Air target drone cluster GNSS time cooperative formation and formation transformation method and system

Abstract

The invention discloses an air target aircraft cluster GNSS time cooperation formation and formation transformation method and system, and the method comprises the steps: planning the flight route of each target aircraft in a multi-aircraft cooperation formation according to the flight task demands, dividing the flight route into a plurality of flight segments, and setting the flight speed of each flight segment; according to the set flight speed of each flight segment, the absolute time of each target aircraft reaching the entry point of the next flight segment is calculated; according to the absolute time of reaching the task point, the current flight speed and the current GNSS time, the set quantity of the flight speed is adjusted in real time, and the target aircraft is controlled to fly at the set speed; when the task demand or the flight environment changes, the formation is changed in real time by uploading the absolute deviation time or the flight segment distance required by the new formation. The system comprises a leg division module, an absolute time calculation module, a formation flight module and a formation transformation module. The method is accurate in control, high in route completion accuracy, high in controllability, high in flexibility, high in engineering practicability, small in dependence on links and easy to use.

Description

Technical Field

[0001] The invention relates to the technical field of unmanned target drone route planning, and in particular to a method and system for GNSS time coordinated formation and formation transformation of an aerial target drone cluster. Background Art

[0002] Under the current background of new military changes, in the red-blue confrontation training, how to effectively improve the Red Army commanders' systematic combat coordination and command level, hone the tactics and methods of the air defense system, and assess the combat units' equipment use skills in complex electromagnetic environments to resist multi-target saturation attacks, has put forward an urgent demand for the intelligent cluster system of aerial target aircraft. Cluster system combat is the main form of autonomy and intelligence in future warfare. It requires the Blue Army system to closely simulate combat opponents with high fidelity in actual combat, conduct cluster flights according to the specific needs of combat missions, and complete the requirements of coordinated formations and formation changes.

[0003] At present, the commonly used target aircraft cooperative formation strategy is the leader-follower strategy (leader-wingman strategy). The cooperative flight formation selects a target aircraft as the leader and the other target aircraft as wingmen. During the flight, the leader flies according to the preset route, and the wingmen adjust their own motion parameters in real time according to the position changes of the leader to maintain the relative position with the leader, so as to achieve the purpose of maintaining the formation. In this strategy, the movement of the wingmen depends on the leader. If the leader fails, the leader needs to be reselected, and the measures are relatively cumbersome; and the formation adjustment of the cooperative formation is limited to the leader and wingmen, and the position changes of the wingmen need to be converted into the position relationship between the leader and wingmen for solution. This strategy is highly dependent on the measurement and control link. If the link is lost, the relative position information of the leader and wingmen cannot be accurately obtained, and the formation situation is difficult to form. In addition, the situation maintenance of this strategy can only be reflected in space, and it cannot be constrained in time. Summary of the invention

[0004] The purpose of the present invention is to provide a method and system for collaborative formation and formation change of aerial target drone clusters, which has precise control, high route completion accuracy, strong controllability, high flexibility, strong engineering practicability, low dependence on links, and is easy to use.

[0005] The technical solution to achieve the purpose of the present invention is: a method for GNSS time coordinated formation and formation transformation of aerial target drone cluster, comprising the following steps:

[0006] Step 1: According to the flight mission requirements, plan the flight route of each target aircraft in the multi-aircraft coordinated formation, divide the route into N segments, and set the flight speed of each segment;

[0007] Step 2: For each target drone in the formation, calculate the absolute time to reach the entry point of the next segment according to the flight speed set for each segment;

[0008] Step 3: The formation flight algorithm adjusts the set value of the flight speed in real time according to the absolute time of reaching the mission point, the current flight speed and the current GNSS time, controls the target aircraft to fly at the set speed, and realizes formation flight;

[0009] Step 4: When the mission requirements or flight environment change, the formation is changed in real time by uploading the absolute deviation time or the flight distance required by the new formation; when the mission requirements or flight environment do not change, the formation remains unchanged.

[0010] A system for GNSS time coordinated formation and formation transformation of aerial target drone clusters, which is used to implement the method for GNSS time coordinated formation and formation transformation of aerial target drone clusters. The system includes a flight segment division module, an absolute time calculation module, a formation flight module and a formation transformation module, wherein:

[0011] The flight segment division module plans the flight route of each target aircraft in the multi-aircraft coordinated formation according to the flight mission requirements, divides the route into N segments, and sets the flight speed of each segment;

[0012] The absolute time calculation module calculates the absolute time for each target drone in the formation to reach the entry point of the next flight segment according to the flight speed set for each flight segment;

[0013] The formation flight module adjusts the set flight speed in real time according to the absolute time of reaching the mission point, the current flight speed and the current GNSS time, controls the target aircraft to fly at the set speed, and realizes formation flight;

[0014] The formation change module changes the formation in real time by uploading the absolute deviation time or the flight segment distance required by the new formation when the mission requirements or flight environment change; when the mission requirements or flight environment do not change, the formation remains unchanged.

[0015] A mobile terminal comprises a memory, a processor and a computer program stored in the memory and executable on the processor. When the processor executes the program, the method for the GNSS time coordinated formation and formation transformation of an aerial target drone cluster is implemented.

[0016] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps in a method for GNSS time coordinated formation and formation transformation of an aerial target drone cluster.

[0017] Compared with the prior art, the present invention has the following significant advantages: (1) collaborative formation and formation change are carried out based on GNSS time. Each target drone calculates the time deviation of arriving at the formation point according to the absolute time of arriving at the formation point, the current real flight speed and the current GNSS time, adjusts the target drone speed setting value in real time, and controls the target drone to fly at the adjusted set speed to achieve the purpose of collaborative formation flight. The control is precise and the route completion accuracy is high. (2) During the flight, when the mission requirements or the flight environment changes, the formation can be quickly changed by sending the distance between the aircraft or the absolute time deviation, so as to achieve the unification of the time and space of the target group collaborative formation mission, with strong controllability and high flexibility. (3) It has strong engineering practicality. The relevant algorithms run independently on each target drone controller in the collaborative formation cluster, with less dependence on the link and easy to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a flow chart of a method for GNSS time coordinated formation and formation transformation of an aerial target drone cluster according to the present invention.

[0019] Figure 2 It is a flow chart of the GNSS time-based collaborative formation algorithm in the present invention.

[0020] Figure 3 It is a schematic diagram of the process of adjusting the formation of a coordinated formation based on GNSS time in the present invention.

[0021] Figure 4 It is a schematic diagram of the process of simulating formation transformation of three aircraft formations in an embodiment of the present invention. DETAILED DESCRIPTION

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in combination with the drawings and principles in the embodiments of the present invention. It should be understood that the described embodiments are only part of the embodiments of the present invention, not all of the embodiments, and therefore should not be regarded as limiting the scope of protection. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0023] The present invention provides a method for aerial target drone cluster GNSS time coordinated formation and formation transformation, comprising the following steps:

[0024] Step 1: According to the flight mission requirements, plan the flight route of each target aircraft in the multi-aircraft coordinated formation, divide the route into N segments, and set the flight speed of each segment;

[0025] Step 2: For each target drone in the formation, calculate the absolute time to reach the entry point of the next segment according to the flight speed set for each segment;

[0026] Step 3: The formation flight algorithm adjusts the set value of the flight speed in real time according to the absolute time of reaching the mission point, the current flight speed and the current GNSS time, controls the target aircraft to fly at the set speed, and realizes formation flight;

[0027] Step 4: When the mission requirements or flight environment change, the formation is changed in real time by uploading the absolute deviation time or the flight distance required by the new formation; when the mission requirements or flight environment do not change, the formation remains unchanged.

[0028] As a specific example, in step 1, according to the flight mission requirements, the flight route of each target aircraft in the multi-aircraft coordinated formation is planned, the route is divided into N segments, and the flight speed of each segment is set as follows:

[0029] Step 1.1, according to the flight mission requirements, plan the flight route of each target aircraft in the multi-aircraft coordinated formation, determine the entry point and exit point of each target aircraft's flight route, and set the absolute time for the target aircraft to arrive at the entry point and exit point of the route;

[0030] Step 1.2: Divide the route into N segments and set the flight speed for each segment.

[0031] As a specific example, in step 2, for each target drone in the formation, the absolute time to reach the entry point of the next segment is calculated according to the flight speed set for each segment, as follows:

[0032] After receiving the formation start command, each target drone reads the absolute time of the route entry point and the set speed V of each segment. set(n) 、V set(n+1) …V set(n+N-1) , calculate the absolute time T to reach the next flight segment n+1 …T n+N-1 , T n+N , the calculation method is as follows:

[0033] T n =T n-1 +L n-1 / V set(n-1)

[0034] T n+1 =T n +L n / V set(n)

[0035] …

[0036] T n+N =T n+N-1 +L n+N-1 / V set(n+N-1)

[0037] Where, T n-1 , T n , T n+1 …T n+N-1 , T n+N are the absolute times to reach point n-1, point n, point n+1, point n+N-1, and point n+N respectively, L n-1 , L n , L n+N-1 It is the distance from point n-1 to point n, point n to point n+1, and point n+N-1 to point n+N.

[0038] As a specific example, in step 3, the formation flight algorithm adjusts the set amount of the flight speed in real time according to the absolute time of reaching the mission point, the current flight speed and the current GNSS time, controls the target aircraft to fly at the set speed, and realizes formation flight, as follows:

[0039] Step 3.1, according to the distance between the target aircraft and point n and the actual flight speed, calculate the theoretical time for the target aircraft to reach point n, and compare it with the current GNSS time to obtain the time deviation. The calculation formula is:

[0040] T curset =T n -Dis n / V cur

[0041] ΔT=T cur -T curset ΔT∈(-10,10)

[0042] In the formula, ΔT is constrained to be within 10 seconds; Dis n is the distance from the target drone to point n, V cur is the current flight speed of the target aircraft, T curset is the theoretical time of the target drone at the current position, T cur is the actual time of the current GNSS, ΔT is the deviation between the theoretical time and the actual time at the current position;

[0043] Step 3.2: Design the speed adjustment control law according to the time deviation as follows:

[0044] ΔV set =AΔT*ΔT*ΔT-B*ΔT*ΔT+C*ΔT+D

[0045]

[0046] Where, ΔV set is the speed adjustment calculated based on the time deviation, V set Set the speed of the target drone in real time; A, B, C, and D are control law coefficients, which are determined by the performance of each target drone;

[0047] The algorithm of each target aircraft is consistent. Through the control law design, the flight speed is adjusted in real time to ensure that the absolute time for the target aircraft to arrive at the mission point is consistent with the mission requirements.

[0048] As a specific example, in step 4, when the mission requirements or flight environment change, the formation is changed in real time by uploading the absolute deviation time or the flight segment distance required by the new formation; when the mission requirements or flight environment do not change, the formation remains unchanged, as follows:

[0049] Step 4.1: During the coordinated formation flight of the target aircraft, if the mission requirements change and the time for the target aircraft to arrive at the formation point needs to be adjusted in real time, the absolute deviation time ΔT is uploaded. set To achieve, T n Changes to:

[0050] T n =T n +ΔT set

[0051] Repeat steps 2 and 3;

[0052] Step 4.2: During the coordinated formation flight of the target aircraft, due to changes in mission requirements or flight environment, the formation formation needs to be changed in real time. When adjusting the relative positions of the formation target aircraft, the flight distance L required by the new formation is uploaded. n To achieve this, the formation distance L n The absolute time deviation is calculated based on the flight segment speed, and the positions of multiple target aircraft in the formation can be adjusted simultaneously:

[0053] ΔT set =L n / V set(n)

[0054] T n =T n +ΔT set

[0055] Repeat steps 2 and 3.

[0056] The present invention also provides an aerial target drone cluster GNSS time coordinated formation and formation transformation system, which is used to implement the aerial target drone cluster GNSS time coordinated formation and formation transformation method, and the system includes a flight segment division module, an absolute time calculation module, a formation flight module and a formation transformation module, wherein:

[0057] The flight segment division module plans the flight route of each target aircraft in the multi-aircraft coordinated formation according to the flight mission requirements, divides the route into N segments, and sets the flight speed of each segment;

[0058] The absolute time calculation module calculates the absolute time for each target drone in the formation to reach the entry point of the next flight segment according to the flight speed set for each flight segment;

[0059] The formation flight module adjusts the set flight speed in real time according to the absolute time of reaching the mission point, the current flight speed and the current GNSS time, controls the target aircraft to fly at the set speed, and realizes formation flight;

[0060] The formation change module changes the formation in real time by uploading the absolute deviation time or the flight segment distance required by the new formation when the mission requirements or flight environment change; when the mission requirements or flight environment do not change, the formation remains unchanged.

[0061] The present invention also provides a mobile terminal, including a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method for the aerial target drone cluster GNSS time coordinated formation and formation transformation is implemented.

[0062] The present invention also provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the steps in the method for GNSS time coordinated formation and formation transformation of an aerial target drone cluster are implemented.

[0063] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0064] Example

[0065] Combination Figure 1 The present invention provides a method for aerial target drone cluster GNSS time coordinated formation and formation transformation, comprising the following steps:

[0066] Step 1: According to the flight mission requirements, plan the flight route of each target aircraft in the multi-aircraft coordinated formation, divide the route into N segments, and set the flight speed of each segment, as follows:

[0067] Step 1.1, according to the flight mission requirements, plan the flight route of each target aircraft in the multi-aircraft coordinated formation, determine the entry point and exit point of each target aircraft's flight route, and set the absolute time for the target aircraft to arrive at the entry point and exit point of the route;

[0068] Step 1.2: Divide the route into N segments and set the flight speed for each segment.

[0069] Step 2: Figure 2 As shown, for each target drone in the formation, the absolute time to reach the entry point of the next segment is calculated according to the flight speed set for each segment, as follows:

[0070] After receiving the "start formation" command, each target drone reads the absolute time of the route entry point and the set speed V of each segment. set(n) 、V set(n+1) …V set(n+N-1) , calculate the absolute time T to reach the next flight segment n+1 …T n+N-1 , T n+N , the calculation method is as follows:

[0071] T n =T n-1 +L n-1 / V set(n-1)

[0072] T n+1 =T n +L n / V set(n)

[0073] …

[0074] T n+N =T n+N-1 +L n+N-1 / V set(n+N-1)

[0075] Where, T n-1 , T n , T n+1 …T n+N-1 , T n+N are the absolute times to reach point n-1, point n, point n+1, point n+N-1, and point n+N respectively, L n-1 , L n , L n+N-1 It is the distance from point n-1 to point n, point n to point n+1, and point n+N-1 to point n+N.

[0076] Step 3: Figure 2 As shown in the figure, the formation flight algorithm adjusts the set value of the flight speed in real time according to the absolute time of reaching the mission point, the current flight speed and the current GNSS time, controls the target aircraft to fly at the set speed, and achieves the formation flight effect. The details are as follows:

[0077] Step 3.1, according to the distance between the target aircraft and point n and the actual flight speed, calculate the theoretical time for the target aircraft to reach the position point, and compare it with the current GNSS time to obtain the time deviation. The calculation formula is:

[0078] T curset =T n -Dis n / V cur

[0079] ΔT=T cur-T curset ΔT∈(-10,10)

[0080] In the formula, ΔT is constrained to be within 10 seconds; Dis n is the distance from the target to point n, V cur is the current flight speed of the target aircraft, T curset is the theoretical time of the target drone at the current position, T cur is the actual time of the current GNSS, ΔT is the deviation between the theoretical time and the actual time at the current position;

[0081] Step 3.2: Design the speed adjustment control law according to the time deviation as follows:

[0082] ΔV set =AΔT*ΔT*ΔT-B*ΔT*ΔT+C*ΔT+D

[0083]

[0084] Where ΔV set is the speed adjustment calculated based on the time deviation, V set The speed of the target drone is set in real time. A, B, C, and D are control law coefficients, which are determined by the performance of each target drone.

[0085] The algorithm of each target aircraft is consistent. Through the design of this control law, the real-time adjustment of the flight speed is completed, and the absolute time for the target aircraft to reach the mission point is controlled to be consistent with the mission requirement time.

[0086] Step 4: Figure 3 As shown, when the mission requirements or flight environment change, the formation is changed in real time by uploading the absolute deviation time or the flight distance required by the new formation; when the mission requirements or flight environment do not change, the formation remains unchanged, as follows:

[0087] Step 4.1: During the coordinated formation flight of the target aircraft, if the target aircraft arrival time at the formation point needs to be adjusted in real time due to changes in mission requirements, the absolute deviation time ΔT can be uploaded. set To achieve, T n Changes to:

[0088] T n =T n +ΔT set

[0089] Repeat steps 2 and 3;

[0090] Step 4.2: During the coordinated formation flight of the target aircraft, due to changes in mission requirements or flight environment, the formation formation needs to be changed in real time. When adjusting the relative positions of the formation target aircraft, the flight distance L required by the new formation is uploaded. n To achieve this, the formation distance Ln and the absolute time deviation of the flight segment speed calculation. This algorithm supports adjusting the positions of multiple target drones in the formation simultaneously:

[0091] ΔT set = L n / V set(n)

[0092] T n = T n + ΔT set

[0093] Repeat steps 2 and 3.

[0094] In this embodiment, a simulation is carried out with a three - drone formation. By adjusting the time for the target drones to reach the target point, the "one - character" formation of the formation is adjusted to a "pin" formation. The three target drones are numbered as drone No. 1, drone No. 2, and drone No. 3 respectively. After the target drones are launched, set the waypoint and mission point entry times of the formation and start the formation. The target drones adjust their flight speeds according to the time to reach the mission point to form a "one - character" formation. During the flight process, through command upload, adjust the time for drone No. 1 to reach the mission point to make the formation change to a "pin" formation. During the formation flight process, manually turn off the remote control communication multiple times to simulate the interruption state of the measurement and control link, and the formation posture can still be formed as required. The schematic diagram of its formation adjustment is as Figure 4 shown, Figure 4 where (a) in it is the "one - character" formation, Figure 4 where (b) in it is the formation adjustment, Figure 4 where (c) in it is the "pin" formation.

[0095] It can be seen from the simulation results that the method for GNSS time - coordinated formation and formation transformation of an aerial target drone cluster in the present invention can meet the requirements of multi - drone formation, and has strong engineering practicability. The formation flight speed can be quickly changed during the formation flight process. In this strategy, there is no need for a commander - wingman, and each target drone in the formation no longer needs to exchange status information, reducing the dependence on the measurement and control link, and the formation of the formation strategy achieves the unity of time and space.

[0096] Finally, it should be noted that the above - mentioned specific implementation manners are only used to illustrate the technical method of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the examples, those of ordinary skill in the art should understand that the technical method of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical method of the present invention, and all of them should be covered by the scope of the claims of the present invention.

Claims

1. A method for GNSS time coordinated formation and formation transformation of aerial target drone cluster, characterized in that: The following steps are involved: Step 1: According to the flight mission requirements, plan the flight route of each target aircraft in the multi-aircraft coordinated formation, divide the route into N segments, and set the flight speed of each segment; Step 2: For each target drone in the formation, calculate the absolute time to reach the entry point of the next segment according to the flight speed set for each segment; Step 3: The formation flight algorithm adjusts the set value of the flight speed in real time according to the absolute time of reaching the mission point, the current flight speed and the current GNSS time, controls the target aircraft to fly at the set speed, and realizes formation flight; Step 4: When the mission requirements or flight environment change, the formation is changed in real time by uploading the absolute deviation time or the flight distance required by the new formation; when the mission requirements or flight environment do not change, the formation remains unchanged.

2. The method for the aerial target drone cluster GNSS time coordinated formation and formation transformation according to claim 1 is characterized in that: In step 1, according to the flight mission requirements, plan the flight route of each target aircraft in the multi-aircraft coordinated formation, divide the route into N segments, and set the flight speed of each segment, as follows: Step 1.1, according to the flight mission requirements, plan the flight route of each target aircraft in the multi-aircraft coordinated formation, determine the entry point and exit point of each target aircraft's flight route, and set the absolute time for the target aircraft to arrive at the entry point and exit point of the route; Step 1.2: Divide the route into N segments and set the flight speed for each segment.

3. The method for the aerial target drone cluster GNSS time coordinated formation and formation transformation according to claim 1 is characterized in that: In step 2, for each target drone in the formation, the absolute time to reach the entry point of the next segment is calculated according to the flight speed set for each segment, as follows: After receiving the formation start command, each target drone reads the absolute time of the route entry point and the set speed V of each segment. set(n) 、V set(n+1) …V set(n+N-1) , calculate the absolute time T to reach the next flight segment n+1 …T n+N-1 , T n+N , the calculation method is as follows: T n =T n-1 +L n-1 / V set(n-1) T n+1 =T n +L n / V set(n) … T n+N =T n+N-1 +L n+N-1 / V set(n+N-1) Where, T n-1 , T n , T n+1 …T n+N-1 , T n+N are the absolute times to reach point n-1, point n, point n+1, point n+N-1, and point n+N respectively, L n-1 , L n , L n+N-1 It is the distance from point n-1 to point n, point n to point n+1, and point n+N-1 to point n+N.

4. The method for the aerial target drone cluster GNSS time coordinated formation and formation transformation according to claim 1 is characterized in that: In step 3, the formation flight algorithm adjusts the set value of the flight speed in real time according to the absolute time of reaching the mission point, the current flight speed and the current GNSS time, controls the target aircraft to fly at the set speed, and realizes formation flight, as follows: Step 3.1, according to the distance between the target aircraft and point n and the actual flight speed, calculate the theoretical time for the target aircraft to reach point n, and compare it with the current GNSS time to obtain the time deviation. The calculation formula is: T curset =T n -Dis n / V cur ΔT=T cur -T curset ΔT∈(-10,10) In the formula, ΔT is constrained to be within 10 seconds; Dis n is the distance from the target to point n, V cur is the current flight speed of the target aircraft, T curset is the theoretical time of the target drone at the current position, T cur is the actual time of the current GNSS, ΔT is the deviation between the theoretical time and the actual time at the current position; Step 3.2: Design the speed adjustment control law according to the time deviation as follows: ΔV set =AΔT*ΔT*ΔT-B*ΔT*ΔT+C*ΔT+D Where ΔV set is the speed adjustment calculated based on the time deviation, V set Set the speed of the target drone in real time; A, B, C, and D are control law coefficients, which are determined by the performance of each target drone; The algorithm of each target aircraft is consistent. Through the control law design, the flight speed is adjusted in real time to ensure that the absolute time for the target aircraft to arrive at the mission point is consistent with the mission requirements.

5. The method for the aerial target drone cluster GNSS time coordinated formation and formation transformation according to claim 1 is characterized in that: In step 4, when the mission requirements or flight environment change, the formation is changed in real time by uploading the absolute deviation time or the flight distance required by the new formation; when the mission requirements or flight environment do not change, the formation remains unchanged, as follows: Step 4.1: During the coordinated formation flight of the target aircraft, if the mission requirements change and the time for the target aircraft to arrive at the formation point needs to be adjusted in real time, the absolute deviation time ΔT is uploaded. set To achieve, T n Changes to: T n =T n +ΔT set Repeat steps 2 and 3; Step 4.2: During the coordinated formation flight of the target aircraft, due to changes in mission requirements or flight environment, the formation formation needs to be changed in real time. When adjusting the relative positions of the formation target aircraft, the flight distance L required by the new formation is uploaded. n To achieve this, the formation distance L n The absolute time deviation is calculated based on the flight segment speed, and the positions of multiple target aircraft in the formation can be adjusted simultaneously: ΔT set =L n / V set(n) T n =T n +ΔT set Repeat steps 2 and 3.

6. A GNSS time coordinated formation and formation transformation system for aerial target drone clusters, characterized in that: The system is used to implement the aerial target drone cluster GNSS time coordinated formation and formation transformation method described in any one of claims 1 to 5, and the system includes a flight segment division module, an absolute time calculation module, a formation flight module and a formation transformation module, wherein: The flight segment division module plans the flight route of each target aircraft in the multi-aircraft coordinated formation according to the flight mission requirements, divides the route into N segments, and sets the flight speed of each segment; The absolute time calculation module calculates the absolute time for each target drone in the formation to reach the entry point of the next flight segment according to the flight speed set for each flight segment; The formation flight module adjusts the set flight speed in real time according to the absolute time of reaching the mission point, the current flight speed and the current GNSS time, controls the target aircraft to fly at the set speed, and realizes formation flight; The formation change module changes the formation in real time by uploading the absolute deviation time or the flight segment distance required by the new formation when the mission requirements or flight environment change; when the mission requirements or flight environment do not change, the formation remains unchanged.

7. A mobile terminal comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the aerial target drone cluster GNSS time coordinated formation and formation transformation method as described in any one of claims 1 to 5 is implemented.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by the processor, the steps in the aerial target drone cluster GNSS time coordinated formation and formation transformation method as described in any one of claims 1 to 5 are implemented.

Images