A design method for multi-UAV collaborative regional reconnaissance

Abstract

The present invention relates to a design method for collaborative regional reconnaissance by multiple unmanned aerial vehicles (UAVs), belonging to the technical field of UAV collaborative mission control. Taking into account factors such as reconnaissance duration and reconnaissance coverage when multiple UAVs collaborate to perform regional reconnaissance missions, the present invention designs a resource demand decision-making and processing method for collaborative regional reconnaissance by multiple UAVs, a reconnaissance teaming process, a reconnaissance route list generation algorithm, a reconnaissance route segmentation algorithm based on the number of reconnaissance platforms, the allocation of each reconnaissance route starting point to the participating UAVs, and a reconnaissance route distribution and execution process. These methods can meet the technical requirements for collaborative regional reconnaissance route planning and mission execution by multiple UAVs.

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 design method for multi-UAV collaborative regional reconnaissance. Background Art

[0002] Unmanned aerial vehicles (UAVs), with their advantages of flexible use, high survival probability, diverse onboard configurations, long loiter times, operational flexibility, cost-effectiveness, low training and maintenance costs, and weapon platform performance unrestricted by human physiology, have been successfully applied in a wide range of fields, including reconnaissance, ground attack, battlefield damage assessment, jamming, deception (decoys), information relay, and ground support. Furthermore, UAVs are increasingly gaining attention worldwide, as they can reduce casualties among combatants and lower equipment and operational costs.

[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 for 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 existing technology, the present invention provides a multi-UAV collaborative regional reconnaissance design method for solving problems such as the decision of 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] Calculate reconnaissance effectiveness based on optimal reconnaissance speed, optimal reconnaissance altitude, and sensor reconnaissance field of view; calculate regional reconnaissance duration based on reconnaissance effectiveness and the total area of ​​the reconnaissance area; and determine the number of reconnaissance platforms based on regional reconnaissance duration and the reconnaissance duration of a single drone.

[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 a 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 is as follows: 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, α p is the viewing angle of the photoelectric sensor along the reconnaissance 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 pitch angle, and H is the optimal reconnaissance altitude.

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

[0021] Calculate the maximum reconnaissance 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 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 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 drone platforms, num is set to the total number of drone 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 required number of platforms, the optimal UAV platform is selected based on 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 becomes 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 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 is as follows: the step of forming a reconnaissance team based on the collaborative reconnaissance request list is 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 responds with a collaborative mission confirmation.

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

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

[0047] If all drones in the collaborative reconnaissance request list confirm the request, the leader drone reports that the reconnaissance team is successfully formed.

[0048] A computer system, characterized in that it includes: 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 is characterized by storing 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 design method for collaborative regional reconnaissance of multiple UAVs. The method comprehensively considers factors such as the reconnaissance duration and reconnaissance coverage rate when multiple UAVs collaboratively perform regional reconnaissance missions. The method designs a resource demand decision-making processing method for collaborative regional reconnaissance of multiple UAVs, a reconnaissance team processing process, a reconnaissance route list generation algorithm, a reconnaissance route segmentation algorithm based on the number of reconnaissance platforms, the allocation of each reconnaissance route starting point to the UAVs participating in the reconnaissance mission, and a reconnaissance route distribution execution process. The method can meet the technical requirements of collaborative regional reconnaissance route planning and mission execution of multiple UAVs. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] The accompanying 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 parts throughout the drawings.

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

[0054] Figure 2 Flowchart 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 results of the collaborative reconnaissance route segmentation for eight drones. DETAILED DESCRIPTION

[0057] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only intended to illustrate 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 may 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 description 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 are 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 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. It comprehensively considers factors such as the UAV service list, flight performance, sensor detection performance, collaborative regional reconnaissance mission duration limit, 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, determine the reconnaissance altitude and speed. Based on this, consider the area of ​​the reconnaissance area and the duration of the reconnaissance mission to calculate the number of UAV platforms required to complete the regional reconnaissance.

[0062] Step 2: Select the optimal reconnaissance platform based on the UAV fleet's service capability list and reconnaissance platform requirements to complete the reconnaissance team formation;

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

[0064] Step 4: Based on the information of each reconnaissance route and the real-time location of the reconnaissance drone, the route starting point is allocated to the drone;

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

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

[0067] Example 1:

[0068] After the mission operator loads the reconnaissance area into the UAV formation, he selects one of the UAVs and issues a collaborative regional reconnaissance mission instruction. The UAV that receives the mission instruction evaluates the current mission priority and reconnaissance service capabilities of the platform. If the mission requirements are not met, the UAV reports the reconnaissance mission status to the operator as "failed". If the mission requirements are met, the UAV sets its mission role to the reconnaissance team leader, reports the reconnaissance mission status to the operator as "started", and begins the following process:

[0069] Step 1: Scout resource requirements decisions

[0070] The lead aircraft makes decisions on the reconnaissance altitude and speed 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 requirements.

[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 reconnaissance 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 pitch 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) Optimal reconnaissance speed calculation

[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 using 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 regular 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 drone platforms, num is set to the total number of drone 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 InitialCoList of platforms that can provide services for this collaborative mission based on the reconnaissance mission priority and the priorities of the current tasks of each UAV.

[0103] b) If the number of UAV platforms in the initial list is greater than the required number of 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, the flight time corresponding to the remaining fuel of the UAV platforms in the list is determined to meet the total time requirement for 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 responds 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 aircraft continues to send collaboration requests to the UAVs that have not received a response. If the number of requests exceeds the maximum number, the leader aircraft 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 drone reports that the reconnaissance team is successful.

[0110] Step 3: Scouting 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 (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 collaborative area 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: Scouting 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 of the KM contract network strategy algorithm is described as follows:

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

[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 no complete match is found, modify the benchmark to add some edges.

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

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

[0123] The leader aircraft will send the assigned reconnaissance route to each drone according to 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 from the drone crew, until all waypoints are successfully distributed.

[0125] After the route is issued, the leader aircraft 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] Example 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) Optimal reconnaissance speed calculation

[0145] Sensor tracking 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 device perpendicular to the reconnaissance direction is obtained by calculating the mission area and the photoelectric payload information of the UAV. v The total area of ​​the reconnaissance area is 10605.94, the total area of ​​the reconnaissance area is 13316362, and the reconnaissance efficiency, that is, the reconnaissance area per second of the photoelectric sensor, is 5353.856445. Therefore, the number of reconnaissance platforms is 8.

[0148] d) Reconnaissance route planning and segmentation

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

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

[0151] Table 3. Waypoint information of route 1 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. Waypoint information of route 2 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 participating 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 embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with this technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present invention, and these modifications or replacements should all be included in the scope of protection of the present invention.

Claims

1. A multi-UAV collaborative regional reconnaissance design method, characterized by: 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; Calculate reconnaissance effectiveness based on optimal reconnaissance speed, optimal reconnaissance altitude, and sensor reconnaissance field of view; calculate regional reconnaissance duration based on reconnaissance effectiveness and the total area of ​​the reconnaissance area; and determine the number of reconnaissance platforms based on regional reconnaissance duration and the reconnaissance duration of a single drone. 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 a 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. The multi-UAV collaborative regional reconnaissance design method according to claim 1, 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, α p is the viewing angle of the photoelectric sensor along the reconnaissance 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 pitch angle, and H is the optimal reconnaissance altitude.

3. The method for designing multi-UAV collaborative regional reconnaissance according to claim 2, characterized in that: The step of determining the optimal reconnaissance speed is specifically as follows: Calculate the maximum reconnaissance 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. The method for designing multi-UAV collaborative regional reconnaissance according to claim 3, 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. The method for designing multi-UAV collaborative regional reconnaissance according to claim 4, characterized in that: The step of calculating the regional reconnaissance duration 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. The method for designing multi-UAV collaborative 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 is specifically as follows: 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 drone platforms, num is set to the total number of drone platforms.

7. The method for designing multi-UAV collaborative regional reconnaissance according to claim 1, 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 required number of platforms, the optimal UAV platform is selected based on 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 becomes 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 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 collaborative 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 responds 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 aircraft continues to send collaboration requests to the drones that have not received a response. If the number of requests exceeds the maximum, the leader aircraft reports that the reconnaissance team has failed and the mission is aborted. If all drones in the collaborative reconnaissance request list confirm the request, the leader drone reports that the reconnaissance team is 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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