High-precision unmanned aerial vehicle cluster control method and system

Abstract

The invention discloses a high-precision unmanned aerial vehicle cluster control method and system, and relates to the technical field of unmanned aerial vehicles. The method comprises the following steps: constructing a multi-point high-reliability dynamic networking system; carrying out system initialization and node networking; performing time synchronization, obtaining a synchronized standard time signal, and broadcasting the synchronized standard time signal to all child node terminals; each child node terminal carries out time calibration, and the main control system issues a control instruction; each sub-node terminal receives the control instruction and executes a task, continuously monitors the flight state in the task execution process and feeds back real-time data to the main control system; and the main control system regulates and controls a flight path according to the real-time data, and performs anti-interference training in the task execution process of each sub-node terminal. By researching and developing a high-dynamic reliable data link technology, the time synchronization precision and communication reliability of the unmanned aerial vehicle cluster in high-precision control in a complex environment can be improved, and the application effect of the unmanned aerial vehicle cluster in the fields of military affairs, industry and the like is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to a high-precision unmanned aerial vehicle cluster control method and system. Background Art

[0002] In current drone swarm applications, drones are mainly used for reconnaissance, surveillance, transportation and other tasks, but in the military and industrial fields, there is an increasing demand for high-precision control of drone swarms. Such applications require individual drones to perform tasks synchronously at a specific time point to achieve the desired effect.

[0003] However, existing drone cluster control technology has many shortcomings. First, its communication efficiency is low and it is susceptible to interference, which will cause information loss and delay, resulting in reduced time synchronization accuracy, making it difficult to achieve high-precision synchronization control of drone clusters. In addition, computing resources are concentrated in a few nodes, making it difficult to handle complex tasks and maintain high reliability and real-time performance. Summary of the invention

[0004] The purpose of the present invention is to provide a high-precision UAV cluster control method and system. By researching and developing a highly dynamic and reliable data link technology, it can effectively solve the problems of low time synchronization accuracy and poor communication reliability in high-precision control of UAV clusters in complex environments, thereby realizing high-precision synchronization control of UAV clusters within 0.1ms and improving the application effect of UAV clusters in military, industrial and other fields.

[0005] The purpose of the present invention can be achieved through the following technical solutions:

[0006] In a first aspect, an embodiment of the present application provides a high-precision drone cluster control method, comprising the following steps:

[0007] Build a multi-point high-reliability dynamic networking system consisting of a main control system and multiple sub-node terminals;

[0008] Perform node networking based on the multi-point high-reliability dynamic networking system;

[0009] After the system equipment is powered on and connected, a high-precision frequency unification method is used for frequency synchronization and a low-delay alignment method is used for time synchronization, and a synchronized standard time signal is obtained;

[0010] After the node networking is completed, the main control system broadcasts the standard time signal to all sub-node terminals;

[0011] Each sub-node terminal performs time calibration based on the standard time signal and obtains a synchronous time signal;

[0012] The main control system issues control instructions to each sub-node terminal based on the synchronous time signal;

[0013] Each sub-node terminal receives the control instruction and executes the task, and continuously monitors the flight status during the task execution, and feeds back the real-time data to the main control system;

[0014] The main control system regulates the flight path based on real-time data;

[0015] During the execution of tasks by each sub-node terminal, the main control system uses highly dynamic and reliable data link technology to conduct anti-interference training;

[0016] The control instructions include mission parameters, flight paths and execution timing.

[0017] Preferably, the multi-point high-reliability dynamic networking system adopts a star topology structure, and is composed of a self-organizing software-defined radio baseband, a self-organizing radio frequency, an interface module and a power module.

[0018] Preferably, the node networking comprises:

[0019] The main control system starts and performs system initialization;

[0020] After the system is initialized, it manages the self-organizing network process and connects all sub-node terminals to the network through wireless communication;

[0021] The network topology is dynamically allocated and adjusted, and the main control system uses broadcasting to send messages, and determines the number of sub-nodes and the communication quality through the response of each sub-node terminal.

[0022] Preferably, the high-precision frequency unification method is used to perform frequency synchronization, including:

[0023] After the system equipment is powered on, it enters the free-running state and inputs a high-precision calibration pulse;

[0024] The voltage-controlled crystal oscillator outputs an uncorrected standard frequency;

[0025] After receiving the timing signal, the system equipment obtains the frequency difference by comparing the high-precision calibration pulse with the standard frequency;

[0026] The frequency difference is passed through a Kalman filter to converge to obtain an optimal adjustment amount;

[0027] Writing the optimal adjustment amount into a digital-to-analog converter to obtain an analog voltage signal;

[0028] Inputting the analog voltage signal into the voltage-controlled crystal oscillator, and correcting the output frequency of the voltage-controlled crystal oscillator according to different voltage values;

[0029] The output frequency of the voltage-controlled crystal oscillator is continuously corrected to keep it consistent with the input high-precision calibration pulse.

[0030] Preferably, the low-latency alignment method is used for time synchronization, including:

[0031] After the system equipment is powered on and the connection is established, the master node represented by the master drone and the slave node represented by the slave drone perform two-way transmission and reception of time synchronization messages;

[0032] According to the sending and receiving timestamps of the time synchronization message, the total round-trip delay between the two drones is calculated; if the delays in the two node directions are the same, the one-way delay is calculated based on the total round-trip delay, and the time deviation from the drone to the master drone is obtained;

[0033] The slave drone adjusts its local time according to the time deviation to synchronize the time with the master drone.

[0034] Preferably, the highly dynamic and reliable data link technology includes: using a TDD-based multi-access channel resource allocation method to make the communication process between the main control system and multiple sub-node terminals biased towards physical layer data processing, and sending control instructions by broadcasting to minimize communication time, thereby obtaining the minimum communication time of the system;

[0035] The minimum communication time of the system is related to the code rate and the wireless data transmission frame structure.

[0036] Preferably, the highly dynamic and reliable data link technology also includes: using data framing encoding transmission to transmit data, and defining the data frame structure, specifically: the frame header is 1 byte, the synchronization is 1 byte, the device ID is 1 byte, the data is 7 bytes, and the check is 2 bytes.

[0037] Preferably, each sub-node terminal receives the control instruction and executes the task, including:

[0038] The sub-node UAV represented by each sub-node terminal measures the attitude angle and angular velocity of the sub-node UAV through the inertial measurement unit according to the flight path and mission parameters, and adjusts the pulse width modulation speed of the brushless motor at different positions of the sub-node UAV through the cascade PID controller.

[0039] Preferably, the anti-interference training using the highly dynamic and reliable data link technology includes:

[0040] After the system equipment is powered on and a connection is established, the data link evaluates the signal-to-noise ratio at different frequencies and performs rapid frequency hopping when sending control commands.

[0041] In a second aspect, an embodiment of the present application provides a high-precision drone cluster control system, which is applied to a high-precision drone cluster control method as described above, including:

[0042] System building module, used to build a multi-point high-reliability dynamic networking system consisting of a main control system and multiple sub-node terminals;

[0043] A node networking module, which performs system initialization and node networking based on the multi-point high-reliability dynamic networking system;

[0044] The time synchronization module is used to use a high-precision frequency unification method to perform frequency synchronization and a low-latency alignment method to perform time synchronization after the system equipment is powered on and a connection is established, and obtain a synchronized standard time signal; after the node networking is completed, the main control system broadcasts the standard time signal to all sub-node terminals; each sub-node terminal performs time calibration based on the standard time signal and obtains a synchronization time signal;

[0045] An instruction issuing module, wherein the main control system issues control instructions to each sub-node terminal based on a synchronous time signal;

[0046] A task execution module is used for each sub-node terminal to receive the control instruction and execute the task, and continuously monitor the flight status during the task execution, and feed back the real-time data to the main control system; the main control system adjusts the flight path according to the real-time data, and during the task execution of each sub-node terminal, the main control system uses the high dynamic and reliable data link technology to perform anti-interference training;

[0047] The control instructions include mission parameters, flight paths and execution timing.

[0048] The beneficial effects of the present invention are as follows: by researching and developing a highly dynamic and reliable data link technology, the present invention enables the drone cluster to achieve high-precision synchronous control within 0.1 milliseconds, thereby significantly improving the application effect of the drone cluster in various fields. Specifically, it includes: first, improving the time synchronization accuracy of the drone cluster in a complex environment, ensuring that high-precision coordination between drones is achieved within 0.1 milliseconds; second, enhancing the data link communication reliability of the drone cluster, and improving the anti-interference ability and stability of the data link through advanced coding and modulation technology, ensuring the continuity and accuracy of communication; third, through the above improvements, the application effect of the drone cluster in the military, industry and other fields is improved, such as the collaborative combat efficiency in military missions, the task execution safety and efficiency in industrial monitoring and logistics transportation, and the response speed and execution quality in emergency rescue and environmental monitoring. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] For better understanding and implementation, the technical solution of the present application is described in detail below with reference to the accompanying drawings.

[0050] Figure 1 A flowchart of a high-precision drone cluster control method provided in an embodiment of the present application;

[0051] Figure 2 A schematic diagram of the structure of a high-precision drone cluster control system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0052] In order to further explain the technical means and effects taken by the present invention to achieve the predetermined invention purpose, exemplary embodiments will be described in detail here, and examples thereof are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are only examples of methods and systems consistent with some aspects of the present application as detailed in the attached claims.

[0053] The terms used in this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The singular forms of "a", "said" and "the" used in this application and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used in this article refers to any or all possible combinations of one or more associated listed items.

[0054] The specific implementation methods, features and effects of the present invention are described in detail below in conjunction with the accompanying drawings and preferred embodiments.

[0055] Example 1

[0056] See also Figure 1 The present application embodiment provides a high-precision drone cluster control method, comprising the following steps:

[0057] Build a multi-point high-reliability dynamic networking system consisting of a main control system and multiple sub-node terminals;

[0058] Perform node networking based on the multi-point high-reliability dynamic networking system;

[0059] After the system equipment is powered on and connected, a high-precision frequency unification method is used for frequency synchronization and a low-delay alignment method is used for time synchronization, and a synchronized standard time signal is obtained;

[0060] After the node networking is completed, the main control system continuously broadcasts the standard time signal to all sub-node terminals through the time synchronization module;

[0061] Each sub-node terminal performs time calibration based on the standard time signal and obtains a synchronous time signal;

[0062] The main control system issues control instructions to each sub-node terminal through the wireless communication module based on the synchronous time signal;

[0063] Each sub-node terminal receives the control instruction and executes the task, and continuously monitors the flight status through sensors during the execution of the task, and feeds back real-time data to the main control system;

[0064] The main control system regulates the flight path based on real-time data;

[0065] During the execution of tasks by each sub-node terminal, the main control system uses highly dynamic and reliable data link technology to conduct anti-interference training;

[0066] The control instructions include mission parameters, flight paths and execution timing.

[0067] Specifically, since the current drone cluster technology has shortcomings such as low communication efficiency, low synchronization control accuracy, and weak anti-interference ability in complex environments, the present application studies and develops a highly dynamic and reliable data link technology to achieve high-precision synchronization control of drone clusters within 0.1ms, which specifically includes the following contents: first, a multi-point high-reliability dynamic networking system consisting of a main control system and multiple sub-node terminals is constructed; then, system initialization and node networking are performed based on the multi-point high-reliability dynamic networking system; then, after the system equipment is powered on to establish a connection, a high-precision frequency unification method is used for frequency synchronization and a low-latency alignment method is used for time synchronization, and the synchronized standard time signal is obtained; then, after the node networking is completed, the main control system The system continuously broadcasts the standard time signal to all sub-node terminals through the time synchronization module; then each sub-node terminal performs time synchronization based on the standard time signal and obtains the synchronization time signal; then the main control system issues control instructions to each sub-node terminal through the wireless communication module based on the synchronization time signal; the control instructions include mission parameters, flight path and execution timing; then each sub-node terminal receives the control instruction and executes the task, and continuously monitors the flight status through sensors during the execution of the task, and feeds back real-time data to the main control system; then the main control system adjusts the flight path based on the real-time data; finally, during the execution of the task by each sub-node terminal, the main control system uses high dynamic and reliable data link technology to perform anti-interference training.

[0068] It can be seen that the present application aims to solve the problems of low time synchronization accuracy and poor communication reliability encountered by drone clusters in the prior art when performing high-precision control in complex environments. In order to solve the above problems, the present application studies and develops a highly dynamic and reliable data link technology, so that drone clusters can achieve high-precision synchronization control within 0.1 milliseconds, thereby significantly improving the application effect of drone clusters in various fields. Specifically, the main purposes of the present application include: first, improving the time synchronization accuracy of drone clusters in complex environments, ensuring high-precision coordination between drones within 0.1 milliseconds; second, enhancing the data link communication reliability of drone clusters, and improving the anti-interference ability and stability of data links through advanced coding and modulation technologies, ensuring the continuity and accuracy of communication; third, through the above improvements, improving the application effect of drone clusters in military, industrial and other fields, such as the collaborative combat efficiency in military missions, the task execution safety and efficiency in industrial monitoring and logistics transportation, and the response speed and execution quality in emergency rescue and environmental monitoring.

[0069] Through the above content, this application provides strong technical support for drone clusters in various application fields, significantly improving their operational performance and application value.

[0070] In an embodiment provided in the present application, the multi-point high-reliability dynamic networking system adopts a star topology structure and is composed of a self-organizing software-defined radio baseband, a self-organizing radio frequency, an interface module and a power module.

[0071] Specifically, the multi-point high-reliability dynamic networking system of this embodiment adopts a star topology structure, and ensures high-reliability and low-latency communication between nodes through a communication system composed of a self-organizing software defined radio (SDR) baseband, a self-organizing radio frequency, an interface module and a power supply module, and uses a network synchronization mechanism to ensure that the time synchronization accuracy of each node does not exceed 100 microseconds, thereby achieving low-latency and high-reliability data transmission.

[0072] It is understandable that "ad hoc network software defined radio baseband" is a complex concept involving multiple technical fields, mainly covering the core contents of ad hoc network, software defined radio (SDR) and baseband processing, which combines the advantages of ad hoc network, SDR and baseband processing; in an ad hoc network, through SDR technology, baseband processing can flexibly adjust and optimize communication protocols and signal processing, so that each node can efficiently and dynamically adapt to environmental changes.

[0073] In an embodiment provided in the present application, node networking is performed, including:

[0074] The main control system starts and performs system initialization;

[0075] After the system is initialized, it manages the self-organizing network process and connects all sub-node terminals to the network through wireless communication;

[0076] The network topology is dynamically allocated and adjusted, and the main control system uses broadcasting to send messages, and determines the number of sub-nodes and the communication quality through the response of each sub-node terminal.

[0077] Specifically, in the above-mentioned system initialization and node networking, the main control system first starts and manages the self-organizing network process, and joins all sub-node terminals (ie, sub-node drones) to the network through wireless communication; then, by dynamically allocating and adjusting the network topology, the main control system sends messages via broadcast, and the number of sub-nodes and communication quality can be determined through the response of each sub-node.

[0078] In an embodiment provided in the present application, a high-precision frequency unification method is used for frequency synchronization, including the following contents:

[0079] After the system equipment is powered on, it enters the free-running state and inputs a high-precision calibration pulse;

[0080] The voltage-controlled crystal oscillator outputs an uncorrected standard frequency;

[0081] After receiving the timing signal, the system equipment obtains the frequency difference by comparing the high-precision calibration pulse with the standard frequency;

[0082] The frequency difference is passed through a Kalman filter to converge to obtain an optimal adjustment amount;

[0083] Writing the optimal adjustment amount into a digital-to-analog converter to obtain an analog voltage signal;

[0084] Inputting the analog voltage signal into the voltage-controlled crystal oscillator, and correcting the output frequency of the voltage-controlled crystal oscillator according to different voltage values;

[0085] The output frequency of the voltage-controlled crystal oscillator is continuously corrected to keep it consistent with the input high-precision calibration pulse.

[0086] Specifically, regarding the above-mentioned high-precision frequency unification method, this embodiment mainly uses high-precision calibration pulses and voltage-controlled crystal oscillators (VCXOs) to adjust the time and frequency outputs of the device, thereby ensuring that the time and frequency of each device in the system are aligned, specifically: first, after the system device is powered on and enters a free-running state, a high-precision calibration pulse is input, and an uncorrected standard frequency (the standard frequency in this embodiment is 100MHz) is output through the voltage-controlled crystal oscillator; then, after receiving the timing signal, the system device obtains the frequency difference by comparing the high-precision calibration pulse and the standard frequency; then, the frequency difference is passed through the Kalman filter for convergence to obtain the optimal adjustment amount; then, the optimal adjustment amount is written into the digital-to-analog converter to obtain an analog voltage signal; finally, the analog voltage signal is input into the voltage-controlled crystal oscillator, and the frequency output of the voltage-controlled crystal oscillator is adjusted according to the different voltage values; the output frequency of the voltage-controlled crystal oscillator is corrected to make it consistent with the input high-precision calibration pulse, thereby achieving frequency synchronization between the two.

[0087] It should be noted that the "high-precision calibration pulse" mentioned above is a precise time signal used to synchronize various devices in the system. This pulse may come from a very precise reference clock source, such as a GPS reference clock, an atomic clock, or other high-precision clock; this pulse is used to uniformly calibrate the time of various devices in the system to ensure that they are aligned at the same time. The voltage-controlled crystal oscillator (VCXO) is a crystal oscillator that adjusts its output frequency by voltage, and its frequency can be adjusted by applying different voltage values.

[0088] Kalman filter is a mathematical tool for estimating and predicting system state. It combines current measurements with past estimates to optimize output, thereby reducing noise and providing more accurate state estimates. In this embodiment, Kalman filter is used to process frequency difference data. It continuously estimates the optimal adjustment amount based on the current frequency difference and historical data, so that the frequency error is gradually reduced.

[0089] A digital-to-analog converter (DAC) is a device that converts digital signals into analog signals. In this embodiment, the Kalman filter outputs an optimal adjustment amount (digital signal) based on the estimated result of the current frequency difference, and the digital signal is converted into an analog voltage signal by the DAC. The analog voltage signal converted by the DAC is input into the voltage-controlled crystal oscillator (VCXO), and the analog voltage signal directly affects the frequency output of the VCXO. Since the frequency of the VCXO is controlled by its input voltage, the output frequency of the VCXO can be more aligned with the reference signal frequency by adjusting the voltage value. Finally, through the above method, the output frequency of the voltage-controlled crystal oscillator will gradually approach the frequency of the calibration pulse (100MHz in this embodiment) as the adjustment progresses; as time goes by, the frequency difference will gradually decrease, and the time and frequency of the device can be synchronized with the timing signal, that is, the time and frequency alignment of all devices in the system is guaranteed.

[0090] After achieving the above frequency synchronization, in order to achieve accurate time synchronization, it is necessary to further correct the time offset on the basis of frequency synchronization. Therefore, in an embodiment provided in the present application, a low-latency alignment method is required for time synchronization, including the following contents:

[0091] After the system equipment is powered on and the connection is established, the master node represented by the master drone and the slave node represented by the slave drone perform two-way transmission and reception of time synchronization messages;

[0092] According to the sending and receiving timestamps of the time synchronization message, the total round-trip delay between the two drones is calculated; if the delays in the two node directions are the same, the one-way delay is calculated based on the total round-trip delay, and the time deviation from the drone to the master drone is obtained;

[0093] The slave drone adjusts its local time according to the time deviation to synchronize the time with the master drone.

[0094] Specifically, in this embodiment, once the master node (master drone) and the slave node (slave drone) establish a connection, the master-slave nodes (Master-Slave) will send and receive time synchronization messages in both directions, and the total round-trip delay between the two devices is calculated based on the sending and receiving timestamps of the time synchronization messages. If the delays in both directions are the same, the total round-trip delay divided by 2 is the one-way delay, based on which the time deviation from the drone to the master drone can be obtained. The slave drone adjusts its local time according to the time deviation to achieve time synchronization with the master drone.

[0095] In summary, this application can achieve frequency synchronization and time synchronization through the above-mentioned high-precision frequency unification and low-latency alignment method, so as to further ensure that each drone performs tasks at a unified time node, thereby achieving high-reliability and low-latency communication between nodes. In addition, the main control system issues instructions to each sub-node terminal through wireless communication, and receives execution status feedback from the sub-node terminal to ensure the accuracy of instruction execution, so as to obtain the actual test drone cluster time synchronization error within 0.1 milliseconds.

[0096] In an embodiment provided in the present application, the highly dynamic and reliable data link technology includes: using a TDD-based multi-access channel resource allocation method to make the communication process between the main control system and multiple sub-node terminals biased towards physical layer data processing, and sending control instructions by broadcasting to minimize communication time management, thereby obtaining the minimum communication time of the system;

[0097] The minimum communication time of the system is related to the code rate and the wireless data transmission frame structure.

[0098] In an embodiment provided in the present application, the highly dynamic and reliable data link technology also includes: using data framing encoding transmission to transmit data, and defining a data frame structure, specifically including: a frame header is defined as 1 byte, a synchronization is defined as 1 byte, a device ID is defined as 1 byte, data is defined as 7 bytes, and a check is defined as 2 bytes.

[0099] Specifically, the present application adopts a TDD-based multiple access channel resource allocation method to make the entire communication process more inclined to physical layer data processing, and sending instructions by broadcasting is conducive to minimizing the management of communication time. In addition to the code rate, the system minimum communication time is also related to the wireless data transmission frame structure. In order to improve the reliability and accuracy of data transmission, the present application adopts data framing coding transmission. The data frame structure defined by the drone data transmission includes: frame header (Head) 1 byte, synchronization (Sync) 1 byte, device ID 1 byte, data (data) 7 bytes, check (CRC) 2 bytes, a total of five parts, a total of 12Byte (96bit). Through the above method, high-reliability communication with low bit error rate can be achieved, ensuring the accurate transmission and execution of control instructions in complex electromagnetic environments.

[0100] In an embodiment provided in the present application, each sub-node terminal receives the control instruction and performs a task, specifically:

[0101] The sub-node UAV represented by each sub-node terminal measures the attitude angle and angular velocity of the sub-node UAV through the inertial measurement unit according to the flight path and mission parameters, and adjusts the pulse width modulation speed of the brushless motor at different positions of the sub-node UAV through the cascade PID controller.

[0102] Specifically, after receiving the control command, the sub-node UAV (sub-node terminal) starts to execute the task: the flight controller of the sub-node UAV measures the attitude angle and angular velocity of the UAV through the inertial measurement unit (IMU) according to the flight path and mission parameter requirements, and adjusts the pulse width modulation (PWM) speed of the brushless motor at different positions of the UAV through the cascade PID controller to maintain the stability of the UAV's attitude. In addition, during the execution process, the sensors of each UAV continuously monitor the flight status and feed back real-time data to the main control system. For example, the high-precision RTK (Real-Time Kinematic) is used to update the UAV position information in real time, and compare it with the set value, and pass the deviation to the main controller to ensure accurate following of the route.

[0103] In an embodiment provided in the present application, anti-interference training is performed using the highly dynamic and reliable data link technology, including:

[0104] After the system equipment is powered on and a connection is established, the data link evaluates the signal-to-noise ratio at different frequencies and performs rapid frequency hopping when sending control commands.

[0105] Specifically, during the execution of the mission, the multi-point high-reliability dynamic networking system uses high-dynamic reliable data link technology to ensure the stability and accuracy of communication. After the equipment is powered on and the connection is established, the data link begins to evaluate the signal-to-noise ratio of different frequencies and quickly hops when sending control instructions, so that the data link can maintain a low bit error rate in a complex electromagnetic environment and achieve reliable data transmission. The communication module in the main control system can effectively resist interference, ensure the continuity of control instructions and data, and keep the time synchronization error within 0.1 milliseconds.

[0106] In summary, the multi-point high-reliability dynamic networking system of this application is suitable for military operations, industrial monitoring, environmental protection, logistics and distribution, etc. Through precise time synchronization and highly reliable data link technology, the system can achieve efficient collaborative work of drone clusters in various complex environments, greatly improving the safety and efficiency of mission execution.

[0107] Example 2

[0108] See also Figure 2 The embodiment of the present application provides a high-precision UAV cluster control system, which is applied to a high-precision UAV cluster control method as described above, including:

[0109] System building module, used to build a multi-point high-reliability dynamic networking system consisting of a main control system and multiple sub-node terminals;

[0110] A node networking module, which performs system initialization and node networking based on the multi-point high-reliability dynamic networking system;

[0111] The time synchronization module is used to use a high-precision frequency unification method to perform frequency synchronization and a low-latency alignment method to perform time synchronization after the system equipment is powered on and a connection is established, and obtain a synchronized standard time signal; after the node networking is completed, the main control system broadcasts the standard time signal to all sub-node terminals; each sub-node terminal performs time calibration based on the standard time signal and obtains a synchronization time signal;

[0112] An instruction issuing module, wherein the main control system issues control instructions to each sub-node terminal based on a synchronous time signal;

[0113] A task execution module is used for each sub-node terminal to receive the control instruction and execute the task, and continuously monitor the flight status during the task execution, and feed back the real-time data to the main control system; the main control system adjusts the flight path according to the real-time data, and during the task execution of each sub-node terminal, the main control system uses the high dynamic and reliable data link technology to perform anti-interference training;

[0114] The control instructions include mission parameters, flight paths and execution timing.

[0115] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0116] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0117] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0118] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technical personnel in this field can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A high-precision UAV cluster control method, characterized by: The steps include: Build a multi-point high-reliability dynamic networking system consisting of a main control system and multiple sub-node terminals; Perform node networking based on the multi-point high-reliability dynamic networking system; After the system equipment is powered on and connected, a high-precision frequency unification method is used for frequency synchronization and a low-delay alignment method is used for time synchronization, and a synchronized standard time signal is obtained; After the node networking is completed, the main control system broadcasts the standard time signal to all sub-node terminals; Each sub-node terminal performs time calibration based on the standard time signal and obtains a synchronous time signal; The main control system issues control instructions to each sub-node terminal based on the synchronous time signal; Each sub-node terminal receives the control instruction and executes the task, and continuously monitors the flight status during the task execution, and feeds back the real-time data to the main control system; The main control system regulates the flight path based on real-time data; During the execution of tasks by each sub-node terminal, the main control system uses highly dynamic and reliable data link technology to conduct anti-interference training; The control instructions include mission parameters, flight paths and execution timing.

2. A high-precision UAV cluster control method according to claim 1, characterized in that: The multi-point high-reliability dynamic networking system adopts a star topology structure and is composed of a self-organizing network software-defined radio baseband, a self-organizing network radio frequency, an interface module and a power supply module.

3. A high-precision UAV cluster control method according to claim 1, characterized in that: The node networking comprises: The main control system starts and performs system initialization; After the system is initialized, it manages the self-organizing network process and connects all sub-node terminals to the network through wireless communication; The network topology is dynamically allocated and adjusted, and the main control system uses broadcasting to send messages, and determines the number of sub-nodes and the communication quality through the response of each sub-node terminal.

4. A high-precision UAV cluster control method according to claim 1, characterized in that: The high-precision frequency unification method is used to perform frequency synchronization, including: After the system equipment is powered on, it enters the free-running state and inputs a high-precision calibration pulse; The voltage-controlled crystal oscillator outputs an uncorrected standard frequency; After receiving the timing signal, the system equipment obtains the frequency difference by comparing the high-precision calibration pulse with the standard frequency; The frequency difference is passed through a Kalman filter to converge to obtain an optimal adjustment amount; Writing the optimal adjustment amount into a digital-to-analog converter to obtain an analog voltage signal; Inputting the analog voltage signal into the voltage-controlled crystal oscillator, and correcting the output frequency of the voltage-controlled crystal oscillator according to different voltage values; The output frequency of the voltage-controlled crystal oscillator is continuously corrected to keep it consistent with the input high-precision calibration pulse.

5. A high-precision UAV cluster control method according to claim 1, characterized in that: The low-latency alignment method is used for time synchronization, including: After the system equipment is powered on and the connection is established, the master node represented by the master drone and the slave node represented by the slave drone perform two-way transmission and reception of time synchronization messages; According to the sending and receiving timestamps of the time synchronization message, the total round-trip delay between the two drones is calculated; if the delays in the two node directions are the same, the one-way delay is calculated based on the total round-trip delay, and the time deviation from the drone to the master drone is obtained; The slave drone adjusts its local time according to the time deviation to synchronize the time with the master drone.

6. A high-precision UAV cluster control method according to claim 1, characterized in that: The highly dynamic and reliable data link technology includes: The TDD-based multi-access channel resource allocation method is used to make the communication process between the main control system and multiple sub-node terminals biased towards physical layer data processing, and control instructions are sent by broadcasting to minimize communication time, thereby obtaining the minimum communication time of the system; The minimum communication time of the system is related to the code rate and the wireless data transmission frame structure.

7. A high-precision UAV cluster control method according to claim 1, characterized in that: The highly dynamic and reliable data link technology also includes: using data framing coding transmission to transmit data, and defining the data frame structure, specifically: the frame header is 1 byte, the synchronization is 1 byte, the device ID is 1 byte, the data is 7 bytes, and the check is 2 bytes.

8. A high-precision UAV cluster control method according to claim 1, characterized in that: Each sub-node terminal receives the control instruction and executes the task, including: The sub-node UAV represented by each sub-node terminal measures the attitude angle and angular velocity of the sub-node UAV through the inertial measurement unit according to the flight path and mission parameters, and adjusts the pulse width modulation speed of the brushless motor at different positions of the sub-node UAV through the cascade PID controller.

9. A high-precision UAV cluster control method according to claim 1, characterized in that: The anti-interference training using the highly dynamic and reliable data link technology includes: After the system equipment is powered on and a connection is established, the data link evaluates the signal-to-noise ratio at different frequencies and performs rapid frequency hopping when sending control commands.

10. A high-precision UAV cluster control system, applied to a high-precision UAV cluster control method as claimed in any one of claims 1 to 9, characterized in that: include: System building module, used to build a multi-point high-reliability dynamic networking system consisting of a main control system and multiple sub-node terminals; A node networking module, which performs system initialization and node networking based on the multi-point high-reliability dynamic networking system; The time synchronization module is used to use a high-precision frequency unification method to perform frequency synchronization and a low-latency alignment method to perform time synchronization after the system equipment is powered on and a connection is established, and obtain a synchronized standard time signal; after the node networking is completed, the main control system broadcasts the standard time signal to all sub-node terminals; each sub-node terminal performs time calibration based on the standard time signal and obtains a synchronization time signal; An instruction issuing module, wherein the main control system issues control instructions to each sub-node terminal based on a synchronous time signal; A task execution module is used for each sub-node terminal to receive the control instruction and execute the task, and continuously monitor the flight status during the task execution, and feed back the real-time data to the main control system; the main control system adjusts the flight path according to the real-time data, and during the task execution of each sub-node terminal, the main control system uses the high dynamic and reliable data link technology to perform anti-interference training; The control instructions include mission parameters, flight paths and execution timing.

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