aerial vehicle formation, determining the target formation information; the target formation information is used to control and adjust the flight position of the unmanned aerial vehicle. It can be seen that the present invention is conducive to improving the formation control efficiency of unmanned aerial vehicle formations in different mission scenarios, thereby greatly extending the range of the unmanned aerial vehicle formation and realizing the long-distance flight of the unmanned aerial vehicle formation.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles (UAVs), and in particular to a formation control method and device for UAVs. Background Art

[0002] With the development and advancement of intelligent control technology, drones are increasingly entering the public consciousness. As missions become increasingly complex, so too are people's expectations for drones. The difficulty and scale of tasks that a single drone can accomplish are limited. In recent years, more and more drone swarms have been put into operation, evolving from initial swarms of a few drones to large-scale swarms. The tasks that drones can accomplish are becoming increasingly complex and diverse. Tight formation flight of multiple drones has become a cutting-edge field in recent years. Through tight formation coordination, it is possible to fully utilize the limited resources of individual drones, enabling individuals within the formation to collaboratively perform complex tasks. Therefore, in-depth research on autonomous formation control of multiple drones is of great significance. UAV formation flight is a key trend in UAV collaborative control and holds broad development prospects. During UAV formation flight, specific formations can significantly increase flight distance. Therefore, a method and device for UAV formation control are provided to improve the efficiency of UAV formation control in various mission scenarios, thereby significantly extending the range of UAV formations and enabling long-distance flight. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a method and device for controlling the formation of drones, which is conducive to improving the formation control efficiency of drones in different mission scenarios, thereby significantly extending the range of drone formations and realizing long-distance flight of drone formations.

[0004] In order to solve the above technical problems, the first aspect of the embodiment of the present invention discloses a formation control method for a drone fleet, the method comprising:

[0005] Obtaining initial UAV formation information and flight scenario information; the initial UAV formation information includes the leader position information, wingman position information, and wingman number information;

[0006] Determining a UAV formation calculation model based on the flight scenario information;

[0007] Based on the initial UAV formation information and the UAV formation calculation model, target formation information is determined; the target formation information is used to control and adjust the flight position of the UAV.

[0008] As an optional implementation manner, in the first aspect of the embodiment of the present invention, before determining the target formation based on the initial UAV formation information and the UAV formation calculation model, the method further includes:

[0009] Detect whether the drone role change command is received and obtain the detection result;

[0010] When the detection result is yes, the drone initial formation information is updated based on the drone role conversion instruction.

[0011] As an optional implementation manner, in the first aspect of the embodiment of the present invention, updating the initial formation information of the drones based on the drone role conversion instruction includes:

[0012] Determining whether the role change type in the drone role change instruction is a lead aircraft replacement, and obtaining a role determination result; wherein the lead aircraft replacement indicates that the drone in the leader position in the current formation of the drones is to be replaced;

[0013] When the role determination result is yes, determining the target leader aircraft based on the distance relationship between the target position information in the drone role switching instruction and the wingman position information;

[0014] Determine the drone position information that matches the target leader drone from all drone position information in the wingman position information as the target drone position information, and delete the target drone position information from the wingman position information;

[0015] Using the target UAV location information to replace and update the leader UAV location information;

[0016] reordering the wingman numbers in the wingman number information based on the wingman number corresponding to the target leader aircraft to obtain new wingman number information;

[0017] When the role determination result is no, the wingman numbers in the wingman number information are reordered based on the damaged drone information in the drone role conversion instruction to obtain new wingman number information.

[0018] As an optional implementation manner, in the first aspect of the embodiment of the present invention, determining the target leader aircraft based on the distance relationship between the target position information in the drone role transition instruction and the wingman position information includes:

[0019] For any UAV position information in the wingman position information, calculating the distance between the UAV position information and the target position information in the UAV role switching instruction, to obtain the UAV position distance corresponding to the UAV position information;

[0020] Sort the position distances of all the drones from small to large to obtain a distance sequence;

[0021] Selecting the first UAV position distance in the distance sequence as the target UAV position distance;

[0022] The UAV corresponding to the position distance of the target UAV is determined to be the target leader UAV.

[0023] As an optional implementation manner, in the first aspect of the embodiment of the present invention, determining the target formation information based on the initial UAV formation information and the UAV formation calculation model includes:

[0024] Determining target wingman formation information based on the initial UAV formation information and the UAV formation calculation model;

[0025] The UAVs are arranged in formation according to the target wingman formation information, the leader position information and the wingman number information to obtain target formation formation information.

[0026] As an optional implementation, in the first aspect of the embodiment of the present invention, the UAV formation calculation model includes a wingman desired position model and a UAV dynamics model;

[0027] The determining of target wingman formation information based on the initial UAV formation information and the UAV formation calculation model includes:

[0028] Calculating and processing the leader position information and the wingman number information based on the wingman expected position model to obtain the wingman expected position information;

[0029] Among them, the wingman expected position model is

[0030]

[0031] Wherein, K is the number in the wingman number information; (X K ,Y K ,Z K ) is the expected position information of the wingman of the UAV numbered K; (x, y, x) is the leader position information corresponding to the leader; (x0, y0, z0) are the expected center position coordinates of the circular formation determined by the leader position information; N is the total number of wingmen in the UAV. is the height difference between the wingman and the lead aircraft;

[0032] Utilizing the UAV dynamics model to calculate and process the desired position information of the wingman to obtain wingman power information;

[0033] The desired position information of the wingman and the power information of the wingman are integrated to obtain target wingman formation information.

[0034] As an optional implementation, in the first aspect of the embodiment of the present invention, determining the drone formation calculation model based on the flight scene information includes:

[0035] Matching and identifying the flight scenario information with a preset mission scenario set to obtain a target mission scenario type; the mission scenario set includes at least three mission scenarios;

[0036] A formation calculation model that matches the target mission scenario type is selected from a preset formation calculation model set as the UAV formation calculation model.

[0037] A second aspect of an embodiment of the present invention discloses a UAV formation control device, comprising:

[0038] An acquisition module is used to obtain the initial formation information and flight scene information of the UAVs; the initial formation information of the UAVs includes the position information of the leader, the position information of the wingman, and the number information of the wingman;

[0039] A first determination module is used to determine a UAV formation calculation model based on the flight scene information;

[0040] The second determination module is used to determine target formation information based on the initial UAV formation information and the UAV formation calculation model; the target formation information is used to control and adjust the flight position of the UAV.

[0041] A third aspect of the present invention discloses another UAV formation control device, comprising:

[0042] a memory storing executable program code;

[0043] a processor coupled to the memory;

[0044] The processor calls the executable program code stored in the memory to execute some or all of the steps in the UAV formation control method disclosed in the first aspect of the embodiment of the present invention.

[0045] The fourth aspect of the present invention discloses a computer-readable storage medium, which stores computer instructions. When the computer instructions are called, they are used to execute some or all of the steps in the drone formation control method disclosed in the first aspect of an embodiment of the present invention.

[0046] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0047] In an embodiment of the present invention, initial UAV formation information and flight scenario information are obtained; the initial UAV formation information includes the leader's position information, the wingman's position information, and the wingman's number information; a UAV formation calculation model is determined based on the flight scenario information; target formation information is determined based on the initial UAV formation information and the UAV formation calculation model; and the target formation information is used to control and adjust the UAV's flight position. This shows that the present invention is beneficial for improving the efficiency of UAV formation control in different mission scenarios, thereby significantly extending the range of the UAV formation and enabling long-distance flight of the UAV formation. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0049] Figure 1 This is a flow chart of a method for controlling a formation of unmanned aerial vehicles disclosed in an embodiment of the present invention;

[0050] Figure 2 This is a structural diagram of a UAV formation control device disclosed in an embodiment of the present invention;

[0051] Figure 3 1 is a schematic structural diagram of another UAV formation control device disclosed in an embodiment of the present invention;

[0052] Figure 4 This is a structural schematic diagram of a UAV formation disclosed in an embodiment of the present invention. DETAILED DESCRIPTION

[0053] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0054] The terms "first," "second," and so on, in the description and claims of the present invention and the accompanying drawings are used to distinguish between different objects, not to describe a specific order. Furthermore, the terms "including," "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, apparatus, product, or device comprising a series of steps or elements is not limited to the listed steps or elements but may optionally include steps or elements not listed, or may optionally include other steps or elements inherent to the process, method, product, or device.

[0055] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present invention. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute a separate or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0056] The present invention discloses a method and device for controlling the formation of drones, which are beneficial for improving the efficiency of drone formation control in different mission scenarios, thereby significantly extending the range of drone formations and enabling long-distance flight of drone formations. These are described in detail below.

[0057] Example 1

[0058] See also Figure 1 , Figure 1 This is a flow chart of a method for controlling a formation of unmanned aerial vehicles disclosed in an embodiment of the present invention. Figure 1 The described UAV formation control method is applied to a UAV management system, such as a local server or cloud server for UAV formation control management, and the embodiments of the present invention do not limit this. Figure 1 As shown, the UAV formation control method may include the following operations:

[0059] 101. Obtain the initial UAV formation information and flight scenario information.

[0060] In the embodiment of the present invention, the initial UAV formation information includes the leader position information, the wingman position information, and the wingman number information.

[0061] 102. Based on the flight scene information, determine the UAV formation calculation model.

[0062] 103. Based on the initial UAV formation information and the UAV formation calculation model, determine the target formation information.

[0063] In the embodiment of the present invention, the target formation information is used to control and adjust the flight position of the UAV.

[0064] It should be noted that the above-mentioned lead aircraft position information represents the flight status information of the UAV in the current formation of UAVs at the navigator position. The wingman position information represents the flight status information of the UAV in the current formation of UAVs at the follower position.

[0065] It should be noted that the above-mentioned flight scene information represents the flight environment in which the UAV formation is located.

[0066] It should be noted that the above-mentioned drone formation calculation model is screened and determined from the drone formation models in the drone formation model set.

[0067] Optionally, the above drone formation model can be

[0068]

[0069] In the formula, (X K ,Y K ,Z K ) is the expected position information of the wingman of the UAV numbered K; V, ψ, ζ are the horizontal speed, horizontal heading and altitude change rate of the UAV respectively; V WC , ψ WC 、 are the control inputs of the wingman’s flight speed, heading and altitude respectively; τ V 、 are the velocity time constant, heading time constant and altitude time constant respectively; V L , ψ L 、 are respectively the flight speed, yaw angle and altitude of the lead aircraft, are the expected longitudinal and lateral spacings of the leader and wingman respectively; is the dynamic pressure; S is the wing area; m is the mass of the UAV; is the drag coefficient; are lateral force coefficients; is the lift coefficient.

[0070] It can be seen that implementing the UAV formation control method described in the embodiment of the present invention is conducive to improving the UAV formation control efficiency in different mission scenarios, thereby significantly extending the range of the UAV formation and realizing long-distance flight of the UAV formation.

[0071] In an optional embodiment, before determining the target formation based on the initial UAV formation information and the UAV formation calculation model, the method further includes:

[0072] Detect whether the drone role change command is received and obtain the detection result;

[0073] When the detection result is yes, the initial formation information of the drones is updated based on the drone role conversion instruction.

[0074] Optionally, the drone role change instruction can be triggered when there is a significant shift in the mission objective, when the lead drone is damaged or disconnected from the communication network, or when some wingmen are damaged, and this is not limited in the embodiments of the present invention. For example, when there is a significant shift in the mission objective, if the distance between the leader drone of the current drone formation and the new mission objective is greater than the distance between some wingmen in the cluster and the new mission objective, or if the difficulty of achieving the mission objective is significantly greater than that of some wingmen in the cluster, the formation coordination system should be activated to evaluate and analyze the entire mission situation, implement the role change in the drone formation, and elect a new leader drone.

[0075] It can be seen that implementing the UAV formation control method described in the embodiment of the present invention is conducive to improving the UAV formation control efficiency in different mission scenarios, thereby significantly extending the range of the UAV formation and realizing long-distance flight of the UAV formation.

[0076] In another optional embodiment, updating the initial UAV formation information based on the UAV role conversion instruction includes:

[0077] Determine whether the role change type in the drone role change instruction is a lead aircraft replacement, and obtain a role determination result; the lead aircraft replacement indicates that the drone in the leader position in the current formation of the drones is to be replaced;

[0078] If the role judgment result is yes, the target leader is determined based on the distance relationship between the target position information in the drone role conversion instruction and the wingman position information;

[0079] Determine the drone position information that matches the target leader drone from all drone position information of the wingman position information as the target drone position information, and delete the target drone position information from the wingman position information;

[0080] Use the target drone's location information to replace and update the leader drone's location information;

[0081] Reorder the wingman numbers in the wingman number information based on the wingman number corresponding to the target leader aircraft to obtain new wingman number information;

[0082] When the role determination result is negative, the wingman numbers in the wingman number information are reordered based on the damaged drone information in the drone role conversion instruction to obtain new wingman number information.

[0083] It should be noted that the damaged drone information indicates the number of wingmen in the current drone formation that are unable to continue flying with the current drone formation. Further, the wingmen are drones that follow the lead aircraft in the drone formation.

[0084] Optionally, the above matching is achieved based on the name information of the drone.

[0085] In this optional embodiment, as an optional implementation manner, the wingman numbers in the wingman number information are reordered based on the wingman number corresponding to the target leader aircraft to obtain new wingman number information, including:

[0086] Remove the wingman number corresponding to the target leader from the wingman number information;

[0087] For any wingman number in the wingman number information, calculate the distance between the wingman corresponding to the wingman number in the current UAV formation and the target leader aircraft to obtain the wingman distance;

[0088] Sort all wingman distances from small to large to obtain a wingman distance sequence;

[0089] The wingmen are numbered in sequence according to the sequence numbers of the wingman distances to obtain new wingman number information.

[0090] It can be seen that implementing the UAV formation control method described in the embodiment of the present invention is conducive to improving the UAV formation control efficiency in different mission scenarios, thereby significantly extending the range of the UAV formation and realizing long-distance flight of the UAV formation.

[0091] In yet another optional embodiment, determining the target leader aircraft based on the distance relationship between the target position information and the wingman position information in the drone role switching instruction includes:

[0092] For any UAV position information in the wingman position information, calculate the distance between the UAV position information and the target position information in the UAV role switching instruction to obtain the UAV position distance corresponding to the UAV position information;

[0093] Sort the position distances of all drones from small to large to obtain a distance sequence;

[0094] The first UAV position distance in the distance sequence is selected as the target UAV position distance;

[0095] The drone corresponding to the target drone's position distance is determined to be the target leader.

[0096] It should be noted that the above-mentioned target location information may be the location information of the target object generated by the new task, or the location information of the target object of the original task, which is not limited in the embodiment of the present invention.

[0097] It can be seen that implementing the UAV formation control method described in the embodiment of the present invention is conducive to improving the UAV formation control efficiency in different mission scenarios, thereby significantly extending the range of the UAV formation and realizing long-distance flight of the UAV formation.

[0098] In yet another optional embodiment, determining target formation information based on the initial UAV formation information and the UAV formation calculation model includes:

[0099] Based on the initial UAV formation information and the UAV formation calculation model, the target wingman formation information is determined;

[0100] The target wingman formation information, the leader position information and the wingman number information are used to arrange the UAVs in formation in sequence to obtain the target formation information.

[0101] It should be noted that the aforementioned formation arrangement involves sequentially setting the wingman's formation position based on the wingman's number in the wingman number information. Furthermore, when setting the formation position, the specific position of each UAV in the formation is set based on the wingman's desired position information and power information corresponding to the target wingman formation information, as well as the lead aircraft's position information, thereby forming the target formation of the UAVs.

[0102] Optionally, the target formation can be as follows: Figure 4 The V-shaped formation shown may also be a straight line formation or a circular formation, which is not limited in the embodiment of the present invention.

[0103] It can be seen that implementing the UAV formation control method described in the embodiment of the present invention is conducive to improving the UAV formation control efficiency in different mission scenarios, thereby significantly extending the range of the UAV formation and realizing long-distance flight of the UAV formation.

[0104] In an optional embodiment, the UAV formation calculation model includes a wingman desired position model and a UAV dynamics model;

[0105] Based on the initial UAV formation information and the UAV formation calculation model, the target wingman formation information is determined, including:

[0106] The leader's position information and the wingman's number information are calculated and processed based on the wingman's expected position model to obtain the wingman's expected position information;

[0107] Among them, the wingman's expected position model is:

[0108]

[0109] Where K is the number in the wingman number information; (XK ,Y K ,Z K ) is the expected position information of the wingman of the UAV numbered K; (x, y, x) is the position information of the leader corresponding to the leader; (x0, y0, z0) are the expected center position coordinates of the circular formation determined by the leader position information; N is the total number of wingmen in the UAV. is the height difference between the wingman and the leader plane;

[0110] The UAV dynamics model is used to calculate and process the wingman's expected position information to obtain the wingman's power information;

[0111] The target wingman formation information is obtained by integrating the wingman expected position information and the wingman power information.

[0112] It should be noted that the above-mentioned wingman power information includes the horizontal speed, horizontal heading and altitude change rate of the UAV.

[0113] Optionally, the above UAV dynamics model is

[0114]

[0115] Furthermore, the above UAV dynamics model satisfies the following constraints:

[0116]

[0117] Where V, ψ, and ζ are the horizontal speed, horizontal heading, and altitude change rate of the UAV, respectively; τ V , τ ψ 、(τ a ,τ b ) are the time constants of the UAV’s Mach number hold autopilot, heading hold autopilot, and altitude hold autopilot respectively; V C ′、ψ′ C , Z′ C are the control inputs of the UAV’s Mach number hold autopilot, heading hold autopilot, and altitude hold autopilot respectively; α max 、r max ,ζ max are the upper limits of the UAV’s acceleration, turning angular velocity, and altitude change rate; α min 、r min ,ζ min They are the lower limits of the UAV acceleration, turning angular velocity, and altitude change rate respectively.

[0118] It can be seen that implementing the UAV formation control method described in the embodiment of the present invention is conducive to improving the UAV formation control efficiency in different mission scenarios, thereby significantly extending the range of the UAV formation and realizing long-distance flight of the UAV formation.

[0119] In another optional embodiment, determining a UAV formation calculation model based on flight scenario information includes:

[0120] Match and identify the flight scenario information with a preset mission scenario set to obtain the target mission scenario type; the mission scenario set includes at least 3 mission scenarios;

[0121] A formation calculation model that matches the target mission scenario type is selected from the preset formation calculation model set as the UAV formation calculation model.

[0122] It should be noted that the above-mentioned mission scenarios include normal long-distance flight scenarios, narrow terrain flight scenarios, and roundup mission scenarios, which are not limited in the embodiments of the present invention.

[0123] It should be noted that the above-mentioned formation calculation model set includes at least 3 formation calculation models.

[0124] It should be noted that the above-mentioned matching identification can be achieved based on the matching degree between the name of the flight scene information and the name of the mission scene, or based on the matching degree between the number of the flight scene information and the number of the mission scene, and the embodiment of the present invention does not limit this.

[0125] It can be seen that implementing the UAV formation control method described in the embodiment of the present invention is conducive to improving the UAV formation control efficiency in different mission scenarios, thereby significantly extending the range of the UAV formation and realizing long-distance flight of the UAV formation.

[0126] Example 2

[0127] See also Figure 2 , Figure 2 This is a structural diagram of a UAV formation control device disclosed in an embodiment of the present invention. Figure 2 The described device can be applied to UAV management systems, such as local servers or cloud servers for UAV formation control and management, and the embodiments of the present invention do not limit this. Figure 2 As shown, the device may include:

[0128] The acquisition module 201 is used to obtain the initial formation information and flight scene information of the UAVs; the initial formation information of the UAVs includes the position information of the leader, the position information of the wingman, and the number information of the wingman;

[0129] A first determination module 202 is configured to determine a UAV formation calculation model based on flight scenario information;

[0130] The second determination module 203 is used to determine target formation information based on the initial UAV formation information and the UAV formation calculation model; the target formation information is used to control and adjust the flight position of the UAV.

[0131] It can be seen that implementation Figure 2 The described UAV formation control device is beneficial to improving the UAV formation control efficiency in different mission scenarios, thereby significantly extending the range of the UAV formation and realizing long-distance flight of the UAV formation.

[0132] In another optional embodiment, Figure 2 As shown, before the second determination module 203 determines the target formation based on the initial UAV formation information and the UAV formation calculation model, the device further includes:

[0133] The updating module 204 is used to detect whether a drone role switching instruction is received and obtain a detection result;

[0134] When the detection result is yes, the initial formation information of the drones is updated based on the drone role conversion instruction.

[0135] It can be seen that implementation Figure 2 The described UAV formation control device is beneficial to improving the UAV formation control efficiency in different mission scenarios, thereby significantly extending the range of the UAV formation and realizing long-distance flight of the UAV formation.

[0136] In another optional embodiment, Figure 2 As shown, the updating module 204 updates the initial formation information of the drones based on the drone role conversion instruction, including:

[0137] Determine whether the role change type in the drone role change instruction is a lead aircraft replacement, and obtain a role determination result; the lead aircraft replacement indicates that the drone in the leader position in the current formation of the drones is to be replaced;

[0138] If the role judgment result is yes, the target leader is determined based on the distance relationship between the target position information in the drone role conversion instruction and the wingman position information;

[0139] Determine the drone position information that matches the target leader drone from all drone position information of the wingman position information as the target drone position information, and delete the target drone position information from the wingman position information;

[0140] Use the target drone's location information to replace and update the leader drone's location information;

[0141] Reorder the wingman numbers in the wingman number information based on the wingman number corresponding to the target leader aircraft to obtain new wingman number information;

[0142] When the role determination result is negative, the wingman numbers in the wingman number information are reordered based on the damaged drone information in the drone role conversion instruction to obtain new wingman number information.

[0143] It can be seen that implementation Figure 2 The described UAV formation control device is beneficial to improving the UAV formation control efficiency in different mission scenarios, thereby significantly extending the range of the UAV formation and realizing long-distance flight of the UAV formation.

[0144] In another optional embodiment, Figure 2 As shown, the updating module 204 determines the target leader based on the distance relationship between the target position information and the wingman position information in the drone role switching instruction, including:

[0145] For any UAV position information in the wingman position information, calculate the distance between the UAV position information and the target position information in the UAV role switching instruction to obtain the UAV position distance corresponding to the UAV position information;

[0146] Sort the position distances of all drones from small to large to obtain a distance sequence;

[0147] The first UAV position distance in the distance sequence is selected as the target UAV position distance;

[0148] The drone corresponding to the target drone's position distance is determined to be the target leader.

[0149] It can be seen that implementation Figure 2 The described UAV formation control device is beneficial to improving the UAV formation control efficiency in different mission scenarios, thereby significantly extending the range of the UAV formation and realizing long-distance flight of the UAV formation.

[0150] In another optional embodiment, Figure 2 As shown, the second determination module 203 determines the target formation information based on the initial UAV formation information and the UAV formation calculation model, including:

[0151] Based on the initial UAV formation information and the UAV formation calculation model, the target wingman formation information is determined;

[0152] The target wingman formation information, the leader position information and the wingman number information are used to arrange the UAVs in formation in sequence to obtain the target formation information.

[0153] It can be seen that implementation Figure 2 The described UAV formation control device is beneficial to improving the UAV formation control efficiency in different mission scenarios, thereby significantly extending the range of the UAV formation and realizing long-distance flight of the UAV formation.

[0154] In another optional embodiment, Figure 2 As shown, the UAV formation calculation model includes the wingman expected position model and the UAV dynamics model;

[0155] The second determination module 203 determines the target wingman formation information based on the initial UAV formation information and the UAV formation calculation model, including:

[0156] The leader's position information and the wingman's number information are calculated and processed based on the wingman's expected position model to obtain the wingman's expected position information;

[0157] Among them, the wingman's expected position model is:

[0158]

[0159] Where K is the number in the wingman number information; (X K ,Y K ,Z K ) is the expected position information of the wingman of the UAV numbered K; (x, y, x) is the position information of the leader corresponding to the leader; (x0, y0, z0) are the expected center position coordinates of the circular formation determined by the leader position information; N is the total number of wingmen in the UAV. is the height difference between the wingman and the leader plane;

[0160] The UAV dynamics model is used to calculate and process the wingman's expected position information to obtain the wingman's power information;

[0161] The target wingman formation information is obtained by integrating the wingman expected position information and the wingman power information.

[0162] It can be seen that implementation Figure 2 The described UAV formation control device is beneficial to improving the UAV formation control efficiency in different mission scenarios, thereby significantly extending the range of the UAV formation and realizing long-distance flight of the UAV formation.

[0163] In another optional embodiment, Figure 2 As shown, the first determination module 202 determines the UAV formation calculation model based on the flight scene information, including:

[0164] Match and identify the flight scenario information with a preset mission scenario set to obtain the target mission scenario type; the mission scenario set includes at least 3 mission scenarios;

[0165] A formation calculation model that matches the target mission scenario type is selected from the preset formation calculation model set as the UAV formation calculation model.

[0166] It can be seen that implementation Figure 2 The described UAV formation control device is beneficial to improving the UAV formation control efficiency in different mission scenarios, thereby significantly extending the range of the UAV formation and realizing long-distance flight of the UAV formation.

[0167] Example 3

[0168] See also Figure 3 , Figure 3 This is a structural diagram of another UAV formation control device disclosed in an embodiment of the present invention. Figure 3 The described device can be applied to UAV management systems, such as local servers or cloud servers for UAV formation control and management, and the embodiments of the present invention do not limit this. Figure 3 As shown, the device may include:

[0169] A memory 301 storing executable program code;

[0170] a processor 302 coupled to the memory 301;

[0171] The processor 302 calls the executable program code stored in the memory 301 to execute the steps in the UAV formation control method described in the first embodiment.

[0172] Example 4

[0173] An embodiment of the present invention discloses a computer-readable storage medium that stores a computer program for electronic data exchange, wherein the computer program enables a computer to execute the steps of the drone formation control method described in Example 1.

[0174] Example 5

[0175] An embodiment of the present invention discloses a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to enable a computer to execute the steps in the drone formation control method described in Example 1.

[0176] The device embodiments described above are merely illustrative. Modules described as separate components may or may not be physically separate, and components shown as modules may or may not be physical modules, i.e., they may be located in one place or distributed across multiple network modules. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0177] Through the detailed description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus the necessary general hardware platform, or of course, by means of hardware. Based on this understanding, the above technical solution, in essence, or the portion that contributes to the prior art, can be embodied in the form of a software product, which can be stored in a computer-readable storage medium, including a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electronically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, magnetic disk storage, magnetic tape storage, or any other computer-readable medium capable of carrying or storing data.

[0178] Finally, it should be noted that the method and device for controlling the formation of an unmanned aerial vehicle (UAV) disclosed in the embodiments of the present invention only disclose preferred embodiments of the present invention, and are only used to illustrate the technical solutions of the present invention, rather than to limit them. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A method for controlling the formation of a drone fleet, characterized in that: The method comprises: Obtaining initial formation information and flight scenario information of the drones; the initial formation information of the drones includes the position information of the leader, the position information of the wingman, and the number information of the wingman; Based on the flight scenario information, determining a UAV formation calculation model; Based on the initial formation information of the UAVs and the UAV formation calculation model, target formation information is determined; the target formation information is used to control and adjust the flight position of the UAVs; Wherein, determining the target formation information based on the initial formation information of the UAVs and the UAV formation calculation model includes: Determining target wingman formation information based on the UAV initial formation information and the UAV formation calculation model; Arranging the UAVs in formation according to the target wingman formation information, the leader position information and the wingman number information to obtain target formation formation information; The UAV formation calculation model includes a wingman expected position model and a UAV dynamics model; The determining of target wingman formation information based on the initial UAV formation information and the UAV formation calculation model includes: Calculating and processing the leader position information and the wingman number information based on the wingman expected position model to obtain the wingman expected position information; Among them, the wingman expected position model is Wherein, K is the number in the wingman number information; (X K ,Y K ,Z K ) is the expected position information of the wingman of the UAV numbered K; (x, y, x) is the leader position information corresponding to the leader; (x0, y0, z0) is the expected center position coordinates of the circular formation determined by the leader position information; N is the total number of wingmen in the UAV, is the height difference between the horizontal plane where the wingman and the leader are located; Using the UAV dynamics model to calculate and process the desired position information of the wingman to obtain the wingman power information; The desired position information of the wingman and the power information of the wingman are integrated to obtain target wingman formation information.

2. The UAV formation control method according to claim 1, characterized in that: Before determining the target formation based on the initial UAV formation information and the UAV formation calculation model, the method further includes: Detect whether the drone role change command is received and obtain the detection result; When the detection result is yes, the drone initial formation information is updated based on the drone role conversion instruction.

3. The UAV formation control method according to claim 2, characterized in that: The updating of the initial formation information of the drones based on the drone role conversion instruction includes: Determine whether the role change type in the drone role change instruction is a lead aircraft replacement, and obtain a role determination result; the lead aircraft replacement indicates that the drone in the leader position in the current formation of the drones is to be replaced; When the role determination result is yes, determining the target leader aircraft based on the distance relationship between the target position information in the drone role conversion instruction and the wingman position information; Determine the drone position information that matches the target leader drone from all drone position information of the wingman position information as the target drone position information, and delete the target drone position information from the wingman position information; Using the target UAV location information to replace and update the leader UAV location information; Reordering the wingman numbers in the wingman number information based on the wingman numbers corresponding to the target leader aircraft to obtain new wingman number information; When the role judgment result is no, the wingman numbers in the wingman number information are reordered based on the damaged drone information in the drone role conversion instruction to obtain new wingman number information.

4. The UAV formation control method according to claim 3, characterized in that: The determining of the target leader aircraft based on the distance relationship between the target position information in the drone role switching instruction and the wingman position information includes: For any drone position information in the wingman position information, calculate the distance between the drone position information and the target position information in the drone role switching instruction to obtain the drone position distance corresponding to the drone position information; Sort the position distances of all the drones from small to large to obtain a distance sequence; Selecting the first UAV position distance in the distance sequence as the target UAV position distance; The UAV corresponding to the position distance of the target UAV is determined as the target leader UAV.

5. The UAV formation control method according to claim 1, characterized in that: The step of determining a UAV formation calculation model based on the flight scene information includes: Matching and identifying the flight scene information with a preset mission scene set to obtain a target mission scene type; the mission scene set includes at least 3 mission scenes; A formation calculation model that matches the target mission scenario type is selected from a preset formation calculation model set as the UAV formation calculation model.

6. A UAV formation control device, characterized in that: The device comprises: An acquisition module is used to acquire the initial formation information and flight scene information of the UAVs; the initial formation information of the UAVs includes the position information of the leader, the position information of the wingman, and the number information of the wingman; A first determination module is used to determine a UAV formation calculation model based on the flight scene information; A second determination module is used to determine target formation information based on the initial formation information of the UAVs and the UAV formation calculation model; the target formation information is used to control and adjust the flight position of the UAVs; Wherein, determining the target formation information based on the initial formation information of the UAVs and the UAV formation calculation model includes: Determining target wingman formation information based on the UAV initial formation information and the UAV formation calculation model; Arranging the UAVs in formation according to the target wingman formation information, the leader position information and the wingman number information to obtain target formation formation information; The UAV formation calculation model includes a wingman expected position model and a UAV dynamics model; The determining of target wingman formation information based on the initial UAV formation information and the UAV formation calculation model includes: Calculating and processing the leader position information and the wingman number information based on the wingman expected position model to obtain the wingman expected position information; Among them, the wingman expected position model is Wherein, K is the number in the wingman number information; (X K ,Y K ,Z K ) is the expected position information of the wingman of the UAV numbered K; (x, y, x) is the leader position information corresponding to the leader; (x0, y0, z0) is the expected center position coordinates of the circular formation determined by the leader position information; N is the total number of wingmen in the UAV, is the height difference between the horizontal plane where the wingman and the leader are located; Using the UAV dynamics model to calculate and process the desired position information of the wingman to obtain the wingman power information; The desired position information of the wingman and the power information of the wingman are integrated to obtain target wingman formation information.

7. A UAV formation control device, characterized in that: The device comprises: A memory storing executable program code; a processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the drone formation control method as described in any one of claims 1-5.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, which, when called, are used to execute the UAV formation control method as described in any one of claims 1-5.

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