Multi-unmanned aerial vehicle cooperative area reconnaissance design method

Abstract

The invention relates to a multi-unmanned aerial vehicle cooperative area reconnaissance design method, and belongs to the technical field of unmanned aerial vehicle cooperative task control. According to the method, factors such as reconnaissance duration and reconnaissance coverage rate when multiple unmanned aerial vehicles cooperatively execute the area reconnaissance task are comprehensively considered; a resource demand decision processing method, a reconnaissance team processing flow, reconnaissance route list generation, a reconnaissance route segmentation algorithm based on the number of reconnaissance platforms, distribution between each reconnaissance route starting point and the unmanned aerial vehicles participating in reconnaissance tasks, a reconnaissance route issuing execution flow and the like of multi-unmanned aerial vehicle cooperative area reconnaissance are designed. And the technical requirements of multi-unmanned aerial vehicle cooperative area reconnaissance route planning and task execution can be met.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned aerial vehicle (UAV) mission control, and in particular relates to a multi-UAV collaborative regional reconnaissance design method. Background Art

[0002] Unmanned Aerial Vehicle (UAV) has been successfully used in many fields such as reconnaissance, ground attack, battlefield damage assessment, interference, deception (decoy), information relay, ground support, etc., with its advantages of flexible use, high survival probability, diversified airborne configuration, long hovering time, flexible operation, economical and practical, low training and maintenance cost, and weapon platform performance not limited by human physiological conditions. In addition, UAV also has the function of reducing casualties of combatants and reducing equipment and use costs, so it is gradually receiving attention from various countries.

[0003] When performing missions, small fixed-wing drones are often used to perform forward area reconnaissance missions in order to clear the fog ahead, provide complete situational information to the rear, and reduce mission risks.

[0004] However, there is no record of the design method of multi-UAV collaborative regional reconnaissance. Summary of the invention

[0005] The technical problems to be solved by the present invention are:

[0006] In order to avoid the shortcomings of the prior art, the present invention provides a multi-UAV collaborative regional reconnaissance design method for solving problems such as the decision on the number of reconnaissance platforms, reconnaissance mission team interaction, reconnaissance route list generation and route starting point allocation when multiple UAVs perform collaborative regional reconnaissance missions.

[0007] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0008] A method for designing multi-UAV collaborative regional reconnaissance, characterized by comprising:

[0009] Determine the optimal reconnaissance altitude and optimal reconnaissance speed based on the reconnaissance sensor's transmitted video pixels, azimuth field of view, elevation field of view, focal length, pixel size, minimum recognition pixel, and maximum recognition pixel;

[0010] The reconnaissance effectiveness is calculated based on the optimal reconnaissance speed, optimal reconnaissance altitude and sensor reconnaissance field of view; the regional reconnaissance time is calculated based on the reconnaissance effectiveness and the total area of ​​the reconnaissance area; the number of reconnaissance platforms is determined based on the regional reconnaissance time and the reconnaissance time of a single UAV;

[0011] Construct an initial collaborative list, determine a collaborative reconnaissance request list based on the number of UAV platforms and reconnaissance platforms in the initial collaborative list, and form a reconnaissance team based on the collaborative reconnaissance request list;

[0012] The overall regional reconnaissance route is obtained by using the raster-based reconnaissance route planning method; the reconnaissance route is divided according to the number of reconnaissance platforms to form a reconnaissance route list;

[0013] According to the information of each reconnaissance route and the real-time position of the reconnaissance UAV, the route starting points of the reconnaissance route list and the UAVs are allocated based on the KM contract network strategy algorithm to form an allocation list;

[0014] The assigned reconnaissance route is sent to each UAV according to the allocation list. After the UAV successfully receives the route, it is guided to fly according to the reconnaissance route and controls the sensor payload to search and detect the reconnaissance area.

[0015] A further technical solution of the present invention: the step of determining the optimal reconnaissance height is specifically as follows:

[0016] H=H max -0.382*(H max -H min )

[0017]

[0018]

[0019] Among them, TgtSize is the typical target size, MinSize*MinSize is the minimum pixel size of the target during video tracking, MaxSize*MaxSize is the maximum size, and α p is the viewing angle of the photoelectric sensor along the detection direction, α v is the viewing angle of the photoelectric sensor perpendicular to the reconnaissance direction, ν is the absolute value of the photoelectric reconnaissance elevation angle, and H is the optimal reconnaissance altitude.

[0020] A further technical solution of the present invention: the step of determining the optimal reconnaissance speed is specifically as follows:

[0021] Calculate the maximum scouting speed:

[0022] V max =V Track *TgtSize / TgtPixelSize*V PixelErr

[0023] TgtPixelSize=TgtSize*ViewRatio / (H*tan(γ / 2)+0.5)

[0024] ViewRatio=(int)(1080*0.5+0.5)

[0025] Among them, V Track is the sensor tracking speed, V PixelErr is the pixel update rate of visible light / infrared, ViewRatio is the minimum resolution, and γ is 0.5 times the sensor field of view;

[0026] The optimal reconnaissance speed V is obtained by adjusting the maximum reconnaissance speed obtained by the decision according to the maximum flight speed of the UAV platform.

[0027] A further technical solution of the present invention is as follows: the step of calculating the reconnaissance effectiveness based on the optimal reconnaissance speed, the optimal reconnaissance altitude and the sensor reconnaissance field of view is specifically as follows:

[0028] UnitArea = l v *V

[0029] l v =2Htan(a v / 2) / cos(π / 2+v)

[0030] Among them, UnitArea is the reconnaissance efficiency, l v It is the size of the photoelectric field of view perpendicular to the reconnaissance direction;

[0031] A further technical solution of the present invention is as follows: the step of calculating the regional reconnaissance time based on the reconnaissance efficiency and the total area of ​​the reconnaissance area is specifically as follows:

[0032] T = TotalArea / UnitArea

[0033] Among them, TotalArea is the total area of ​​the reconnaissance area.

[0034] A further technical solution of the present invention is as follows: the step of determining the number of reconnaissance platforms based on the regional reconnaissance duration and the reconnaissance duration of a single UAV is specifically as follows:

[0035] Calculate the number of reconnaissance platforms required:

[0036] num=T / t

[0037] Among them, t is the reconnaissance time of a single UAV;

[0038] If the calculated number of reconnaissance platforms is greater than the total number of UAV platforms, num is taken as the total number of UAV platforms.

[0039] A further technical solution of the present invention is as follows: the step of determining the collaborative reconnaissance request list based on the number of UAV platforms and the number of reconnaissance platforms in the initial collaborative list is specifically as follows:

[0040] If the number of UAV platforms in the initial list is greater than the number of required platforms, the optimal UAV platform is selected according to the limited distance principle to form a collaborative reconnaissance request list;

[0041] If the number of UAV platforms in the initial list is equal to the number of required platforms, the initial collaborative list is the collaborative reconnaissance request list;

[0042] If the number of UAV platforms in the initial list is less than the required number of platforms, it is determined whether the flight time corresponding to the remaining fuel volume of the UAV platforms in the list can meet the total time requirement for regional reconnaissance. If so, a collaborative reconnaissance request list is formed.

[0043] A further technical solution of the present invention: the step of forming a reconnaissance team based on the collaborative reconnaissance request list is specifically as follows:

[0044] The leader aircraft issues a collaborative request to the UAV members in the collaborative reconnaissance request list. After receiving the request, the UAV replies with a collaborative mission confirmation.

[0045] After receiving a request response from a certain UAV, the leader adds the UAV to the final collaborative reconnaissance mission list and removes the UAV from the collaborative reconnaissance request list;

[0046] The leader continues to send collaboration requests to the drones that have not received a response. If the number of requests exceeds the maximum number, the leader reports that the reconnaissance team has failed and the mission is exited.

[0047] If all the drones in the coordinated reconnaissance request list confirm the request, the leader reports that the reconnaissance team has been successfully formed.

[0048] A computer system, characterized in that it comprises: one or more processors, and a computer-readable storage medium for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the above-mentioned method.

[0049] A computer-readable storage medium, characterized in that it stores computer-executable instructions, which are used to implement the above method when executed.

[0050] The beneficial effects of the present invention are:

[0051] The present invention provides a method for designing multi-UAV collaborative regional reconnaissance, which comprehensively considers factors such as the reconnaissance duration and reconnaissance coverage rate when multiple UAVs collaboratively perform regional reconnaissance tasks, designs a resource demand decision-making processing method for multi-UAV collaborative regional reconnaissance, a reconnaissance team processing flow, a reconnaissance route list generation, a reconnaissance route segmentation algorithm based on the number of reconnaissance platforms, the allocation between the starting point of each reconnaissance route and the UAVs participating in the reconnaissance mission, a reconnaissance route distribution execution flow, etc., which can meet the technical requirements of multi-UAV collaborative regional reconnaissance route planning and task execution. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] The drawings are only for the purpose of illustrating particular embodiments and are not to be considered limiting of the present invention. Like reference symbols denote like components throughout the drawings.

[0053] Figure 1 Flowchart of the design method for multi-UAV collaborative regional reconnaissance.

[0054] Figure 2 Flow chart for the preliminary selection of members of the collaborative reconnaissance team.

[0055] Figure 3 Collaborative reconnaissance route segmentation execution flow chart.

[0056] Figure 4 Execution result diagram of route segmentation for collaborative reconnaissance of eight UAVs. DETAILED DESCRIPTION

[0057] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0058] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchangeable where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0059] The present invention proposes a design method for collaborative regional reconnaissance of multiple UAVs, which comprehensively considers factors such as UAV service list, flight performance, sensor detection performance, time limit of collaborative regional reconnaissance mission, and reconnaissance coverage, and designs a decision algorithm and processing flow for multi-UAV collaborative tasks to meet the requirements for multi-UAV collaborative task processing.

[0060] The following steps are involved:

[0061] Step 1: First, make a decision on the reconnaissance altitude and speed, and based on this, calculate the number of UAV platforms required to complete the regional reconnaissance by considering the area of ​​the reconnaissance area and the duration of the reconnaissance mission;

[0062] Step 2: Select the optimal reconnaissance platform based on the capability service list and reconnaissance platform requirements within the drone formation and complete the reconnaissance team;

[0063] Step 3: After generating the overall route for collaborative regional reconnaissance based on the raster reconnaissance method, the reconnaissance route is segmented according to the number of platforms to form a reconnaissance route list;

[0064] Step 4: Allocate the route starting point and the drone according to the information of each reconnaissance route and the real-time position of the reconnaissance drone;

[0065] Step 5: The leader aircraft will send the assigned reconnaissance routes to each drone according to the allocation list. After the drone successfully receives the route, the reconnaissance mission execution process will be started.

[0066] In order to enable those skilled in the art to better understand the present invention, the present invention is described in detail below in conjunction with specific embodiments.

[0067] Embodiment 1:

[0068] After the mission operator loads the reconnaissance area to the drone formation, he selects one of the drones to issue the coordinated regional reconnaissance mission command. The drone that receives the mission command evaluates the current mission priority and reconnaissance service capability of the platform. If the mission requirements are not met, the drone reports the reconnaissance mission status to the operator as "failed to execute". If the requirements are met, the drone sets its mission role as the leader of the reconnaissance team, reports the reconnaissance mission status to the operator as "start execution", and starts to execute the following process:

[0069] Step 1: Scout resource requirements decisions

[0070] The lead aircraft makes decisions on the height and speed of reconnaissance based on the reconnaissance sensor's transmitted video pixels (whether it is 1920*1080), azimuth field of view, elevation field of view, focal length, pixel size, minimum recognition pixel, maximum recognition pixel and other performance parameters to meet both tracking requirements and image quality needs.

[0071] Then, the reconnaissance effectiveness is calculated based on the sensor's reconnaissance field of view. After obtaining the regional reconnaissance time, the number of reconnaissance platforms is decided by considering the reconnaissance time constraint of a single UAV.

[0072] a) Calculation of optimal reconnaissance altitude

[0073] If the number of video pixels parallel to the reconnaissance direction is 1080, let TgtSize represent the typical target size, and set the minimum pixel size of the target during video tracking to MinSize*MinSize, and the maximum size to MaxSize*MaxSize, α p The photoelectric sensor is the viewing angle along the detection direction, α v is the viewing angle of the photoelectric sensor perpendicular to the reconnaissance direction, and ν is the absolute value of the photoelectric reconnaissance elevation angle.

[0074] The constraint of video tracking on the aircraft height is:

[0075]

[0076]

[0077] Under the premise of meeting the flight altitude range of the UAV, the optimal reconnaissance altitude is

[0078] H plan =H max -0.382*(H max -H min )

[0079] b) Calculation of optimal reconnaissance speed

[0080] Determine the target pixel size based on the planned height. The specific model is as follows:

[0081] Let ViewRatio be the minimum resolution, and the calculation model is:

[0082] ViewRatio=(int)(1080*0.5+0.5)

[0083] The target pixel size is obtained as follows:

[0084] TgtPixelSize=TgtSize*ViewRatio / (H*tan(γ / 2)+0.5)

[0085] Among them, γ is 0.5 times the sensor field of view, and H is the optimal reconnaissance altitude.

[0086] Calculate the maximum reconnaissance speed as:

[0087] V max =V Track*TgtSize / TgtPixelSize*V PixelErr

[0088] Among them, V Track is the sensor tracking speed, V PixelErr is the pixel update rate for visible light / infrared.

[0089] Finally, the maximum reconnaissance speed obtained by the decision is adjusted according to the maximum flight speed of the UAV platform to obtain the optimal reconnaissance speed V: if the maximum reconnaissance speed is greater than the maximum flight speed of the UAV platform, the maximum flight speed of the UAV platform is taken as the optimal reconnaissance speed V; if the maximum reconnaissance speed is less than the maximum flight speed of the UAV platform, the maximum reconnaissance speed is taken as the optimal reconnaissance speed V.

[0090] c) Calculation of the number of reconnaissance platforms

[0091] The size of the photoelectric field of view perpendicular to the reconnaissance direction l v for:

[0092] l v =2Htan(a v / 2) / cos(π / 2+v)

[0093] The reconnaissance efficiency UnitArea is expressed by the photoelectric reconnaissance area per second. The calculation method is as follows:

[0094] UnitArea = l v *V

[0095] TotalArea is the total area of ​​the reconnaissance area, and the total time required for regional reconnaissance is:

[0096] T = TotalArea / UnitArea

[0097] The conventional reconnaissance time of a single UAV is t, and the number of reconnaissance platforms required is:

[0098] num=T / t

[0099] If the calculated number of reconnaissance platforms is greater than the total number of UAV platforms, num is taken as the total number of UAV platforms.

[0100] Step 2: Scouting the team

[0101] The reconnaissance team formation process is initiated by the UAV leader, and the execution process is described as follows:

[0102] a) After obtaining the number of platforms required for the reconnaissance mission, the leader obtains the initial collaborative list InitialCoList that can provide services for this collaborative mission based on the reconnaissance mission priority and the priority of the current missions of each UAV.

[0103] b) If the number of UAV platforms in the initial list is greater than the number of required platforms, the leader selects the optimal UAV platform based on the principle of limited distance to form a collaborative reconnaissance request list CoReqList and proceeds to e).

[0104] c) If the number of UAV platforms in the initial list is equal to the required number of platforms, the initial collaborative list InitialCoList is the collaborative reconnaissance request list CoReqList, and the process goes to e).

[0105] d) If the number of UAV platforms in the initial list is less than the required number of platforms, it is determined that the flight time corresponding to the remaining fuel volume of the UAV platforms in the list can meet the total time requirement of regional reconnaissance, and a collaborative reconnaissance request list CoReqList is formed, and the process is transferred to e). Otherwise, the reconnaissance team fails and the mission is exited. Figure 2 shown.

[0106] e) The leader aircraft issues a collaborative request to the UAV members in the collaborative reconnaissance request list CoReqList. After receiving the request, the UAV replies with a collaborative task confirmation.

[0107] f) After the leader receives a request response from a certain UAV, it adds the UAV to the final collaborative reconnaissance task list CoWorkList and removes the UAV from CoReqList.

[0108] g) The leader continues to send collaboration requests to the drones that have not received a response. If the number of requests exceeds the maximum number, the leader reports that the reconnaissance team has failed and the mission is exited.

[0109] h) If all drones in the CoReqList confirm the request, the leader reports that the reconnaissance team is successful.

[0110] Step 3: Scout route segmentation

[0111] This step is performed by the lead aircraft. Using the raster-based reconnaissance route planning method, the overall regional reconnaissance route is obtained, and the corresponding waypoint Gaussian coordinates are (x L1 ,y L1 )、(x L2 ,y L2 ),…,(x Lm ,y Lm ). According to the Gauss projection method, the waypoints are converted into longitude and latitude forms as (λ L1 ,φL1 )、(λ L2 ,φ L2 ),…,(λ Lm ,φ Lm ).

[0112] Calculate the total length L of the route, and obtain the length L of each route after segmentation based on the number of UAVs participating in the coordinated regional reconnaissance s , according to L s The route is divided into num parts to form a reconnaissance route list. The starting points of the divided routes are S1, S2.....S num .

[0113] The execution process of reconnaissance route segmentation is as follows: Figure 3 shown.

[0114] Step 4: Scout route starting point allocation

[0115] This step is mainly based on the real-time position, current heading and other information of the UAV platform participating in the reconnaissance. The leader uses the KM contract network strategy algorithm to complete the starting point S1, S2...S after the route is segmented. num The distribution between the drone platform is to ensure that the drone can quickly enter the reconnaissance route to perform reconnaissance missions and search and detect the reconnaissance area.

[0116] The process description of the KM contract network strategy algorithm is as follows:

[0117] a) Solve the matching weight according to the given allocation rule;

[0118] b) The weights are stored in an adjacency matrix, and the weights of disconnected edges are set to 0;

[0119] c) Initialize the benchmark using a greedy algorithm;

[0120] d) Use the Hungarian algorithm to find a complete match. If it cannot be found, add some edges by modifying the benchmark;

[0121] e) Repeat the above two steps until a complete match is reached.

[0122] Step 5: Send the reconnaissance route for execution

[0123] The leader aircraft will send the assigned reconnaissance routes to each drone based on the allocation list. After the drone successfully receives the route, it will start the reconnaissance mission execution process.

[0124] To ensure the completeness of the waypoint distribution process in the reconnaissance route, the lead aircraft will start the distribution process of the next waypoint after receiving the return information of the currently loaded waypoint returned by the drone crew, until all waypoints are successfully distributed.

[0125] After the route is issued, the leader and the UAV crew members each set the mission type of this platform to "cooperative regional reconnaissance", start guiding the flight according to the reconnaissance route, and control the sensor payload to search and detect the reconnaissance area.

[0126] Embodiment 2:

[0127] Taking multiple small fixed-wing drones performing a coordinated regional reconnaissance mission as an example, the mission area is set as a pentagon, and the coordinates of each vertex are:

[0128] Table 1 Task area input setting table

[0129]

[0130]

[0131] Set the number of small fixed-wing drones to 8, and the initial position information is as follows:

[0132] Table 2 UAV initial position input setting table

[0133] Serial number Longitude (°) Latitude (°) Height(m) 1 114.015000 33.990000 110 2 114.015000 33.995000 130 3 114.025000 33.990000 150 4 114.025000 33.995000 110 5 114.035000 33.990000 130 6 114.035000 33.995000 150 7 114.045000 33.990000 110 8 114.045000 33.995000 130

[0134] a) Calculation of optimal reconnaissance altitude

[0135] The sensor parameters are set as follows:

[0136] 1) The number of video pixels parallel to the reconnaissance direction is 1080;

[0137] 2) View angle α along the reconnaissance direction p is 23.3°,

[0138] 3) Angle of view perpendicular to the reconnaissance direction α v is 13.2°,

[0139] 4) The absolute value of the reconnaissance elevation angle ν is 30°;

[0140] 5) During video tracking, the minimum pixel size of the target MinSize*MinSize is 8*8, and the maximum size MaxSize*MaxSize is 128*128.

[0141] The typical suspicious target size TgtSize is 2.3m.

[0142] The flight speed range of the drone is set to 30-40m / s, and the flight altitude range is 100-500m.

[0143] The reconnaissance height decision result obtained through the above conditions is: 100m≤H plan≤248.785m; the optimal reconnaissance altitude is 191.949219m.

[0144] b) Calculation of optimal reconnaissance speed

[0145] The sensor tracks the speed V Track The pixel update rate for visible light / infrared is 48 pixels / frame. PixelErr If the frame rate is 60 Hz, the minimum resolution ViewRatio is 960, the target pixel size TgtPixelSize is 56, and the optimal reconnaissance speed V is 33.82 m / s.

[0146] c) Calculation of the number of reconnaissance platforms

[0147] Assuming that the reconnaissance time t of a single UAV platform is 5 minutes, the field of view l of the photoelectric perpendicular to the reconnaissance direction is obtained by solving the mission area and the UAV photoelectric load information. v It is 10605.94, the total area of ​​the reconnaissance area TotalArea is 13316362, and the reconnaissance efficiency, that is, the photoelectric reconnaissance area per second UnitArea is 5353.856445, thus the number of reconnaissance platforms num is 8.

[0148] d) Reconnaissance route planning segmentation

[0149] After the route is generated according to the raster reconnaissance route planning algorithm, the route segmentation is completed according to the number of UAVs participating in the coordinated regional reconnaissance (the decision result is 8). The segmented route is as follows: Figure 4 shown.

[0150] The route waypoint information after segmentation is shown in Tables 3 to 10.

[0151] Table 3 Route 1 waypoint information obtained after segmentation

[0152] Serial number Longitude (°) Latitude (°) Height(m) 1 113.997404 33.986403 191 2 114.014931 34.003930 191 3 114.017598 34.004597 191 4 113.999403 33.986404 191 5 114.001403 33.986405 191 6 114.020265 34.005265 191 7 114.022933 34.005932 191 8 114.003403 33.986406 191 9 114.005403 33.986406 191 10 114.025600 34.006598 191 11 114.028267 34.007265 191 12 114.007403 33.986407 191

[0153] Table 4 Route 2 waypoint information obtained after segmentation

[0154] Serial number Longitude (°) Latitude (°) Height(m) 1 114.009403 33.986408 191 2 114.030934 34.007932 191 3 114.033602 34.008599 191 4 114.011403 33.986408 191 5 114.013403 33.986409 191 6 114.036269 34.009266 191 7 114.038937 34.009932 191 8 114.015403 33.986410 191 9 114.017403 33.986410 191 10 114.041604 34.010599 191 11 114.044272 34.011265 191 12 114.019403 33.986411 191

[0155] Table 5 Route 3 waypoint information obtained after segmentation

[0156]

[0157]

[0158] Table 6 Route 4 waypoint information obtained after segmentation

[0159] Serial number Longitude (°) Latitude (°) Height(m) 1 114.029402 33.986413 191 2 114.056005 34.012995 191 3 114.057606 34.012595 191 4 114.031402 33.986413 191 5 114.033402 33.986413 191 6 114.059206 34.012195 191 7 114.060806 34.011795 191 8 114.035402 33.986414 191 9 114.037402 33.986414 191 10 114.062407 34.011395 191 11 114.064007 34.010995 191 12 114.039402 33.986414 191

[0160] Table 7 Route 5 waypoint information obtained after segmentation

[0161] Serial number Longitude (°) Latitude (°) Height(m) 1 114.041402 33.986414 191 2 114.065607 34.010595 191 3 114.067207 34.010195 191 4 114.043402 33.986414 191 5 114.045401 33.986414 191 6 114.068807 34.009795 191 7 114.070408 34.009395 191 8 114.047401 33.986414 191 9 114.049401 33.986414 191 10 114.072008 34.008995 191 11 114.073608 34.008595 191 12 114.051401 33.986414 191

[0162] Table 8 Route 6 waypoint information obtained after segmentation

[0163] Serial number Longitude (°) Latitude (°) Height(m) 1 114.053401 33.986414 191 2 114.075208 34.008195 191 3 114.076808 34.007795 191 4 114.055401 33.986414 191 5 114.057401 33.986414 191 6 114.078408 34.007395 191 7 114.080008 34.006995 191 8 114.059401 33.986414 191 9 114.061401 33.986414 191 10 114.081608 34.006594 191 11 114.083208 34.006194 191 12 114.063401 33.986414 191

[0164] Table 9 Route 1 waypoint information obtained after segmentation

[0165]

[0166]

[0167] Table 10 Route 8 waypoint information obtained after segmentation

[0168] Serial number Longitude (°) Latitude (°) Height(m) 1 114.077400 33.986411 191 2 114.094105 34.003090 191 3 114.095105 34.002090 191 4 114.079400 33.986411 191 5 114.081400 33.986410 191 6 114.096105 34.001091 191 7 114.097104 34.000091 191 8 114.083400 33.986410 191 9 114.085400 33.986409 191 10 114.098104 33.999092 191 11 114.099103 33.998092 191 12 114.087400 33.986409 191 13 114.089400 33.986408 191 14 114.100103 33.997093 191 15 114.101102 33.996093 191 16 114.091400 33.986407 191 17 114.093399 33.986407 191 18 114.102102 33.995094 191 19 114.103101 33.994094 191 20 114.095399 33.986406 191

[0169] e) Route entry point allocation

[0170] According to the real-time position information of the 8 UAV platforms involved in the reconnaissance, the KM contract network strategy algorithm is used to complete the allocation between the starting point and the UAV platform after the route segmentation. The results are shown in Table 11.

[0171] Table 11 Correspondence between route entry points and drone allocation

[0172] Drone serial number Assign route number 1 2 2 1 3 3 4 4 5 5 6 7 7 6 8 8

[0173] The above description is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should be included in the protection scope of the present invention.

Claims

1. A method for designing multi-UAV collaborative regional reconnaissance, characterized in that: include: Determine the optimal reconnaissance altitude and optimal reconnaissance speed based on the reconnaissance sensor's transmitted video pixels, azimuth field of view, elevation field of view, focal length, pixel size, minimum recognition pixel, and maximum recognition pixel; The reconnaissance effectiveness is calculated based on the optimal reconnaissance speed, optimal reconnaissance altitude and sensor reconnaissance field of view; the regional reconnaissance time is calculated based on the reconnaissance effectiveness and the total area of ​​the reconnaissance area; the number of reconnaissance platforms is determined based on the regional reconnaissance time and the reconnaissance time of a single UAV; Construct an initial collaborative list, determine a collaborative reconnaissance request list based on the number of UAV platforms and reconnaissance platforms in the initial collaborative list, and form a reconnaissance team based on the collaborative reconnaissance request list; The overall regional reconnaissance route is obtained by using the raster-based reconnaissance route planning method; the reconnaissance route is divided according to the number of reconnaissance platforms to form a reconnaissance route list; According to the information of each reconnaissance route and the real-time position of the reconnaissance UAV, the route starting points of the reconnaissance route list and the UAVs are allocated based on the KM contract network strategy algorithm to form an allocation list; The assigned reconnaissance route is sent to each UAV according to the allocation list. After the UAV successfully receives the route, it is guided to fly according to the reconnaissance route and controls the sensor payload to search and detect the reconnaissance area.

2. According to claim 1, a multi-UAV collaborative regional reconnaissance design method is characterized in that: The step of determining the optimal reconnaissance altitude is specifically as follows: H=H max -0.382*(H max -H min ) Among them, TgtSize is the typical target size, MinSize*MinSize is the minimum pixel size of the target during video tracking, MaxSize*MaxSize is the maximum size, and α p is the viewing angle of the photoelectric sensor along the detection direction, α v is the viewing angle of the photoelectric sensor perpendicular to the reconnaissance direction, ν is the absolute value of the photoelectric reconnaissance elevation angle, and H is the optimal reconnaissance altitude.

3. According to claim 2, a multi-UAV collaborative regional reconnaissance design method is characterized in that: The step of determining the optimal reconnaissance speed is specifically as follows: Calculate the maximum scouting speed: V max =V Track *TgtSize / TgtPixelSize*V PixelErr TgtPixelSize=TgtSize*ViewRatio / (H*tan(γ / 2)+0.5) ViewRatio=(int)(1080*0.5+0.5) Among them, V Track is the sensor tracking speed, V PixelErr is the pixel update rate of visible light / infrared, ViewRatio is the minimum resolution, and γ is 0.5 times the sensor field of view; The optimal reconnaissance speed V is obtained by adjusting the maximum reconnaissance speed obtained by the decision according to the maximum flight speed of the UAV platform.

4. According to claim 3, a multi-UAV collaborative regional reconnaissance design method is characterized in that: The step of calculating the reconnaissance effectiveness based on the optimal reconnaissance speed, the optimal reconnaissance altitude and the sensor reconnaissance field of view is specifically as follows: UnitArea=l v *V l v =2Htan(a v / 2) / cos(π / 2+v) Among them, UnitArea is the reconnaissance efficiency, l v It is the size of the photoelectric field of view perpendicular to the reconnaissance direction.

5. According to claim 4, a multi-UAV collaborative regional reconnaissance design method is characterized in that: The step of calculating the regional reconnaissance time based on the reconnaissance efficiency and the total area of ​​the reconnaissance area is specifically as follows: T = TotalArea / UnitArea Among them, TotalArea is the total area of ​​the reconnaissance area.

6. A method for designing multi-UAV coordinated regional reconnaissance according to claim 5, characterized in that: The step of determining the number of reconnaissance platforms based on the regional reconnaissance duration and the reconnaissance duration of a single UAV specifically comprises: calculating the required number of reconnaissance platforms: num=T / t Among them, t is the reconnaissance time of a single UAV; If the calculated number of reconnaissance platforms is greater than the total number of UAV platforms, num is taken as the total number of UAV platforms.

7. According to claim 1, a multi-UAV collaborative regional reconnaissance design method is characterized in that: The step of determining the collaborative reconnaissance request list based on the number of UAV platforms and the number of reconnaissance platforms in the initial collaborative list is specifically as follows: If the number of UAV platforms in the initial list is greater than the number of required platforms, the optimal UAV platform is selected according to the limited distance principle to form a collaborative reconnaissance request list; If the number of UAV platforms in the initial list is equal to the number of required platforms, the initial collaborative list is the collaborative reconnaissance request list; If the number of UAV platforms in the initial list is less than the required number of platforms, it is determined whether the flight time corresponding to the remaining fuel volume of the UAV platforms in the list can meet the total time requirement for regional reconnaissance. If so, a collaborative reconnaissance request list is formed.

8. The method for designing multi-UAV coordinated regional reconnaissance according to claim 1, characterized in that: The step of forming a reconnaissance team based on the collaborative reconnaissance request list is specifically as follows: The leader aircraft issues a collaborative request to the UAV members in the collaborative reconnaissance request list. After receiving the request, the UAV replies with a collaborative mission confirmation. After receiving a request response from a certain UAV, the leader adds the UAV to the final collaborative reconnaissance mission list and removes the UAV from the collaborative reconnaissance request list; The leader continues to send collaboration requests to the drones that have not received a response. If the number of requests exceeds the maximum number, the leader reports that the reconnaissance team has failed and the mission is exited. If all the drones in the coordinated reconnaissance request list confirm the request, the leader reports that the reconnaissance team has been successfully formed.

9. A computer system, characterized in that include: One or more processors, and a computer-readable storage medium for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors are enabled to implement the method of claim 1.

10. A computer-readable storage medium, characterized in that Computer executable instructions are stored, and when the instructions are executed, they are used to implement the method of claim 1.

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