Unmanned aerial vehicle cluster formation control method and device

Abstract

The invention provides an unmanned aerial vehicle cluster formation control method and device, and the method comprises the steps: obtaining the initial lead aircraft longitude and latitude of a lead aircraft, building an initial coordinate system according to the initial lead aircraft longitude and latitude of the lead aircraft, and obtaining the initial wing aircraft coordinate of each wing aircraft on the initial coordinate system; according to the initial wing plane coordinates of each wing plane, initial wing plane longitudes and latitudes corresponding to each wing plane are obtained; the lead aircraft is moved to the initial lead aircraft longitude and latitude, and each wing aircraft is moved to the position of the corresponding initial wing aircraft longitude and latitude; obtaining the target lead aircraft longitude and latitude of the lead aircraft in real time, and obtaining the target wing aircraft longitude and latitude corresponding to each wing aircraft according to the target lead aircraft longitude and latitude; moving the lead aircraft towards the target lead aircraft longitude and latitude, and moving each wing aircraft towards the corresponding target wing aircraft longitude and latitude; through the method, formation control of the unmanned aerial vehicle cluster in flight is simply and efficiently realized.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle cluster control, and in particular to a method and device for controlling a formation of an unmanned aerial vehicle cluster. Background Art

[0002] A drone swarm refers to a collection of multiple drones that are jointly performing a task and under unified command. Drone swarms can be interconnected through network technology to form a centralized and unified whole, thereby achieving collaborative completion of specific tasks. Formation flight is the basis and basic form for drone swarms to perform tasks. Formation control refers to the technology of controlling drones to form and maintain a certain geometric configuration during the execution of operations in order to adapt to platform performance, flight environment and operational requirements.

[0003] At present, there are many methods to achieve UAV swarm formation control. Some are based on the calculation of formation control laws and UAV motion models for control; some establish nonlinear model predictive controllers based on the motion model of the UAV swarm, which requires the construction of deep neural network controllers; some set the leader's broadcast information and determine the control strategy based on the relative track relationship between the leader and wingman; the above methods are relatively complex to realize and difficult to implement.

[0004] In view of this, overcoming the defects of the prior art is an urgent problem to be solved in the field of this technology. Summary of the invention

[0005] The technical problem to be solved by the present invention is how to achieve relatively simple and efficient formation control of a swarm of drones.

[0006] The present invention adopts the following technical solution: In a first aspect, a method for controlling a formation of a drone swarm is provided, comprising: Obtain the initial longitude and latitude of the leader, establish an initial coordinate system based on the initial longitude and latitude of the leader, and obtain the initial wingman coordinates of each wingman on the initial coordinate system; Obtain the initial wingman longitude and latitude corresponding to each wingman according to the initial wingman coordinates of each wingman; Move the leader to the initial leader's longitude and latitude, and move each wingman to the corresponding position of the initial wingman's longitude and latitude; Acquire the target leader latitude and longitude of the leader in real time, and acquire the target wingman latitude and longitude corresponding to each wingman according to the target leader latitude and longitude; The leader aircraft is moved toward the target leader aircraft longitude and latitude, and each wingman aircraft is moved toward the corresponding target wingman aircraft longitude and latitude.

[0007] Preferably, the step of acquiring the target leader latitude and longitude of the leader in real time, and acquiring the target wingman latitude and longitude corresponding to each wingman according to the target leader latitude and longitude, specifically includes: Establishing a real-time coordinate system based on the latitude and longitude of the target aircraft; Acquire the relative position change of the lead aircraft according to the target lead aircraft longitude and latitude and the initial lead aircraft longitude and latitude; Obtaining the wingman relative coordinates corresponding to each wingman in the real-time coordinate system according to the initial wingman coordinates corresponding to each wingman and the relative position transformation; According to the wingman relative coordinates corresponding to each wingman in the real-time coordinate system, the longitude and latitude of the target wingman corresponding to each wingman are obtained.

[0008] Preferably, establishing a real-time coordinate system based on the longitude and latitude of the target aircraft specifically includes: Taking the longitude and latitude of the target lead aircraft as the origin of the longitude and latitude of the target lead aircraft; The nose direction of the lead aircraft at the target lead aircraft longitude and latitude is used as the Y axis of the real-time coordinate system, and the horizontal line perpendicular to the Y axis of the real-time coordinate system and passing through the target lead aircraft longitude and latitude is used as the X axis of the real-time coordinate system.

[0009] Preferably, the step of acquiring the relative position change of the lead aircraft according to the target lead aircraft longitude and latitude and the initial lead aircraft longitude and latitude specifically includes: The calculation formula of the relative position transformation is: ; in, is the latitude in the initial long-distance longitude and latitude of the long-distance aircraft, is the longitude in the initial long-distance latitude and longitude, is the latitude of the target aircraft, is the longitude and latitude of the target aircraft, R is the radius of the earth, is the change in the horizontal coordinate of the relative position transformation, is the change in the ordinate of the relative position transformation.

[0010] Preferably, obtaining the wingman relative coordinates corresponding to each wingman in the real-time coordinate system according to the initial wingman coordinates corresponding to each wingman and the relative position transformation specifically includes: The calculation formula of the wingman relative coordinates corresponding to each wingman in the real-time coordinate system is: ; in, is the horizontal coordinate of the initial wingman coordinate, is the ordinate of the initial wingman coordinate, is the horizontal coordinate of the wingman's relative coordinate, is the ordinate of the wingman's relative coordinates, is the deflection angle, is the change in the horizontal coordinate of the relative position transformation, is the change in the ordinate of the relative position transformation.

[0011] Preferably, obtaining the longitude and latitude of the target wingman corresponding to each wingman according to the wingman relative coordinates corresponding to each wingman in the real-time coordinate system specifically includes: The calculation formula of the target wingman's latitude and longitude is: ; in, is the latitude of the target wingman, is the longitude and latitude of the target wingman, R is the radius of the earth, is the latitude of the initial wingman latitude and longitude, is the longitude of the initial wingman latitude and longitude, is the horizontal coordinate of the wingman's relative coordinate, It is the vertical coordinate of the wingman's relative coordinate.

[0012] Preferably, the step of moving the leader aircraft toward the target leader aircraft longitude and latitude, and moving each wingman aircraft toward the corresponding target wingman aircraft longitude and latitude, further includes: Real-time judgment on whether the lead aircraft has received the return command; If the lead aircraft obtains the return order, the longitude and latitude of the target lead aircraft are adjusted to the longitude and latitude of the return destination, and the longitude and latitude of the target wingman aircraft are adjusted to the longitude and latitude of the return destination; The leader aircraft is moved toward the adjusted target leader aircraft longitude and latitude, and each wingman aircraft is moved toward the adjusted target wingman aircraft longitude and latitude.

[0013] Preferably, the step of establishing an initial coordinate system according to the initial longitude and latitude of the lead aircraft specifically includes: The initial longitude and latitude of the lead aircraft are used as the coordinate origin of the initial coordinate system, the nose direction of the lead aircraft is used as the Y axis of the initial coordinate system, and the horizontal line perpendicular to the nose direction of the lead aircraft is used as the X axis of the initial coordinate system.

[0014] In a second aspect, a drone cluster formation control device is provided, comprising at least one processor and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the processor to execute the drone cluster formation control method.

[0015] In a third aspect, the present invention further provides a non-volatile computer storage medium, wherein the computer storage medium stores computer executable instructions, and the computer executable instructions are executed by one or more processors to complete the method described in the first aspect.

[0016] In a fourth aspect, a chip is provided, comprising: a processor and an interface, for calling and running a computer program stored in the memory from a memory, and executing the method of the first aspect.

[0017] According to a fifth aspect, a computer program product comprising instructions is provided. When the instructions are executed on a computer or a processor, the computer or the processor executes the method according to the first aspect.

[0018] In a sixth aspect, a drone cluster formation control system is provided, comprising a drone cluster formation control device as in the second aspect, and using a drone cluster formation control method as in the first aspect.

[0019] The present invention provides a method and device for controlling the formation of a cluster of unmanned aerial vehicles, which comprises the steps of obtaining the initial longitude and latitude of a leader aircraft, establishing an initial coordinate system according to the initial longitude and latitude of the leader aircraft, obtaining the initial wingman coordinates of each wingman aircraft on the initial coordinate system; obtaining the initial wingman longitude and latitude corresponding to each wingman aircraft according to the initial wingman coordinates of each wingman aircraft; moving the leader aircraft to the initial longitude and latitude of the leader aircraft, and moving each wingman aircraft to the position of the corresponding initial wingman longitude and latitude; obtaining the target longitude and latitude of the leader aircraft in real time, and obtaining the target wingman longitude and latitude corresponding to each wingman aircraft according to the target longitude and latitude of the leader aircraft; moving the leader aircraft toward the target longitude and latitude of the leader aircraft, and moving each wingman aircraft toward the corresponding target longitude and latitude of the wingman aircraft; and realizing the formation control of a cluster of unmanned aerial vehicles in flight in a simple and efficient manner through the above method. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 is a method flow chart of a method for controlling a formation of a drone cluster provided by an embodiment of the present invention; Figure 2 It is a schematic diagram of the flight position of a drone cluster in a drone cluster formation control method provided by an embodiment of the present invention; Figure 3It is a flow chart of a method for obtaining the longitude and latitude of a target wingman of each wingman in a method for controlling a formation of a drone cluster provided by an embodiment of the present invention; Figure 4 It is a schematic diagram of a UAV cluster transfer in a UAV cluster formation control method provided by an embodiment of the present invention; Figure 5 It is a flow chart of a method for establishing a real-time coordinate system of a UAV cluster formation control method provided by an embodiment of the present invention; Figure 6 It is a flow chart of a method for executing a return command in a method for controlling a formation of a drone cluster provided by an embodiment of the present invention; Figure 7 is a method flow chart of another method for controlling a formation of a drone cluster provided by an embodiment of the present invention; Figure 8 It is a method flow chart of bird collision warning of a UAV cluster formation control method provided by an embodiment of the present invention; Fig. 9 It is a UAV Reich model diagram of bird collision warning of another UAV cluster formation control method provided by an embodiment of the present invention; Fig.10 This is a schematic diagram of the relationship between the first bird neighboring layer and the drone neighboring layer of another drone cluster formation control method for bird collision warning provided by an embodiment of the present invention; Fig.11 1 is a schematic diagram of the relationship between the second type of bird neighboring layer and the drone neighboring layer of another drone cluster formation control method provided by an embodiment of the present invention; Fig.12 It is a schematic diagram of the relationship between a third bird neighboring layer and a drone neighboring layer in another method for controlling a formation of a drone cluster provided by an embodiment of the present invention; Fig.13 This is a schematic diagram of the relationship between a fourth bird neighboring layer and a drone neighboring layer in another method for controlling a formation of a drone cluster provided by an embodiment of the present invention; Fig.14 It is a schematic diagram of the relationship between the fifth bird neighboring layer and the drone neighboring layer of the bird collision warning of another drone cluster formation control method provided by an embodiment of the present invention; Fig.15 It is a method flow chart of bird collision warning of another method for controlling formation of drone clusters provided by an embodiment of the present invention; Fig.16 It is a method flow chart of bird collision warning of another method for controlling formation of drone clusters provided by an embodiment of the present invention; Fig.17It is a schematic diagram of a UAV cluster formation control device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0023] In the description of the present invention, it is necessary to understand that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present disclosure.

[0024] In the description of the present invention, the terms "first" and "second" are used only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present disclosure, unless otherwise specified, the meaning of "multiple" is two or more. In addition, for example, the same type of nouns may be described as two independent individuals by adding "A" and "B" at the end. In this case, the corresponding features defined as "A" and "B" are only used to distinguish the same type of individuals for description purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features.

[0025] As used herein, "about," "substantially," or "approximately" includes the stated value and an average value that is within an acceptable range of deviation from the particular value as determined by one of ordinary skill in the art taking into account the measurements in question and the errors associated with the measurement of the particular quantity (i.e., the limitations of the measurement system).

[0026] Unless the context requires otherwise, throughout the specification and claims, the term "including" is to be interpreted as open inclusion, that is, "including, but not limited to". In the description of the specification, the terms "one embodiment", "some embodiments", "exemplary embodiments", "examples", "specific examples" or "some examples" and the like are intended to indicate that specific features, structures, materials or characteristics associated with the embodiment or example are included in at least one embodiment or example of the present disclosure. The schematic representation of the above terms does not necessarily refer to the same embodiment or example. In addition, the specific features, structures, materials or characteristics may be included in any one or more embodiments or examples in any appropriate manner, that is, although they may be carried in the embodiments or examples of the above terms due to reasons such as the order and position of appearance, it is not limited to that they can be carried in combination by one embodiment or example.

[0027] In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0028] Embodiment 1: Embodiment 1 of the present invention provides a method for controlling a formation of a drone cluster, such as Figure 1 As shown, the method flow includes: In step 101, the initial longitude and latitude of the leader aircraft are obtained, an initial coordinate system is established according to the initial longitude and latitude of the leader aircraft, and the initial wingman coordinates of each wingman aircraft on the initial coordinate system are obtained.

[0029] In step 102, the initial wingman longitude and latitude corresponding to each wingman is obtained according to the initial wingman coordinates of each wingman.

[0030] In step 103, the leader is moved to the initial leader's longitude and latitude, and each wingman is moved to the corresponding position of the initial wingman's longitude and latitude.

[0031] In this embodiment, it is first necessary to read the configuration of the drone cluster to obtain the relationship configuration and formation information between the leader and the wingman. All drone clusters can be centrally controlled by a ground control station. In all drone clusters, at least one drone is a leader and the rest are wingmen. The wingmen and the leader maintain a fixed preset formation to adapt to the platform performance, flight environment and operational requirements, and ensure that the wingman follows the leader. The formation information includes the positional relationship between each wingman and the leader, as well as the actual position point information of the leader and each wingman.

[0032] In this embodiment, the initial leader aircraft longitude and latitude are the longitude and latitude of the initial position of the leader aircraft after takeoff, and the initial wingman aircraft coordinates are used to represent the relative position between each wingman aircraft and the leader aircraft. The initial wingman aircraft longitude and latitude are the longitude and latitude of the initial position of the corresponding wingman aircraft after takeoff.

[0033] Among them, in the configuration of the drone cluster, the actual position point information of each wingman is the position coordinate of each wingman in the initial coordinate system, and then the initial wingman longitude and latitude of each wingman can be determined according to the initial leader longitude and latitude of the leader. After the leader and the wingman take off, the leader and the wingman can be made to fly to the designated position according to the corresponding initial leader longitude and latitude and initial wingman longitude and latitude, so as to carry out the next flight operation.

[0034] In this embodiment, the initial coordinate system is established by using the initial longitude and latitude of the lead aircraft as the coordinate origin of the initial coordinate system, the nose direction of the lead aircraft as the Y axis of the initial coordinate system, and the horizontal line perpendicular to the nose direction of the lead aircraft as the X axis of the initial coordinate system.

[0035] In practical applications, the initial longitude and latitude of the lead aircraft are used as the origin of the initial coordinate system. The center of mass of the lead aircraft is made to coincide with the origin of the initial coordinate system. The nose of the aircraft is facing due north. A straight line is drawn through the origin 0, and the direction perpendicular to the nose from west to east is used as the X-axis of the initial coordinate system. A straight line is drawn through the origin 0, and the direction parallel to the nose and facing from south to north is used as the Y-axis of the initial coordinate system to establish the initial coordinate system.

[0036] like Figure 2 As shown, the earth is approximated as a sphere, R is the radius of the earth, point A in the figure is the center of the earth, N is the North Pole, S is the South Pole, point B is the initial longitude and latitude position of the leader, point C is the initial longitude and latitude position of any wingman, D is the intersection of the latitude of point B and the longitude of point C, E is the intersection of the longitude of point B and the latitude of point C, F is the intersection of the latitude plane where BD is located and the earth axis NAS, and the coordinate system DBE is the initial coordinate system.

[0037] In step 104, the target leader aircraft latitude and longitude of the leader aircraft is obtained in real time, and the target wingman aircraft latitude and longitude corresponding to each wingman aircraft is obtained according to the target leader aircraft latitude and longitude.

[0038] In step 105, the leader aircraft is moved toward the target leader aircraft longitude and latitude, and each wingman aircraft is moved toward the corresponding target wingman aircraft longitude and latitude.

[0039] The target leader's longitude and latitude are the location point that the leader needs to arrive at after reaching the initial leader's longitude and latitude, and the target leader's longitude and latitude are the location point that the corresponding wingman needs to arrive at after reaching the initial wingman's longitude and latitude. In this embodiment, since the drone cluster needs to maintain a specified formation during operation, the relative position relationship between each wingman and the leader is fixed. Therefore, after obtaining the target leader's longitude and latitude, the location point that each wingman needs to travel to can be solved based on the location point that the leader needs to travel to. Among them, the target leader's longitude and latitude are issued in real time by the ground control station, so as to control the leader to travel to the specified position, and at the same time, the corresponding position of each wingman is solved in real time according to the target leader's longitude and latitude, so as to control the leader and wingman to perform flight operations in a preset formation.

[0040] It should be noted that, in this embodiment, when the lead aircraft and each wingman perform a flight operation in a designated formation, each drone always maintains a preset altitude interval between them, thereby avoiding collisions between the drones during flight.

[0041] In this embodiment, when the drone cluster is performing flight operations, a coordinate system is established in real time based on the position of the handheld aircraft, and the position of each wingman in the coordinate system is obtained in real time based on the relative position between each wingman and the leader aircraft, thereby calculating the longitude and latitude of each wingman in real time, and controlling the drones to perform flight operations according to the corresponding longitude and latitude, thereby enabling the drone cluster to perform flight operations according to a preset formation.

[0042] Furthermore, in this embodiment, in order to obtain the relative position between each wingman and the leader in real time, it is necessary to establish a coordinate system according to the leader's position in real time, and obtain the position of each wingman in the coordinate system, so as to solve and obtain the position of each wingman in real time. Therefore, this embodiment also involves the following design: the target leader's longitude and latitude of the leader is obtained in real time, and the target wingman's longitude and latitude corresponding to each wingman is obtained according to the target leader's longitude and latitude, such as Figure 3 As shown, the following steps are included: In step 201, a real-time coordinate system is established based on the longitude and latitude of the target aircraft.

[0043] In step 202, the relative position change of the lead aircraft is obtained according to the longitude and latitude of the target lead aircraft and the longitude and latitude of the initial lead aircraft.

[0044] The calculation formula of the relative position transformation is: ; in, is the latitude in the initial long-distance longitude and latitude of the long-distance aircraft, is the longitude in the initial long-distance latitude and longitude, is the latitude of the target aircraft, is the longitude and latitude of the target aircraft, R is the radius of the earth, is the change in the horizontal coordinate of the relative position transformation, is the change in the ordinate of the relative position transformation.

[0045] In step 203, the wingman relative coordinates corresponding to each wingman in the real-time coordinate system are obtained according to the initial wingman coordinates corresponding to each wingman and the relative position transformation.

[0046] In this embodiment, since the leader and the wingman need to maintain a preset formation during flight operations, the relative positions between the leader and each wingman remain unchanged, and since the flight directions of the leader and the wingman need to remain consistent during flight, the real-time coordinate system needs to be established for the flight direction of the leader. After the real-time coordinate system is established, the wingman relative coordinates of each wingman in the real-time coordinate system are obtained by solving the translation and rotation transformation matrices based on the initial wingman coordinates of each wingman in the original initial coordinate system.

[0047] The calculation formula of the wingman relative coordinates corresponding to each wingman in the real-time coordinate system is: ; in, is the horizontal coordinate of the initial wingman coordinate, is the ordinate of the initial wingman coordinate, is the horizontal coordinate of the wingman's relative coordinate, is the ordinate of the wingman's relative coordinates, is the deflection angle, is the change in the horizontal coordinate of the relative position transformation, is the change in the ordinate of the relative position transformation.

[0048] The deflection angle is the angle between the line between the initial lead aircraft longitude and latitude and the target lead aircraft longitude and latitude and the nose direction of the lead aircraft at the initial lead aircraft longitude and latitude position, such as Figure 4 shown.

[0049] In step 204, the longitude and latitude of the target wingman corresponding to each wingman is obtained according to the wingman relative coordinates corresponding to each wingman in the real-time coordinate system.

[0050] The calculation formula of the target wingman's latitude and longitude is: ; in, is the latitude of the target wingman, is the longitude and latitude of the target wingman, R is the radius of the earth, is the latitude of the initial wingman latitude and longitude, is the longitude of the initial wingman latitude and longitude, is the horizontal coordinate of the wingman's relative coordinate, It is the vertical coordinate of the wingman's relative coordinate.

[0051] Furthermore, this embodiment provides the following method for establishing the real-time coordinate system: Figure 5 As shown, the method flow includes: In step 301, the longitude and latitude of the target lead aircraft are used as the origin of the longitude and latitude of the target lead aircraft.

[0052] In step 302, the nose direction of the lead aircraft at the target lead aircraft longitude and latitude is used as the Y axis of the real-time coordinate system, and the horizontal line perpendicular to the Y axis of the real-time coordinate system and passing through the target lead aircraft longitude and latitude is used as the X axis of the real-time coordinate system.

[0053] In this embodiment, the real-time coordinate system is the initial coordinate system after corresponding translation and rotation, the origin of the initial coordinate system is moved to the location of the longitude and latitude of the target lead aircraft, and the positive direction of the y-axis of the initial coordinate system is rotated to be consistent with the nose direction of the moved lead aircraft, so as to obtain the real-time coordinate system. Similarly, when the subsequent lead aircraft moves to other positions based on the existing longitude and latitude of the target lead aircraft, the same method can be used to obtain a new real-time coordinate system.

[0054] Furthermore, considering that the ground control station can issue commands to the drone cluster at any time, no matter the drone has arrived at the designated location or is traveling toward the designated location, when the drone receives a command after it has arrived at the designated location, the drone will fly to the latest longitude and latitude position; when the drone receives a command while traveling toward the designated location, the drone will directly execute the latest received command and immediately travel from the current position to the latest target point.

[0055] Furthermore, considering that the drone cluster may receive a return command from the ground control station at any time, when the ground control station issues a return command, all drones should stop the current flight operation and execute the return command. Therefore, this embodiment also involves the following design: the leader is moved toward the longitude and latitude of the target leader, and each wingman is moved toward the corresponding longitude and latitude of the target wingman, such as Figure 6 As shown, it also includes: In step 401, it is determined in real time whether the lead aircraft has obtained a return command.

[0056] In step 402, if the lead aircraft obtains the return command, the longitude and latitude of the target lead aircraft are adjusted to the longitude and latitude of the return destination, and the longitude and latitude of the target wingman aircraft are adjusted to the longitude and latitude of the return destination.

[0057] In step 403, the leader aircraft is moved toward the adjusted target leader aircraft longitude and latitude, and each wingman aircraft is moved toward the adjusted target wingman aircraft longitude and latitude.

[0058] like Figure 7 As shown, it is a general method flow chart of the UAV cluster formation control method provided in this embodiment.

[0059] Embodiment 2: In actual use, the drone may be affected by bird collision during flight, causing the drone to lose control. To solve this problem, this embodiment also provides an early warning of the risk of bird collision during the flight of the drone based on Embodiment 1, so that the drone operator can avoid or drive away birds according to the early warning. Figure 8 As shown, the UAV cluster formation control method described in this embodiment also includes: In step 501, during the flight of the drone, surrounding birds are detected, and a reachable set model of the flight state of the birds is established based on the bird movement data.

[0060] The flight state reachable set model is used to reflect the locations that birds can reach, that is, the range affected by the flight interference of birds.

[0061] In step 502, a flight model of the UAV is established, and the collision risk between the bird and the UAV is determined according to the flight state reachable set model and the flight model.

[0062] In step 503, a warning is issued according to the collision risk.

[0063] Among them, the flight state reachable set model of the bird includes a bird proximity layer and a bird collision layer located inside the bird proximity layer, and the flight model of the drone includes a drone proximity layer and a drone collision layer located inside the drone proximity layer; when the bird proximity layer is outside the drone proximity layer, it is considered that there is no collision risk, that is, it is safe; when the bird proximity layer is inside the drone proximity layer and the bird proximity layer, it is considered that there is a first-level collision risk, that is, there may be a bird strike risk; when the bird collision layer is inside the drone proximity layer and the bird collision layer is outside the drone collision layer, it is considered that there is a second-level collision risk, that is, the bird strike risk increases; when the bird proximity layer is inside the drone collision layer and the bird collision layer is inside the drone proximity layer, it is considered that there is a third-level collision risk, that is, a bird strike risk is very likely to occur; when the bird collision layer is inside the drone collision layer, it is considered that the danger is approaching and a bird strike is about to occur or has occurred.

[0064] The bird collision layer and the bird neighboring layer are both represented as an ellipsoid with the current position of the bird as the center, and the major radius of the bird collision layer is , the short radius of the bird collision layer ;in, is the long radius of the bird's neighboring layer, is the short radius of the bird collision layer, It is a preset parameter obtained by technicians in this field based on empirical analysis. and the short radius of the bird neighboring layer The technical personnel in this field can obtain the information based on their experience. Specifically, they can collect images of various birds in advance and analyze the motion data of each bird (including maximum flight speed, turning radius, maximum flight altitude, etc.) to determine the long radius of the corresponding bird adjacent layer. and the short radius of the bird neighboring layer , thereby generating a bird database, the drone collects surrounding bird images through radar or camera, and matches them with the bird database to determine the corresponding bird collision layer and bird neighboring layer.

[0065] The drone adjacent layer and the drone collision layer are both represented as a rectangular area centered on the current position of the drone. The size of the rectangular area is obtained by technicians in this field based on the analysis of the drone's flight data, and the drone collision layer is located inside the drone adjacent layer. In actual use, assuming that the length, width, and height of the smallest rectangular block where the drone is located are λx, λy, and λz respectively, then Fig. 9 As shown, 2λx, 2λy, and 2λz can be used as the length, width, and height of the UAV collision layer, respectively. Assuming that Sx, Sy, and Sz are the longitudinal, lateral, and vertical spacing standards, respectively, a rectangular block with a length, width, and height of 2Sx, 2Sy, and 2Sz can be made with the UAV as the center as the UAV's adjacent layer.

[0066] The collision risks between birds and drones are shown in the following table:

[0067] Among them, a certain layer of birds is inside a certain layer of drones, which means that there is a spatial intersection between a certain layer of birds and a certain layer of drones, and a certain layer of birds is outside a certain layer of drones, which means that there is no spatial intersection between a certain layer of birds and a certain layer of drones. For example, a bird adjacent layer is inside a drone adjacent layer, which means that there is a spatial intersection between the bird adjacent layer and the drone adjacent layer; a bird collision layer is outside a drone collision layer, which means that there is no spatial intersection between the bird collision layer and the drone collision layer.

[0068] like Fig.10 As shown in , there is no intersection between the bird proximity layer and the drone proximity layer, that is, the bird proximity layer is outside the drone proximity layer, which is a safe state at this time; Fig.11 As shown in , the bird proximity layer is within the drone proximity layer, and the bird proximity layer is outside the drone collision layer, which is a level one risk; Fig.12As shown in , the bird collision layer is within the drone adjacent layer, and the bird collision layer is outside the drone collision layer, which is a secondary risk; Fig.13 As shown in , the bird proximity layer is within the drone collision layer, and the bird collision layer is within the drone proximity layer, which is a level 3 risk; Fig.14 As shown, the bird collision layer is within the drone collision layer, which is a dangerous approach state.

[0069] In actual application scenarios, such as Fig.15 As shown, the steps 501 to 503 are specifically performed as follows: In step 601, the bird species around the drone flight area and the motion data of different birds are recorded in advance. The motion data includes one or more of the maximum flight speed, turning radius and maximum flight altitude. This step is to record the preliminary bird data, for example, the birds appearing around the drone flight area are recorded in the bird strike warning system database, and the motion data such as the maximum flight speed, turning radius, and maximum flight altitude of the birds are recorded.

[0070] In step 602, when an early warning is required, the bird species is identified by a detection device, and the motion data of the corresponding bird is read. The detection device includes one or more of a radar device and an optoelectronic device. This step performs bird species analysis, for example, bird species identification is performed by collecting bird data through radar and optoelectronic devices, and motion data of the identified bird is read.

[0071] In step 603, a reachable set modeling of the bird's flight state is performed based on the corresponding bird's motion data. This step performs probabilistic reachable set modeling of the bird's flight state, performs probabilistic reachable set modeling of bird flight, and constrains the reachable set model through the bird's motion data, converting the probability solution of bird flight into a convex optimization problem.

[0072] In step 604, the reachable set model is linearized and then solved to obtain the reachable set of the bird's flight state within time r; this step performs a probability reachability analysis of bird flight. In view of the uncertainty of bird flight and susceptibility to external disturbances, the bird reachable set model (i.e., the reachable set model of the bird's flight state) is linearized, and a bird state parameter equation is established. By solving the equation, the reachable set of the bird's flight probability within time r can be obtained.

[0073] In step 605, the UAV Reich model (i.e., the flight model of the UAV) is established, and the reachable set of the bird flight state within a certain period of time is intersected with the UAV Reich model to obtain the bird strike warning result. This step performs bird strike conflict resolution, and the reachable set model and the UAV Reich model are conflict resolved to obtain the risk of bird strike events.

[0074] refer to Fig. 9 As shown, in one embodiment, the establishment of the UAV Reich model specifically includes: taking the UAV as the center, a cuboid area with dimensions of λx, λy, and λz is virtualized through the length, wingspan, and height of the UAV as the collision layer of the UAV, and the size of the UAV collision layer is larger than the size of the UAV, for example, twice as large as the UAV. Taking the UAV as the center, a cuboid with length, width, and height of Sx, Sy, and Sz is made as the UAV adjacent layer; Sx, Sy, and Sz can be determined according to longitudinal, lateral, and vertical spacing standards. Assume that the position of the UAV at time r is (x, y, z), at this time the UAV collision layer is λ(x, y, z), and the UAV adjacent layer is S(x, y, z).

[0075] In some embodiments, the method of obtaining the bird strike warning result by intersecting the reachable set of the bird flight status within a certain time with the Reich model of the drone specifically includes: assuming that the drone can avoid the bird risk by driving away or avoiding it within time r, the reachable set of the bird at time r is used as the is the bird collision layer, the reachable set at time 2r is the bird neighboring layer; calculate , get whether the bird collision layer is within the drone collision layer; calculate , to determine whether the bird collision layer is within the drone adjacent layer; calculate , get whether the bird neighboring layer is within the drone collision layer; calculate , and determine whether the bird proximity layer is within the drone proximity layer; based on the calculation results, the bird strike warning result can be obtained.

[0076] refer to Fig.16 As shown in the figure, the early warning judgment process can be understood as the following steps: In step 701, if the bird proximity layer is outside the drone proximity layer, it is determined to be safe. Fig.10 As shown in Figure 2, the risk criterion at this time is: Outside the drone's proximity layer; the risk level is safe; the warning color is: none; the impact on the drone is: no impact.

[0077] In step 702, if the bird proximity layer is within the drone proximity layer and the bird collision layer is outside the drone proximity layer, it is determined to be a level 1 risk. Fig.11 As shown in Figure 2, the risk criterion at this time is: In the drone's vicinity, Outside the drone's proximity layer; the risk level is level one; the warning color is light yellow; the impact on the drone is: there may be a risk of bird strike, and a warning is required.

[0078] In step 703, if the bird proximity layer is within the drone proximity layer and the bird collision layer is within the drone proximity layer, it is determined to be a level 2 risk. Fig.12 As shown in Figure 2, the risk criterion at this time is: In the drone's vicinity, In the drone's vicinity; the risk level is level 2; the warning color is yellow; the impact on drones is: the risk of bird strikes increases and they need to be driven away in time.

[0079] In step 704, if the bird proximity layer is within the drone collision layer, and the bird collision layer is within the drone proximity layer, it is determined to be a level 3 risk. Fig.13 As shown in Figure 2, the risk criterion at this time is: In the drone collision layer, In the drone's vicinity; the risk level is level three; the warning color is: orange; the impact on the drone is: there is a high risk of bird strike, and emergency avoidance is required.

[0080] In step 705, if the bird collision layer is within the drone collision layer, it is determined to be dangerously close. Fig.14 As shown in Figure 2, the risk criterion at this time is: Within the drone collision layer; the risk level is dangerous approach; the warning color is: red; the impact on the drone is: a bird strike is about to occur or has occurred.

[0081] In summary, the embodiments of the present invention provide a bird strike warning method and system based on accessibility analysis, which analyzes the collision risk between birds and drones by constructing a reachable set, takes into account the movement characteristics of birds, and improves the accuracy of judging the bird strike risk. Specifically, the embodiments of the present invention analyze the accessibility of different types of birds and combine it with the drone Reich model to perform bird strike risk analysis, which can effectively calculate the bird collision risk in the drone flight area and provide early warning; by analyzing different birds, early warning can be effectively provided based on the flight characteristics of different birds, with higher accuracy and safety.

[0082] Based on the above method, the present invention also provides more detailed examples to describe the scheme.

[0083] First, the preliminary bird data entry was carried out: in the observation area with a radius of 2km in the drone flight area, bird observation was carried out every day using radar, photoelectric, manual and other detection methods to obtain daily bird information in the area and store at least 90 days of bird information. The bird information of the last 90 days was counted to obtain the bird species in the clear area of ​​the drone flight area within 90 days and the corresponding maximum flight speed, turning radius, maximum flight altitude and other movement data.

[0084] When an early warning is required, bird species analysis is performed: bird species are identified through radar and photoelectric data, and the identified birds are compared with the stored data to extract the corresponding movement data.

[0085] Next, we model the probability reachable set of bird flight. Bird flight is easily affected by external environmental disturbances and the uncertainty of the bird's flight purpose, so its flight state shows a highly nonlinear characteristic. Therefore, birds are a nonlinear system.

[0086] Since the bird flight system is a nonlinear system, it can be expressed as follows: ; Where t is time, x is the state variable of the bird, u is the flight input of the bird, and v is the interference of the outside world on the bird. The flight input u of the bird is determined by the motion data of common local birds, such as: maximum flight speed, turning radius, climbing rate, maximum flight acceleration and maximum flight altitude, etc.; the interference of the outside world is mainly generated by the protected object drone. The drone will generate noise to scare the birds, and the birds will deviate from the current position of the drone due to being scared. At this time, the interference of the bird's movement is determined by the degree of its own fright, and the value of v is also determined by the bird's motion data, such as: maximum flight speed, turning radius, climbing rate and maximum flight altitude, etc. The motion data of the bird is also the nonlinear motion characteristics of the bird.

[0087] set up , , , are all convex and compact sets. The sum of the bird's flight input u and external interference v will not exceed the bird's inherent motion data. Therefore ; The reachable set of bird flight states is defined as: ; This formula represents the set of states that can be reached at time v for a system with X0 as the initial state and t0 as the initial moment. We can use the reachable set to reflect the positions that birds can reach at different times, and thus derive the range of interference caused by birds in flight conflicts.

[0088] Assume the support function of a reachable set is: , All are vectors.

[0089] Next, the bird flight probability accessibility analysis was conducted.

[0090] Because the flying state of birds is easily affected by external interference and the flying method of birds is flexible, birds may fly in any direction. Birds may exhibit various flight modes such as straight line uniform speed flight, straight line accelerated flight, decelerated flight, circular flight, U-turn flight, landing, climbing, etc., and the horizontal acceleration is greater than the vertical acceleration.

[0091] According to the flight pattern of birds, this embodiment constructs an ellipsoid reachable set to represent the reachable range of birds. The calculation complexity of the ellipsoid is small, the accuracy is high, and the conservatism is small.

[0092] If the ellipsoid model is used to analyze the nonlinear system, the system needs to be linearized; that is, the bird flight system is linearized, and the linearized system is: ; ; in, , ; Combination , the support function of the reachable set can be It is expressed as: ; in, , ; For in time The set of states that can be reached from the initial time 0. It is a system The transfer matrix satisfies ,and ; Assume that the reachable set is an ellipsoid, let are the center and boundary of the set, then ; ; The support function can be expressed as ; Reachable Set The support function can be further expressed as the initial set, control set, and interference set using center and shape matrices: ; in, , ; For in time The set of states that can be reached from the initial time 0. It is a system The transfer matrix satisfies ,and ; is the center of the initial set, is the boundary of the initial set; Input set for the flight of birds, A collection of external disturbances to birds.

[0093] Finally, the reachable set of birds in time r is represented by the sum of homogeneous solutions and special solutions: ; in is a homogeneous solution of a reachable set, is a special solution of the reachable set. The specific solution process is the existing technology and will not be repeated here.

[0094] The reachable set model and the drone Reich model are used to resolve conflicts and determine whether birds may pose a threat to drones within time r. The Reich model is an internationally used drone collision model.

[0095] The basic principle of the Reich model: Let the length, wingspan, and height of the drone in the route be λx, λy, and λz respectively. With drone A as the center, a cuboid area with 2λx, 2λy, and 2λz in the longitudinal, transverse, and vertical directions is virtualized as the drone collision layer; let Sx, Sy, and Sz be the longitudinal, lateral, and vertical spacing standards respectively, and make a cuboid with a length, width, and height of 2Sx, 2Sy, and 2Sz with drone A as the center, which is the drone adjacent layer. Take drone B as a particle. When drone B enters the adjacent layer, there is a collision risk. When drone B enters the collision layer, the two will collide.

[0096] When the dangerous target is a bird, the interval standard and collision distance between drones cannot be applied. The bird strike risk can be calculated by constructing collision layers and adjacent layers for drones and birds respectively. The drone collision layer is a cuboid area centered on drone A, using the length, wingspan, and height of the drone as the drone collision layer. A cuboid with a length, width, and height of Sx, Sy, and Sz, centered on drone A, is the drone adjacent layer.

[0097] In order to analyze the collision risk between birds and drones, the collision layer and neighboring layer of birds are constructed. Assuming that the drone can avoid the risk of birds by driving away or avoiding them within time r, the reachable set of bird B at time r is is the bird collision layer. When the bird collision layer is inside the drone collision layer, it indicates a dangerous approach and a bird strike risk. When the bird proximity layer is outside the drone proximity layer, there is no collision risk between drone A and bird B. When the bird proximity layer is close to the drone proximity layer, the bird strike risk increases.

[0098] Assume that the position of the drone at time r is (x, y, z), the collision layer of the drone is λ(x, y, z), and the neighboring layer of the drone is S(x, y, z). Specifically, calculate , get whether the bird collision layer is within the drone collision layer; calculate , to determine whether the bird collision layer is within the drone adjacent layer; calculate , get whether the bird neighboring layer is within the drone collision layer; calculate , get whether the bird proximity layer is within the drone proximity layer; if the bird proximity layer is outside the drone proximity layer, it is judged to be safe; if the bird proximity layer is within the drone proximity layer and the bird collision layer is outside the drone proximity layer, it is judged to be a first-level risk; if the bird proximity layer is within the drone proximity layer and the bird collision layer is within the drone proximity layer, it is judged to be a second-level risk; if the bird proximity layer is within the drone collision layer and the bird collision layer is within the drone proximity layer, it is judged to be a third-level risk; if the bird collision layer is within the drone collision layer, it is judged to be dangerous approach.

[0099] In summary, the embodiment of the present invention analyzes the collision risk between birds and drones by constructing a reachable set, taking into account the movement characteristics of birds, and improving the accuracy of judging the risk of bird strikes. Specifically, the embodiment of the present invention analyzes the reachability of different types of birds and combines it with the drone Reich model to perform bird strike risk analysis, which can effectively calculate the risk of bird collision in the drone flight area and provide early warning; by analyzing different birds, early warning can be effectively provided based on the flight characteristics of different birds, with higher accuracy and safety.

[0100] In addition, for the special scenario of bird strike, this embodiment uses the ellipsoid reachable set model to analyze the probability reachability of bird flight, and also fine-tunes the Reich model to use the reachable set is the bird collision layer, For the bird proximity layer, a geometric calculation intersection method is used for risk calculation, and the calculation interaction of the Reich model and the reachable set is optimized and innovated for special bird strike scenarios, so as to provide early warning of the bird collision risk during the flight of the UAV, so that the UAV operator can avoid or drive away birds according to the early warning, thereby ensuring the normal flight operation of the UAV cluster.

[0101] Embodiment 3: like Fig.17 , which is a schematic diagram of a UAV swarm formation control device according to an embodiment of the present invention. The UAV swarm formation control device according to this embodiment includes one or more processors 41 and a memory 42.

[0102] The processor 41 and the memory 42 may be connected via a bus or other means. Fig.17 The example of connecting through bus is taken in the following.

[0103] The memory 42 is a non-volatile computer-readable storage medium that can be used to store non-volatile software programs and non-volatile computer executable programs, such as the UAV cluster formation control method in the above embodiment. The processor 41 executes the UAV cluster formation control method by running the non-volatile software programs and instructions stored in the memory 42.

[0104] The memory 42 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage devices. In some embodiments, the memory 42 may optionally include a memory remotely arranged relative to the processor 41, and these remote memories may be connected to the processor 41 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0105] The program instructions / modules are stored in the memory 42, and when executed by the one or more processors 41, the drone cluster formation control method in the above embodiment is executed, for example, the above described Figure 1-Figure 16 The steps shown.

[0106] An embodiment of the present invention further provides a computer storage medium having computer program instructions stored thereon; when the computer program instructions are executed by a processor, the method for controlling the formation of a cluster of unmanned aerial vehicles provided in an embodiment of the present invention is implemented.

[0107] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for controlling a formation of a drone cluster, characterized in that: include: Obtain the initial longitude and latitude of the leader, establish an initial coordinate system based on the initial longitude and latitude of the leader, and obtain the initial wingman coordinates of each wingman on the initial coordinate system; Obtain the initial wingman longitude and latitude corresponding to each wingman according to the initial wingman coordinates of each wingman; Move the leader to the initial leader's longitude and latitude, and move each wingman to the corresponding position of the initial wingman's longitude and latitude; Acquire the target leader latitude and longitude of the leader in real time, and acquire the target wingman latitude and longitude corresponding to each wingman according to the target leader latitude and longitude; The leader aircraft is moved toward the target leader aircraft longitude and latitude, and each wingman aircraft is moved toward the corresponding target wingman aircraft longitude and latitude.

2. The UAV swarm formation control method according to claim 1, characterized in that: The step of acquiring the target leader latitude and longitude of the leader in real time, and acquiring the target wingman latitude and longitude corresponding to each wingman according to the target leader latitude and longitude specifically includes: Establishing a real-time coordinate system based on the latitude and longitude of the target aircraft; Acquire the relative position change of the lead aircraft according to the target lead aircraft longitude and latitude and the initial lead aircraft longitude and latitude; Obtaining the wingman relative coordinates corresponding to each wingman in the real-time coordinate system according to the initial wingman coordinates corresponding to each wingman and the relative position transformation; According to the wingman relative coordinates corresponding to each wingman in the real-time coordinate system, the longitude and latitude of the target wingman corresponding to each wingman are obtained.

3. The UAV swarm formation control method according to claim 2, characterized in that: The step of establishing a real-time coordinate system based on the longitude and latitude of the target aircraft specifically includes: Taking the longitude and latitude of the target lead aircraft as the origin of the longitude and latitude of the target lead aircraft; The nose direction of the lead aircraft located at the longitude and latitude of the target lead aircraft is used as the Y axis of the real-time coordinate system, and the horizontal line perpendicular to the Y axis of the real-time coordinate system and passing through the longitude and latitude of the target lead aircraft is used as the X axis of the real-time coordinate system.

4. The UAV swarm formation control method according to claim 2, characterized in that: The step of obtaining the relative position change of the lead aircraft according to the target lead aircraft longitude and latitude and the initial lead aircraft longitude and latitude specifically includes: The calculation formula of the relative position transformation is: ； in, is the latitude in the initial long-distance longitude and latitude of the long-distance aircraft, is the longitude in the initial long-distance latitude and longitude, is the latitude of the target aircraft, is the longitude and latitude of the target aircraft, R is the radius of the earth, is the change in the horizontal coordinate of the relative position transformation, is the change in the ordinate of the relative position transformation.

5. The UAV swarm formation control method according to claim 2, characterized in that: The obtaining, according to the initial wingman coordinates corresponding to each wingman and the relative position transformation, the wingman relative coordinates corresponding to each wingman in the real-time coordinate system specifically includes: The calculation formula of the wingman relative coordinates corresponding to each wingman in the real-time coordinate system is: ； in, is the horizontal coordinate of the initial wingman coordinate, is the ordinate of the initial wingman coordinate, is the horizontal coordinate of the wingman's relative coordinate, is the ordinate of the wingman's relative coordinates, is the deflection angle, is the change in the horizontal coordinate of the relative position transformation, is the change in the ordinate of the relative position transformation.

6. The UAV swarm formation control method according to claim 2, characterized in that: The step of obtaining the longitude and latitude of the target wingman corresponding to each wingman according to the wingman relative coordinates corresponding to each wingman in the real-time coordinate system specifically includes: The calculation formula of the target wingman's latitude and longitude is: ； in, is the latitude of the target wingman, is the longitude and latitude of the target wingman, R is the radius of the earth, is the latitude of the initial wingman latitude and longitude, is the longitude of the initial wingman latitude and longitude, is the horizontal coordinate of the wingman's relative coordinate, It is the vertical coordinate of the wingman's relative coordinate.

7. The UAV swarm formation control method according to claim 1, characterized in that: The step of moving the leader aircraft toward the target leader aircraft longitude and latitude, and moving each wingman aircraft toward the corresponding target wingman aircraft longitude and latitude, further includes: Determine in real time whether the lead aircraft has received the return command; If the lead aircraft obtains the return order, the longitude and latitude of the target lead aircraft are adjusted to the longitude and latitude of the return destination, and the longitude and latitude of the target wingman aircraft are adjusted to the longitude and latitude of the return destination; The leader aircraft is moved toward the adjusted target leader aircraft longitude and latitude, and each wingman aircraft is moved toward the adjusted target wingman aircraft longitude and latitude.

8. The UAV swarm formation control method according to claim 1, characterized in that: The step of establishing an initial coordinate system according to the initial longitude and latitude of the lead aircraft specifically includes: The initial longitude and latitude of the lead aircraft are used as the coordinate origin of the initial coordinate system, the nose direction of the lead aircraft is used as the Y axis of the initial coordinate system, and the horizontal line perpendicular to the nose direction of the lead aircraft is used as the X axis of the initial coordinate system.

9. A UAV cluster formation control device, characterized in that: It includes at least one processor and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the processor to execute the drone cluster formation control method described in any one of claims 1-8.

10. A non-volatile computer storage medium, characterized in that: The computer storage medium stores computer program instructions, which, when executed by one or more processors, implement the drone cluster formation control method as described in any one of claims 1-8.

Images