Take-off control method for heterogeneous fixed-wing unmanned aerial vehicle formation
By grouping and prioritizing the mission type of drone formations, forming a launch formation, and conducting self-test and mission planning, the problems of long time and high collision risks in large-scale drone formation takeoff control are solved, and the safety, order and efficiency of drone cluster takeoff are achieved.
Patent Information
- Application Number
- CN202411730951.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-29
- Publication Date
- 2025-02-28
AI Technical Summary
The existing technology has problems of long takeoff time and high risk of drone collision in large-scale fixed-wing drone formation takeoff control, which is difficult to meet the ever-changing battlefield situation and the characteristics of "fast, precise and intact" drones.
The drone formation is divided into several groups of drone queues according to the mission type and sorting the drone queues according to the priority of the mission type to form a launch formation. Then, all drones are self-tested, the main mission is obtained and the flight path and submission are generated. Finally, the drone takes off at intervals according to the queue sorting.
It realizes the safety, orderly and efficient takeoff of drone clusters, avoids drone collisions, ensures the smooth execution of missions, and meets the needs of rapid response.
Smart Images
Figure CN119536366A_ABST
Abstract
Description
Technical Field
[0001] The disclosed embodiments relate to the technical field of unmanned aerial vehicle takeoff control, and in particular to a takeoff control method for a heterogeneous fixed-wing unmanned aerial vehicle formation. Background Art
[0002] The characteristics of UAVs, such as "fast, precise and cheap", have led to their widespread use. In recent years, with the emergence of technologies such as communication networking, intelligent decision-making and collaborative control, a high-level mode of UAV use has gradually emerged - cluster UAV technology. At present, the takeoff of large-scale fixed-wing UAV formations is mainly achieved through single-machine control and one-by-one takeoff. For the takeoff control of hundreds of cluster UAVs, there are shortcomings such as long takeoff time and high risk of UAV collision, which is difficult to meet the ever-changing battlefield situation and the characteristics of UAVs, such as "fast, precise and cheap".
[0003] Therefore, it is necessary to improve one or more problems existing in the above-mentioned related technical solutions.
[0004] It should be noted that this section is intended to provide background or context for the technical solutions of the present disclosure stated in the claims. The description herein is not admitted to be prior art by virtue of being included in this section. Summary of the invention
[0005] The purpose of the embodiments of the present disclosure is to provide a takeoff control method for a heterogeneous fixed-wing UAV formation, thereby overcoming one or more problems caused by the limitations and defects of the relevant technology at least to a certain extent.
[0006] According to an embodiment of the present disclosure, a takeoff control method for a heterogeneous fixed-wing UAV formation is provided, the method comprising: Dividing the drone formation into a plurality of drone queues according to the mission type of each drone, and sorting the drone queues according to the priority of the mission type to obtain a launch formation; performing self-check on all the drones according to the launch formation; Obtaining the main tasks corresponding to each of the drone queues, generating the corresponding flight paths according to the main tasks, generating a plurality of subtasks according to the flight path planning, and binding the subtasks to each of the drones; The drones take off according to the order of the drone queues; wherein the drones in each group of the drone queues take off at intervals.
[0007] Further, the step of dividing the drone formation into a plurality of drone queues according to the mission type of each drone, and sorting the drone queues according to the priority of the mission type to obtain a launch formation includes: The drone formation is divided into several drone queues according to the mission type of each drone; The UAV queue is arranged from front to back according to the priority of the task type, and the UAVs in the UAV queue are arranged in sequence from left to right to obtain the launch formation.
[0008] Furthermore, the method further comprises: Establish a communication connection between the UAV formation and the ground display and control system.
[0009] Furthermore, the step of performing self-check on all the drones according to the launch formation includes: The ground display and control system obtains telemetry information of each of the UAVs, and displays various states of the UAVs on the ground display and control system in combination with the launch formation; The ground display and control system sends a self-check instruction to each of the UAVs, and each of the UAVs performs a self-check according to the self-check instruction to complete the self-check.
[0010] Furthermore, if the self-check fails, the drone is troubleshooted, and the drone is self-checked again after the troubleshooting is done; If the fault cannot be eliminated, it will be marked as an abnormal state, and the drone will not participate in the subsequent mission process.
[0011] Furthermore, in the ground display and control system, when the UAV is in position, it is filled with blue; when the UAV performs a self-check, it is filled with yellow; when the UAV self-check succeeds, it is filled with green; and when the UAV self-check fails, it is filled with red.
[0012] Further, the steps of obtaining the main tasks corresponding to the respective drone queues, generating the corresponding flight paths according to the main tasks, generating a plurality of subtasks according to the flight path planning, and binding the subtasks to the respective drones include: The ground display and control system performs task allocation on each of the UAV queues to obtain the main task corresponding to each of the UAV queues; The ground display and control system generates a flight path corresponding to each of the UAV queues according to the main task; The ground display and control system generates a plurality of subtasks according to the number of the drones in each of the drone queues and the flight path planning; The ground display and control system binds each of the subtasks to the corresponding UAV.
[0013] Furthermore, the step of the drone taking off according to the sequence of the drone queue includes: According to the order of the drone queues, starting from the first group of the drone queues, the odd-numbered positions and the even-numbered positions in each drone queue take off alternately at intervals of a first preset time length; wherein the odd-numbered positions are sent first, and the even-numbered positions are sent later; After one group of the drone queues has taken off, the next group of the drone queues will take off at an interval of a second preset time until the last group of the drone queues has taken off.
[0014] Furthermore, the method further comprises: After the self-test is completed, pull out the insulating pin of the igniter of the drone.
[0015] The technical solution provided by the embodiments of the present disclosure may have the following beneficial effects: In the embodiment of the present disclosure, through the above-mentioned takeoff control method for heterogeneous fixed-wing UAV formation, on the one hand, the UAV formation is divided into several groups of UAV queues according to the task type of each UAV, and the UAV queues are sorted according to the priority of the task type to obtain the launch formation; according to the launch formation, all UAVs are self-checked; the main task corresponding to each UAV queue is obtained, and the corresponding flight path is generated according to the main task, and several subtasks are generated according to the flight path planning, and the subtasks are bound to each UAV; the UAV takes off according to the sorting of the UAV queue. On the other hand, the ground display and control system displays various states of the UAV in real time, which is convenient for ground personnel to self-check the state of the UAV and troubleshoot the self-check problem before launching. During the launch of the UAV cluster, the launch sequence keeps the odd and even number intervals of the first preset time length seconds to alternately launch, avoid collisions during the launch process of the UAV, and ensure the safe and orderly launch of the cluster UAV. When the UAV self-check status is good, the task binding is performed, and the abnormal state of individual UAVs will not affect the overall UAV launch process, ensuring the smooth execution of the task. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] The accompanying drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the specification are used to explain the principles of the present disclosure. Obviously, the accompanying drawings described below are only some embodiments of the present disclosure, and for ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without creative work.
[0017] Figure 1 A step diagram showing a takeoff control method for a heterogeneous fixed-wing UAV formation in an exemplary embodiment of the present disclosure; Figure 2 A specific flow chart showing a takeoff control method for a heterogeneous fixed-wing UAV formation in an exemplary embodiment of the present disclosure; Figure 3A schematic diagram showing a UAV launch formation in an exemplary embodiment of the present disclosure; Figure 4 A schematic diagram showing the state of a drone in an exemplary embodiment of the present disclosure; Figure 5 A schematic diagram showing a drone ready for takeoff in an exemplary embodiment of the present disclosure; Figure 6 A schematic diagram showing a drone launching process in an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION
[0018] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that the disclosure will be more comprehensive and complete and to fully convey the concepts of the example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
[0019] In addition, the accompanying drawings are only schematic illustrations of the embodiments of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the figures represent the same or similar parts, and their repeated descriptions will be omitted. Some of the block diagrams shown in the accompanying drawings are functional entities and do not necessarily correspond to physically or logically independent entities.
[0020] This example embodiment provides a takeoff control method for a heterogeneous fixed-wing UAV formation. Figure 1 As shown in , the takeoff control method for a heterogeneous fixed-wing UAV formation may include: steps S101 to S104.
[0021] Step S101: dividing the drone formation into a plurality of drone queues according to the mission type of each drone, and sorting the drone queues according to the priority of the mission type to obtain a launch formation; Step S102: performing self-check on all the drones according to the launch formation; Step S103: obtaining the main tasks corresponding to the respective drone queues, generating the corresponding flight paths according to the main tasks, generating a plurality of subtasks according to the flight path planning, and binding the subtasks to the respective drones; Step S104: the drones take off according to the order of the drone queues; wherein the drones in each group of the drone queues take off at intervals.
[0022] Through the above-mentioned takeoff control method for heterogeneous fixed-wing UAV formation, on the one hand, the UAV formation is divided into several groups of UAV queues according to the task type of each UAV, and the UAV queues are sorted according to the priority of the task type to obtain the launch formation; according to the launch formation, all UAVs are self-checked; the main tasks corresponding to each UAV queue are obtained, and the corresponding flight paths are generated according to the main tasks, and several subtasks are generated according to the flight path planning, and the subtasks are bound to each UAV; the UAV takes off according to the sorting of the UAV queue. On the other hand, the ground display and control system displays the various states of the UAV in real time, which is convenient for ground personnel to self-check the state of the UAV and troubleshoot the self-check problems before launching. During the launch of the UAV cluster, the launch sequence keeps the odd and even number intervals of the first preset time length seconds to alternately launch, avoid collisions during the launch process of the UAV, and ensure the safe and orderly launch of the cluster UAV. When the UAV self-check status is good, the task binding is performed, and the abnormal status of individual UAVs will not affect the overall UAV launch process, ensuring the smooth execution of the task.
[0023] Next, we will refer to Figures 1 to 6 Each step of the above-mentioned takeoff control method for a heterogeneous fixed-wing UAV formation in this example implementation is described in more detail.
[0024] In step S101, Figure 2 As shown, it is a specific flow chart of the takeoff control method for a heterogeneous fixed-wing UAV formation.
[0025] The drone formation is grouped according to the mission type. After grouping, the drone groups are placed from front to back and from left to right according to the mission priority (signal relay mission has the highest priority, electronic equipment reconnaissance and scanning mission has the second priority, and ordinary target detection and recognition mission has the lowest priority). The drone launch formation is a single group of n drones, which are staggered from front to back. Figure 3 Shown is a schematic diagram of the drone launch formation.
[0026] Specifically, a certain heterogeneous fixed-wing UAV formation has 50 aircraft, including four types: relay aircraft, laser radar UAV, camera payload UAV, and infrared payload UAV. Among them, the relay aircraft performs signal relay tasks, with a total of 2 aircraft, arranged in the first row of the formation array; the laser radar UAV performs electronic reconnaissance tasks, first reconnaissance and scanning of radar and other electronic equipment in the mission area, and timely discovers the opponent's electronic reconnaissance equipment in the mission area, with a total of 8 aircraft, arranged in the first row of the formation array; the camera payload UAV and infrared payload UAV perform environmental reconnaissance tasks, detect and identify ordinary targets in the mission area, with a total of 40 aircraft, arranged in the second, third, fourth, and fifth rows of the formation array.
[0027] In step S102, the ground display and control system establishes a communication connection with the fixed-wing UAV formation (i.e., the UAV formation). The ground display and control system displays the self-check status of the fixed-wing UAV formation, reads back the self-check status information of n aircraft (i.e., UAVs) in groups, and performs pre-launch process execution control.
[0028] Specifically, the ground display and control system obtains telemetry information from each group of aircraft, and the drones in the launch formation are displayed in blue to indicate that the drones are in position.
[0029] Enter the self-checking stage through one-button self-checking. The drone in the self-checking state is displayed in yellow. If the drone self-checks successfully, it will be filled with green and enter the next step; If the self-check fails, the drone will be filled with red and display a self-check error message. After the fault is eliminated, the self-check will be performed again. If the fault cannot be eliminated temporarily, it will be marked as an abnormal state and will not participate in the subsequent task process. Figure 4 The following is a schematic diagram of the status of the UAV.
[0030] In step S103, after all devices have completed self-checking, the insulating pin of the igniter is pulled out, and the ground wire control displays a red circle on the drone whose insulating pin has been successfully pulled out.
[0031] The ground display and control system assigns tasks to the swarm UAVs, plans the flight path of each aircraft, and generates multiple tasks.dat from the planning results (e.g., the flight path of the first UAV is represented as task 1.dat, the flight path of the second UAV is represented as task 2.dat, ... the flight path of the nth UAV is represented as task n.dat); According to the mission type, select the drones suitable for completing the mission and the corresponding quantity, and set the corresponding mission parameters for the selected drones; The ground display and control system displays the take-off readiness status of each aircraft in a dot matrix format.
[0032] like Figure 5 As shown, this is a schematic diagram of the drone ready to take off.
[0033] In step S104, the drones are distributed in a launch formation, from front to back, starting from the first row, and the odd and even positions are launched alternately at intervals of 3 seconds, with the odd positions being launched first and the even positions being launched later. It takes a total of 6 seconds for one row to launch.
[0034] After a single row is launched, the next row will be launched after an interval of 3 seconds. The launch sequence keeps the odd and even positions alternately launched at an interval of 3 seconds until the last row of drones is launched.
[0035] like Figure 6 Shown is a schematic diagram of the UAV launch process.
[0036] In a specific embodiment, the swarm drones to be launched are 2 relay drones, 25 camera payload drones, 15 infrared sensor drones, and 8 lidar drones, for a total of 50 drones. The climbing rate during the flight is 6m / s, and the safe altitude interval is 18 meters. The launch interval of the swarm drones is 3 seconds.
[0037] Fixed-wing UAV launch formation arrangement: The drone formations are grouped according to the mission type. After grouping, the drone groups are placed from front to back and from left to right according to the mission priority. The arrangement order is 2 relay aircraft, 25 camera payload drones, 15 infrared sensor drones, and 8 lidar drones. The drone launch formation is a single row of 10 drones, for a total of 5 rows.
[0038] The ground display and control system establishes a communication connection with the fixed-wing UAV formation.
[0039] The ground display and control system displays the self-check status of the fixed-wing UAV formation, and reads back the self-check status information and performs pre-launch process execution control for two relay aircraft, 25 camera payload UAVs, 15 infrared sensor UAVs, and eight lidar UAVs in groups.
[0040] The ground display and control system obtains telemetry information from each group of aircraft, and the drones in the launch formation are displayed in blue to indicate that the drones are in position.
[0041] Enter the self-checking stage through one-button self-checking. The drone in the self-checking state is displayed in yellow. If the drone self-checks successfully, it will be filled with green and enter the next step; If the self-check fails, the drone will be filled with red and display a self-check error message. After the fault is eliminated, the self-check will be performed again. If the fault cannot be eliminated temporarily, it will be marked as an abnormal state and will not participate in the subsequent mission process.
[0042] After all equipment has completed self-check, pull out the insulating pin of the igniter, and the ground wire control will display a red circle on the drone whose insulating pin has been successfully pulled out.
[0043] UAV formation task allocation and binding: The ground display and control system assigns tasks to the swarm UAVs. The task types are divided into task 1, task 2…task 3, task 4; the flight path of each aircraft in task 1 is planned, and the planning results are generated as 1-1, 1-2, According to the task type, select the drones suitable for completing the task and the corresponding quantity, and give the selected drones relaying the task parameters corresponding to task 1-1 to drone 1 and task 1-2 to drone 2; Follow the above steps to bind Task 2, Task 3, and Task 4.
[0044] The ground display and control system displays the take-off readiness status of each aircraft in a dot matrix format.
[0045] Swarm UAV launch process control: The drones are arranged in a launch formation, from front to back, starting from the first row, the odd and even positions are launched alternately every 3 seconds, the odd positions are launched first, and the even positions are launched later, and it takes a total of 6 seconds for one row to launch; After a single row is launched, the next row will be launched after an interval of 3 seconds. The launch sequence maintains an odd and even number interval of 3 seconds, alternating launches until the last row of drones is launched, which takes a total of 30 seconds.
[0046] Through the above-mentioned takeoff control method for heterogeneous fixed-wing UAV formation, on the one hand, the UAV formation is divided into several groups of UAV queues according to the task type of each UAV, and the UAV queues are sorted according to the priority of the task type to obtain the launch formation; according to the launch formation, all UAVs are self-checked; the main tasks corresponding to each UAV queue are obtained, and the corresponding flight paths are generated according to the main tasks, and several subtasks are generated according to the flight path planning, and the subtasks are bound to each UAV; the UAV takes off according to the sorting of the UAV queue. On the other hand, the ground display and control system displays the various states of the UAV in real time, which is convenient for ground personnel to self-check the state of the UAV and troubleshoot the self-check problems before launching. During the launch of the UAV cluster, the launch sequence keeps the odd and even number intervals of the first preset time length seconds to alternately launch, avoid collisions during the launch process of the UAV, and ensure the safe and orderly launch of the cluster UAV. When the UAV self-check status is good, the task binding is performed, and the abnormal status of individual UAVs will not affect the overall UAV launch process, ensuring the smooth execution of the task.
[0047] It should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc. in the above description indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present disclosure and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the embodiments of the present disclosure.
[0048] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present disclosure, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.
[0049] In the embodiments of the present disclosure, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances.
[0050] In the embodiments of the present disclosure, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes the first feature being directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.
[0051] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification.
[0052] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. This application is intended to cover any modification, use or adaptation of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present disclosure are indicated by the appended claims.
Claims
1. A takeoff control method for a heterogeneous fixed-wing UAV formation, characterized in that: The method includes: Dividing the drone formation into a plurality of drone queues according to the mission type of each drone, and sorting the drone queues according to the priority of the mission type to obtain a launch formation; performing self-check on all the drones according to the launch formation; Obtaining the main tasks corresponding to each of the drone queues, generating the corresponding flight paths according to the main tasks, generating a plurality of subtasks according to the flight path planning, and binding the subtasks to each of the drones; The drones take off according to the order of the drone queues; wherein the drones in each group of the drone queues take off at intervals.
2. The takeoff control method for a heterogeneous fixed-wing UAV formation according to claim 1, characterized in that: The step of dividing the drone formation into a plurality of drone queues according to the mission type of each drone, and sorting the drone queues according to the priority of the mission type to obtain a launch formation includes: The drone formation is divided into several drone queues according to the mission type of each drone; The UAV queue is arranged from front to back according to the priority of the task type, and the UAVs in the UAV queue are arranged in sequence from left to right to obtain the launch formation.
3. The takeoff control method for a heterogeneous fixed-wing UAV formation according to claim 1, characterized in that: The method further includes: Establish a communication connection between the UAV formation and the ground display and control system.
4. The takeoff control method for a heterogeneous fixed-wing UAV formation according to claim 3, characterized in that: The step of performing self-check on all the drones according to the launch formation includes: The ground display and control system obtains telemetry information of each of the UAVs, and displays various states of the UAVs on the ground display and control system in combination with the launch formation; The ground display and control system sends a self-check instruction to each of the UAVs, and each of the UAVs performs a self-check according to the self-check instruction to complete the self-check.
5. The takeoff control method for a heterogeneous fixed-wing UAV formation according to claim 4, characterized in that: If the self-check fails, troubleshoot the drone, and perform self-check again on the drone after troubleshooting; If the fault cannot be eliminated, it will be marked as an abnormal state, and the drone will not participate in the subsequent mission process.
6. The takeoff control method for a heterogeneous fixed-wing UAV formation according to claim 5, characterized in that: In the ground display and control system, when the UAV is in position, it is filled with blue; when the UAV performs a self-check, it is filled with yellow; when the UAV self-check succeeds, it is filled with green; when the UAV self-check fails, it is filled with red.
7. The takeoff control method for a heterogeneous fixed-wing UAV formation according to claim 5, characterized in that: The steps of obtaining the main tasks corresponding to the respective drone queues, generating the respective corresponding flight paths according to the main tasks, generating a plurality of subtasks according to the flight path planning, and binding the subtasks to the respective drones include: The ground display and control system performs task allocation on each of the UAV queues to obtain the main task corresponding to each of the UAV queues; The ground display and control system generates a flight path corresponding to each of the UAV queues according to the main task; The ground display and control system generates a plurality of subtasks according to the number of the drones in each of the drone queues and the flight path planning; The ground display and control system binds each of the subtasks to the corresponding UAV.
8. The takeoff control method for a heterogeneous fixed-wing UAV formation according to claim 7, characterized in that: The step of the drone taking off according to the sequence of the drone queue includes: According to the order of the drone queues, starting from the first group of the drone queues, the odd-numbered positions and the even-numbered positions in each drone queue take off alternately at intervals of a first preset time length; wherein the odd-numbered positions are sent first, and the even-numbered positions are sent later; After one group of the drone queues has taken off, the next group of the drone queues will take off at an interval of a second preset time until the last group of the drone queues has taken off.
9. The takeoff control method for a heterogeneous fixed-wing UAV formation according to claim 1, characterized in that: The method further includes: After the self-test is completed, pull out the insulating pin of the igniter of the drone.