Aircraft formation cooperative control method

Abstract

The invention discloses an aircraft formation cooperative control method, and relates to the technical field of aerospace, and the control method comprises the specific steps: S100, information collection and preprocessing: deploying a plurality of sensors on an aircraft, collecting the state information of the aircraft and the surrounding environment information through a collector, and carrying out the real-time preprocessing of the collected information, according to the method, reference is provided for aircraft formation flight by researching an information transmission mechanism and a position adjustment rule between individuals in bird flight, the stability and flexibility of formation flight are ensured by constructing an aircraft performance evaluation index system and determining formation leader and following in combination with specific flight mission requirements, and meanwhile, the method has the advantages of being high in reliability and high in reliability. According to the method, multiple factors such as maneuverability, reliability, fuel reserve and cruising ability of the aircraft are considered, a scientific basis is provided for determination of the leader through quantitative evaluation, and the determination of the leader not only improves the adaptability and the strain capacity of formation flight, but also provides a new thought for cooperative control of aircraft formation.

Description

Technical Field

[0001] The present invention relates to the field of aerospace technology, and in particular to a method for cooperative control of an aircraft formation. Background Art

[0002] In modern aviation operations and flight mission execution, aircraft formation flying has many advantages, such as improving combat effectiveness, enhancing search range, and improving resource utilization. Traditional aircraft formation control methods often rely on pre-set fixed formation modes and complex communication and control instructions. They lack sufficient flexibility and adaptability and are difficult to cope with complex and changing mission environments and emergencies. Bird flocks demonstrate excellent coordination and flexibility during flight. Through efficient information transmission and dynamic adjustment of individual positions, they can quickly adapt to environmental changes and achieve various group behavior goals.

[0003] Traditional control methods mainly rely on the pilot's experience and judgment and the command dispatch of the ground command center. This method has many shortcomings, such as untimely information sharing, unreasonable task allocation, and inaccurate flight attitude adjustment. Especially in complex and changeable flight environments, traditional methods are often difficult to cope with various emergencies, resulting in serious impact on the stability and safety of formation flight. In addition, traditional methods lack intelligent decision-making support and cannot be dynamically adjusted and optimized according to real-time flight data and mission requirements.

[0004] Therefore, the development of aircraft formation collaborative control methods not only improves the stability and safety of aircraft formation flight, but also optimizes flight resources and mission execution efficiency, providing new ideas and solutions for the development of aircraft formation collaborative control technology. Summary of the invention

[0005] The purpose of the present invention is to make up for the shortcomings of the prior art and provide a method for collaborative control of aircraft formations. The method realizes the intelligent collaborative control of aircraft formations through information collection and preprocessing, building a formation information network, and analyzing bird flock behavior pattern steps. Among them, by building an aircraft performance evaluation index system, the formation leader and followers are determined. The leader formulates flight strategies and releases decision information based on the flight situation awareness model, and the followers respond and adjust according to the received information. At the same time, the method also has formation monitoring and dynamic adjustment and emergency processing redistribution functions, ensuring the safety and flexibility of formation flight.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions: an aircraft formation cooperative control method, the specific steps of which are: S100, information collection preprocessing: deploy multiple sensors on the aircraft, collect the aircraft's own status information and surrounding environment information through the collector, and perform real-time preprocessing on the collected information to remove noise interference and unify the data format; S200, building a formation information network: building an information interaction network within the aircraft formation through a hybrid link of satellite communication and airborne ad hoc network, forming a star topology with the leader as the core, formulating a transmission protocol, and setting priorities based on the urgency and importance of the data; S300, Analyze the behavior patterns of bird flocks: Study the information transmission mechanism of bird flocks in flight and the position adjustment rules between individuals, analyze the "leader-follower" dynamic mechanism, including the conditions for the emergence of leaders and the response strategies of followers, and establish relevant association models; S400, determine the formation leader and follower: construct an aircraft performance evaluation index system, including flight performance index, combat performance index, reliability index and environmental adaptability index, and conduct quantitative evaluation of each aircraft's performance index. According to the specific flight mission requirements, determine the key elements and performance requirements of the mission. Based on the performance evaluation index system and the mission requirement analysis results, calculate the probability score of each aircraft becoming a leader through the leader determination formula. Assume that the aircraft's comprehensive performance index is P, the mission requirement matching degree is T, and the environmental adaptability index is E. The calculation formula for the aircraft's score S as a leader is: , where the calculation formula of the comprehensive index P is: , It is an indicator of the aircraft's maneuverability. It is an indicator of aircraft reliability. It is an indicator of the aircraft's fuel reserve and endurance. is the corresponding weight coefficient, task requirement matching degree The calculation formula is: , is the weight of the jth task requirement feature, is the normalized score of the aircraft on the mission requirement characteristics, n is the total number of mission requirement characteristics, and the calculation formula of the environmental adaptability index E is: , H is the score of the aircraft's adaptability to high temperature environments, C is the score of its adaptability to cold environments, and W is the score of its adaptability to complex meteorological environments. is the corresponding weight, is the overall balance coefficient. The task is performed in a complex meteorological environment. The leader with the highest probability score S is the leader, and the rest are followers; S500, leadership decision information release: The leader aircraft receives the multi-modal information of the formation and fuses it to build a flight situation awareness model. According to the analysis results and mission objectives of the flight situation awareness model, the leader aircraft formulates flight strategies and decision information. While releasing the decision information, the leader aircraft marks its own flight intention information and transmits it to the followers. S600, follower response adjustment: the follower aircraft receives the decision information and flight intention information issued by the leader aircraft through the aircraft formation information network, and the follower aircraft inputs the received leader flight intention information into the pre-established aircraft behavior prediction model for calculation and analysis. Based on the prediction result of the behavior prediction model, the follower aircraft makes targeted adjustments; S700, formation monitoring and dynamic adjustment: Set formation monitoring indicators. During the formation flight, set formation monitoring indicators and compare them with preset thresholds. If the thresholds are exceeded, an early warning is triggered. The leader analyzes the cause of the deviation and formulates targeted strategies, including sending position, speed and formation adjustment instructions to the followers, and the followers make adjustments again. S800, emergency handling and reallocation: During the flight, the sensor system of each aircraft monitors the operating status and surrounding environment of the aircraft in real time, and monitors and diagnoses any abnormal situations. After the leader aircraft receives the abnormal situation alarm, it activates the corresponding emergency handling plan according to the severity and impact scope of the abnormal situation. If the abnormal situation causes the current leader aircraft to be unable to continue to effectively perform its leadership responsibilities, the formation will reallocate the leader and followers according to the pre-set leader re-election mechanism.

[0007] Furthermore, in the S100, the sensors used in the information collection preprocessing include a position sensor, a speed sensor, a heading sensor, a flight attitude sensor, an airflow sensor, and a visual sensor.

[0008] Further, in S400, the maneuverability index M of the leading and following aircraft in the formation is determined by comprehensive testing and calculation of aircraft maneuverability related parameters. Assuming that the turning rate of the aircraft is , the climb rate is r, and the calculation formula of the maneuverability index M is: ,in and In order to balance the importance of turn rate and climb rate in maneuverability assessment according to the weight coefficient determined by the test, the aircraft reliability index R needs to obtain the aircraft's mean time between failures MTBF data to calculate. Let MTBF be , the calculation formula of aircraft reliability index is: , the calculation formula of the aircraft's fuel reserve and endurance index F is: , where q is the aircraft's fuel reserve, c is the fuel consumption rate, and the weight coefficient is This is determined by constructing a judgment matrix that compares the relative importance of mobility, reliability, and fuel reserves and endurance to the leader.

[0009] Further, the S400 determines the weights of the demand characteristics in the formation leadership and following Determined by expert evaluation based on specific task requirements, the normalized score on the task requirement characteristics By normalizing the actual performance value of the aircraft on this feature, , the calculation formula is: ,in Represents the theoretical maximum detection range that an aircraft can achieve under standard test conditions, which is determined through a pre-set professional detection test process. It is the actual value of the maximum detection range obtained after testing with the same standard among all aircraft actually participating in the formation. is the actual value of the minimum detection range among these aircraft, and the total number n of mission requirement characteristics is determined according to the specific dimensions of the mission requirements.

[0010] Further, the S400 determines the adaptability score H of the leading and following aircraft in the formation to a high temperature environment by testing the engine starting performance, flight control system stability, and electronic equipment working status of the aircraft at different high temperature values. The cold environment adaptability score C is calculated by conducting aircraft performance tests in cold environment simulation facilities to evaluate the engine working efficiency, fuel atomization effect, and structural material performance of the aircraft under low temperature conditions. The adaptability score W to a complex meteorological environment is calculated by simulating the flight performance test of the aircraft under complex meteorological conditions in a wind tunnel, rain and fog in the laboratory, and the test data. By constructing a judgment matrix to compare the relative importance of high temperature, cold, and complex meteorological environment adaptability in a specific task environment, the eigenvector of the judgment matrix is ​​obtained. The value of .

[0011] Further, the S500, the construction of the flight situation awareness model in the leadership decision information release. After the leader aircraft receives the position, speed, airflow, and visual multimodal information of each aircraft in the formation, it performs preprocessing and information fusion, including the fusion of position and visual information to build a real-time position model and draw a three-dimensional space position map, airflow information fusion combined with geographic information to analyze the airflow environment, target detection information and GIS data fusion to evaluate the threat environment and determine safe and dangerous areas, thereby constructing a flight situation awareness model, covering the drawing of a three-dimensional space position map to display the aircraft position and trajectory and classify and display it, airflow environment analysis to determine the airflow area and predict the impact of airflow.

[0012] Furthermore, in the S600, in the follower response adjustment, the position of the leader at a future time is predicted by the aircraft behavior prediction model, and the current position of the leader aircraft is assumed to be , the velocity vector is , the acceleration vector is , the time step is , the follower aircraft predicts the leader's position at the next time t , the calculation formula is: , , .

[0013] Further, in the S700, the formation deviation D is calculated by the formation deviation evaluation formula in the formation monitoring and dynamic adjustment, and the calculation formula is: , where m is the total number of aircraft in the formation, is the ideal position of the i-th aircraft, is the actual position of the i-th aircraft.

[0014] Furthermore, in S700, the setting of the formation deviation threshold in formation monitoring and dynamic adjustment is as follows: , where T represents the formation deviation threshold, and k is an adjustment coefficient determined according to mission requirements and aircraft performance factors. Indicates the safe distance between aircraft, calculated based on the size and speed of the aircraft.

[0015] Furthermore, the S800, the leader reselection mechanism in emergency handling reallocation, comprehensively considers the remaining performance, current position, and mission execution capability of the aircraft, and selects a new leader from the remaining aircraft in the formation. After the leader reselection mechanism is triggered, each aircraft in the formation sends its own status information to other aircraft through the aircraft formation information network. Each aircraft evaluates and screens other aircraft in the formation based on the received information, and selects the aircraft with the highest score as the new leader based on the results of the evaluation and screening. After the new leader is determined, it quickly takes over the command of the formation. After receiving the instructions from the new leader, other aircraft in the formation adjust the flight plan and formation formation according to the new task allocation and the leader's instructions.

[0016] Compared with the existing technology, the aircraft formation cooperative control method has the following beneficial effects: 1. The present invention provides a reference for aircraft formation flight by studying the information transmission mechanism and the position adjustment rules between individuals in bird flight. By constructing an aircraft performance evaluation index system and combining it with specific flight mission requirements, the formation leadership and following are determined, thereby ensuring the stability and flexibility of formation flight. At the same time, the method also considers multiple factors such as the aircraft's maneuverability, reliability, fuel reserves and endurance, and provides a scientific basis for determining the leader through quantitative evaluation. The determination of such a leader not only improves the adaptability and resilience of formation flight, but also provides a new idea for the coordinated control of aircraft formations.

[0017] 2. The present invention realizes real-time information sharing and interaction between aircraft by constructing a formation information network, thereby improving the coordination and integrity of formation flight. The information interaction network built through a hybrid link of satellite communication and airborne ad hoc network not only enhances the efficiency and stability of information transmission, but also forms a star topology structure with a leader as the core, ensuring the orderliness and efficiency of formation flight. In addition, the method also formulates a special data transmission protocol and sets priorities according to the urgency of the data, further improving the timeliness and accuracy of information processing in formation flight.

[0018] Other advantages, objectives and features of the present invention will be set forth in part in the following description and, in part, will be apparent to those skilled in the art based on an examination of the following or may be taught from the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. 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.

[0020] Figure 1 is a flow chart of the aircraft formation cooperative control method; Figure 2 This is S400, a flow chart for determining formation leadership and following. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present invention are described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] Embodiment 1: Military combat missions: Mission scenario: Carrying out surprise attack missions against important enemy targets requires the aircraft formation to maintain a high degree of coordination in a complex environment, covertly approach the target and launch a surprise attack.

[0023] Aircraft formation composition and mission planning: The formation consists of four fighters and one early warning aircraft. The fighters have high maneuverability, advanced weapons and equipment, and strong electronic countermeasure capabilities. The early warning aircraft has powerful radar detection and information processing capabilities, and is responsible for the situational awareness and command and coordination of the entire formation.

[0024] The mission plan is: the early warning aircraft flies in a relatively safe position behind the formation, uses its long-range radar to detect enemy targets, air defense system deployment and weather information, and transmits this information to the fighter formation in real time. Based on the information provided by the early warning aircraft, the fighter formation adopts a tight attack formation, uses terrain cover, and flies to the target area.

[0025] Information collection and preprocessing (S100): The position sensors (GPS and inertial measurement unit), speed sensors, heading sensors, flight attitude sensors, airflow sensors and visual sensors on the fighter continuously collect information about the aircraft's own status and surrounding environment. For example, when crossing mountainous areas, airflow sensors monitor airflow changes in real time, visual sensors assist in identifying terrain and potential threats, and sensors on early warning aircraft focus on long-distance target information and weather dynamics. All sensor data are preprocessed to remove noise interference and unify the format before being transmitted through the airborne ad hoc network and satellite communication links.

[0026] Build a formation information network (S200): Satellite communications ensure long-distance communications between the formation and the rear command center. Airborne ad hoc networks enable high-speed data interaction between aircraft within the formation. Information transmission protocols ensure timely and accurate data transmission. Data priority settings enable target detection information from early warning aircraft and decision instructions from leaders (early warning aircraft) to be transmitted first.

[0027] Analyzing bird flock behavior patterns (S300): Studying the group behavior of birds when avoiding natural enemies in complex environments, such as rapid changes in formation, dispersion and concentration strategies, provides reference for fighter formations when facing attacks from enemy air defense systems. For example, when the enemy air defense system locks on a certain aircraft in the formation, the formation can refer to the birds' dispersion strategy, quickly change formation, and reduce the risk of being hit.

[0028] Determining formation leadership and following (S400): For fighters, the maneuverability indicator turn rate The climb rate r, weapon equipment advancement, and electronic countermeasure capability are crucial in combat missions. These factors have a high weight in the performance evaluation index system. The reliability and radar detection range of the early warning aircraft are key indicators. Suppose the aircraft's comprehensive performance index is P, the mission requirement matching degree is T, the environmental adaptability index is E, and the score S for the aircraft to become a leader is calculated as follows: , where the calculation formula of the comprehensive index P is: , the comprehensive index weight coefficients w1, w2, and w3 are determined. Several experts in the fields of aircraft design, flight performance, and aviation operations are invited to first determine the judgment matrix of the relative importance of each index (maneuverability, reliability, fuel reserve, and endurance). For example, experts compare and score the importance of maneuverability and reliability based on experience (1-9 points, 1 means equal importance, 9 means extremely important), calculate the maximum eigenvalue of the judgment matrix and its corresponding eigenvector, and obtain the values ​​of w1, w2, and w3 after normalizing the eigenvector. The aircraft's maneuverability index M is obtained through comprehensive testing and calculation of aircraft maneuverability-related parameters. Assume that the aircraft's turning rate is , the climb rate is r, and the calculation formula of the maneuverability index M is: ,in and In order to balance the importance of turn rate and climb rate in maneuverability assessment according to the weight coefficient determined by the test, the aircraft reliability index R needs to obtain the aircraft's mean time between failures MTBF data to calculate. Let MTBF be , the calculation formula of aircraft reliability index is: , the calculation formula of the aircraft's fuel reserve and endurance index F is: , where q is the aircraft's fuel reserve, c is the fuel consumption rate, and the weight coefficient is By constructing a judgment matrix and comparing the relative importance of mobility, reliability, fuel reserves and endurance to the leader, the task requirement matching degree T is calculated as follows: , is the weight of the jth mission requirement feature, which is determined based on the mission background, objectives, and key requirements. For each mission requirement feature, experts independently score it based on its impact on mission success, with a score range of 1-9, where 1 indicates very low impact and 9 indicates very high impact. After collecting the expert scores, the average score of each mission requirement feature is calculated and normalized to obtain The calculation formula of environmental adaptability index E is: , H is the score of the aircraft's adaptability to high temperature environment. The aircraft is placed under different high temperature values, and the engine is started respectively. The time from the start command to the engine reaching a stable operating state, the speed and torque fluctuations during operation are recorded. At the same time, the operational response and stability of the flight control system under high temperature, and whether the operating temperature, voltage and current of the electronic equipment are within the normal range are monitored. According to the pre-set scoring criteria, the engine starting performance, flight control system stability, and electronic equipment working status are scored. For example, if the engine starting time is within [3 seconds], it will get [8-10 points], and 3-5 seconds will get [ 5-7 points], more than 5 seconds will be [0-4 points], and the scores of various items are combined and the weighted average is used to calculate the aircraft's adaptability to high temperature environments. The score H is the aircraft's adaptability to cold environments, and C is the aircraft's adaptability to cold environments. The aircraft is placed in a cold environment simulation facility and an engine start test is carried out to observe the difficulty of engine starting and the work efficiency after starting. The engine performance is evaluated by measuring the atomization effect and combustion efficiency after fuel injection. The aircraft structural materials are subjected to low-temperature tensile and impact tests to detect changes in their mechanical properties under low-temperature conditions. Based on the test results, the engine work efficiency and fuel atomization effect are evaluated according to the set scoring standards. , and the performance of structural materials are scored, and then the cold environment adaptability score C is calculated. W is the adaptability score for complex meteorological environments. In the wind tunnel and rain and fog laboratory, the aircraft is tested according to the predetermined flight trajectory and operating procedures. In the wind tunnel test, the changes in the aircraft's flight performance parameters under different wind speeds, wind directions and turbulence intensities, such as lift coefficient, drag coefficient, and stability derivative, are recorded. In the simulated rain and fog environment, the aircraft's navigation, obstacle avoidance and flight control capabilities under low visibility conditions are observed. Based on the test data and the established scoring rules, the aircraft's flight performance under complex meteorological conditions is scored, and finally The adaptability score W to complex meteorological environments is calculated. For the environmental adaptability index weights δ1, δ2, and δ3, the value range of δ1 is [0.3, 0.5], the value range of δ2 is [0.2, 0.4], and the value range of δ3 is [0.1, 0.3], and δ1+δ2+δ3=1. The evaluation factor set is determined to be {high temperature environment adaptability, cold environment adaptability, complex meteorological environment adaptability}, and the evaluation level set is {low, medium, high}. A number of environmental engineering experts and aerospace experts are invited to evaluate the actual performance of different types of aircraft in various environments. is the overall balance coefficient. The value range of α is set between [0.3, 0.6], the value range of β is [0.2, 0.4], and the value range of γ is [0.1, 0.3]. It is determined through a large number of simulated flight experiments and statistical analysis of actual flight mission data. By calculating the leader score, the early warning aircraft becomes the leader. The demand feature weights are determined by expert evaluation based on the combat mission requirements.

[0029] Leadership decision information release (S500): The AWACS builds a flight situation awareness model based on the integrated target detection information, meteorological information, and fighter formation status information. After discovering the enemy's air defense loopholes and target weak areas, it formulates flight strategies, such as selecting the best attack route and determining the timing of the attack. It also transmits decision information and flight intentions (such as when to start accelerating to approach the target and when to release jammers) to the fighters.

[0030] Follower response adjustment (S600): After receiving the information from the AWACS, the fighter uses the aircraft behavior prediction model to predict the future position of the AWACS. The current position of the AWACS is , the velocity vector is , the acceleration vector is , the time step is , fighter jets predict early warning aircraft in the future Position at the moment , the calculation formula is: , , , according to the prediction results, adjust its own position and flight attitude, maintain a tight attack formation, and be prepared to respond to possible enemy threats at any time.

[0031] Formation monitoring and dynamic adjustment (S700): Setting formation deviation threshold During the flight, the formation is monitored in real time through the formation deviation evaluation formula, which is: , where m is the total number of aircraft in the formation, is the ideal position of the i-th aircraft, is the actual position of the i-th aircraft. When encountering airflow interference or avoiding enemy attacks, if the formation deviation exceeds the threshold, the early warning aircraft analyzes the cause and sends adjustment instructions to the fighters, and the fighters respond quickly to restore the ideal formation.

[0032] Emergency reallocation (S800): If the AWACS aircraft is subjected to strong electronic interference from the enemy or is damaged by attack, the leader reselection mechanism is triggered. The fighter will send its own status information (remaining weapons and ammunition, fuel level, aircraft damage) to other aircraft. Based on the remaining performance (such as the remaining weapons of the fighter, maneuverability retention capability), current position (relative position with the target and other aircraft in the formation) and mission execution capability (such as single-aircraft combat capability), a fighter will be selected as the new leader. After the new leader is determined, it will quickly take over the command of the formation. After receiving the instructions from the new leader, other aircraft in the formation will adjust the flight plan and formation formation according to the new task allocation and the leader's instructions.

[0033] In summary: the present invention performs well in military combat tasks. The information collection links are closely coordinated to build an efficient system. Information collection preprocessing provides data, information network ensures circulation, bird behavior research provides strategies, leadership methods ensure reasonable command, decision-making and response links assist in task execution, formation monitoring and adjustment maintain stability and coordination, and emergency response mechanisms ensure task advancement, greatly improving combat effectiveness.

[0034] Embodiment 2: Sea rescue missions: Mission scenario: A shipwreck occurs in a certain sea area, and an aircraft fleet is required to quickly go to the accident area to carry out search, rescue and material delivery missions. The weather conditions in this sea area are complex, and there may be strong winds, heavy rains and low visibility.

[0035] Aircraft formation composition and mission planning: The formation consists of two search and rescue helicopters and one fixed-wing transport aircraft. The search and rescue helicopter is equipped with advanced search radar, infrared thermal imager and life-saving equipment, and has the ability to hover and fly at low altitude in severe weather conditions. The fixed-wing transport aircraft is responsible for transporting large amounts of rescue supplies and providing long-distance communication support.

[0036] The mission plan is as follows: the fixed-wing transport aircraft flies at a higher altitude, uses its communication equipment to keep in touch with the command center, receives the latest information on the location of the crashed ship and weather forecasts, and passes the information to the search and rescue helicopter. The search and rescue helicopter searches at a low altitude, and implements rescue and supplies delivery after finding the target.

[0037] Information collection and preprocessing (S100): Various sensors on helicopters and transport aircraft collect information. In strong wind environments, airflow sensors provide helicopters with airflow speed and direction information to help pilots maintain stable flight. Visual sensors (such as infrared thermal imagers) search for targets under low visibility conditions. Sensor data is transmitted after preprocessing to ensure that the information is accurate and reliable.

[0038] Build a formation information network (S200): Satellite communications ensure contact with the command center and other rescue forces, airborne ad hoc networks enable data sharing between aircraft within the formation, information transmission protocols ensure efficient transmission of rescue-related information (such as target location, weather changes, and material reserves), and set priorities based on urgency.

[0039] Analyzing flock behavior patterns (S300): Studying the flock behavior of birds when foraging or searching for habitats at sea, such as flight path selection and flock dispersed search strategies under complex meteorological conditions. For example, when the search range is large, the helicopter formation can refer to the dispersed search pattern of birds to expand the search area and increase the probability of finding the wrecked ship.

[0040] Determine the formation leader and follower (S400): For search and rescue helicopters, the performance of search equipment (radar detection range, infrared thermal imaging clarity), flight stability and hovering ability under adverse weather conditions are key performance indicators. For fixed-wing transport aircraft, fuel reserves, cargo capacity and communication capabilities are more important. Suppose the aircraft's comprehensive performance index is P, the mission requirement matching degree is T, the environmental adaptability index is E, and the score S for the aircraft to become a leader is calculated as follows: , where the calculation formula of the comprehensive index P is: , the calculation formula of task requirement matching degree T is: , environmental adaptability index The calculation formula is: , It is the overall balance coefficient. By calculating the leader score, the fixed-wing transport aircraft becomes the leader. The demand feature weight is determined according to the focus of the rescue mission (such as rapid search and material delivery).

[0041] Leadership decision information release (S500): The fixed-wing transport aircraft builds a flight situation awareness model based on meteorological information and the location and status information of the helicopter. After determining the best search area and rescue route, it formulates a flight strategy, such as commanding the helicopter to go to the key search area, arranging the time and location of the transport aircraft's material delivery, and transmitting the decision information and flight intentions to the helicopter.

[0042] Follower response adjustment (S600): After the search and rescue helicopter receives the information from the transport aircraft, it uses the inter-aircraft behavior prediction model to predict the position change of the transport aircraft. Suppose the current position of the transport aircraft is , the velocity vector is , the acceleration vector is , the time step is , helicopters predict transport aircraft in the future Position at the moment The calculation formula is: , , According to the prediction results, the helicopter plans its own flight path in advance. For example, according to the material delivery plan of the transport aircraft, the helicopter adjusts its position in time to ensure that it receives and delivers relief supplies at the appropriate location.

[0043] Formation monitoring and dynamic adjustment (S700): Set formation deviation thresholds according to rescue mission requirements , where T represents the formation deviation threshold, and k is an adjustment coefficient determined according to mission requirements and aircraft performance factors. It indicates the safe distance between aircrafts, which is calculated based on the size and speed of the aircrafts. During the flight, the formation is monitored by the formation deviation evaluation formula, which is: ,When encountering air flow interference or needing to adjust the search area, if the formation deviation exceeds the threshold, the leader analyzes the cause and issues adjustment instructions, and the helicopter adjusts its position according to the instructions to maintain formation coordination.

[0044] Emergency response reallocation (S800): If a fixed-wing transport aircraft encounters a mechanical failure or fuel leak, the leader reselection mechanism is triggered. The helicopter sends its own status information (remaining fuel, rescue equipment status) to the other party. Based on the remaining performance (such as the search time supported by the remaining fuel of the helicopter, the availability of rescue equipment), the current position (relative position with the wrecked ship and the land rescue base) and the mission execution capability (such as rescue capability and communication capability), a helicopter is selected as the new leader. After the new leader is determined, it will quickly take over the command and re-plan the search and rescue strategy, such as adjusting the search range and calling for support from other rescue forces. The formation continues to perform the rescue mission. During the entire emergency response process, the helicopter's active predictive collaborative algorithm still plays a role, and can quickly adapt to the new leader and mission requirements, ensure the coordination and stability of the formation, improve rescue efficiency, and maximize the protection of the lives of people on the wrecked ship and reduce property losses.

[0045] In summary, the present invention plays a key role in maritime rescue missions. The collaboration of various processes ensures efficiency, information-related links facilitate operation, bird behavior is used to optimize search, leadership methods are used to ensure orderly command, decision-making releases lead to actions, followers respond to improve efficiency, formation monitoring ensures stability, and emergency response mechanisms ensure uninterrupted rescue, thereby significantly improving rescue effects.

[0046] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. An aircraft formation cooperative control method, characterized in that: The specific steps of the control method are: S100, information collection preprocessing: deploy multiple sensors on the aircraft, collect the aircraft's own status information and surrounding environment information through the collector, and perform real-time preprocessing on the collected information to remove noise interference and unify the data format; S200, building a formation information network: building an information interaction network within the aircraft formation through a hybrid link of satellite communication and airborne ad hoc network, forming a star topology with the leader as the core, formulating a transmission protocol, and setting priorities based on the urgency and importance of the data; S300, Analyze the behavior patterns of bird flocks: Study the information transmission mechanism of bird flocks in flight and the rules of position adjustment between individuals, analyze the "leader-follower" dynamic mechanism, including the conditions for the emergence of leaders and the response strategies of followers, and establish relevant association models; S400, determine the formation leader and follower: construct an aircraft performance evaluation index system, including flight performance index, combat performance index, reliability index and environmental adaptability index, and conduct quantitative evaluation of each aircraft's performance index. According to the specific flight mission requirements, determine the key elements and performance requirements of the mission. Based on the performance evaluation index system and the mission requirement analysis results, calculate the probability score of each aircraft becoming a leader through the leader determination formula. Assume that the aircraft's comprehensive performance index is P, the mission requirement matching degree is T, and the environmental adaptability index is E. The calculation formula for the aircraft's score S as a leader is: , where the calculation formula of the comprehensive index P is: , It is an indicator of the aircraft's maneuverability. It is an indicator of aircraft reliability. It is an indicator of the aircraft's fuel reserve and endurance. is the corresponding weight coefficient, task requirement matching degree The calculation formula is: , is the weight of the jth task requirement feature, is the normalized score of the aircraft on the mission requirement characteristics, n is the total number of mission requirement characteristics, and the calculation formula of the environmental adaptability index E is: , H is the score of the aircraft's adaptability to high temperature environments, C is the score of its adaptability to cold environments, and W is the score of its adaptability to complex meteorological environments. is the corresponding weight, is the overall balance coefficient. The task is performed in a complex meteorological environment. The leader with the highest probability score S is the leader, and the rest are followers; S500, leadership decision information release: The leader aircraft receives the multi-modal information of the formation and fuses it to build a flight situation awareness model. According to the analysis results and mission objectives of the flight situation awareness model, the leader aircraft formulates flight strategies and decision information. While releasing the decision information, the leader aircraft marks its own flight intention information and transmits it to the followers. S600, follower response adjustment: the follower aircraft receives the decision information and flight intention information issued by the leader aircraft through the aircraft formation information network, and the follower aircraft inputs the received leader flight intention information into the pre-established aircraft behavior prediction model for calculation and analysis. Based on the prediction result of the behavior prediction model, the follower aircraft makes targeted adjustments; S700, formation monitoring and dynamic adjustment: Set formation monitoring indicators. During the formation flight, set formation monitoring indicators and compare them with preset thresholds. If the thresholds are exceeded, an early warning is triggered. The leader analyzes the cause of the deviation and formulates targeted strategies, including sending position, speed and formation adjustment instructions to the followers, and the followers make adjustments again. S800, emergency handling and reallocation: During the flight, the sensor system of each aircraft monitors the operating status and surrounding environment of the aircraft in real time, and monitors and diagnoses any abnormal situations. After the leader aircraft receives the abnormal situation alarm, it activates the corresponding emergency handling plan according to the severity and impact scope of the abnormal situation. If the abnormal situation causes the current leader aircraft to be unable to continue to effectively perform its leadership responsibilities, the formation will reallocate the leader and followers according to the pre-set leader re-election mechanism.

2. The aircraft formation cooperative control method according to claim 1, characterized in that: The sensors used in the information collection preprocessing in S100 include a position sensor, a speed sensor, a heading sensor, a flight attitude sensor, an airflow sensor, and a visual sensor.

3. The aircraft formation cooperative control method according to claim 1, characterized in that: In S400, the maneuverability index M of the leading and following aircraft in the formation is determined by comprehensive testing and calculation of aircraft maneuverability related parameters. Assuming that the turning rate of the aircraft is , the climb rate is r, and the calculation formula of the maneuverability index M is: ,in and In order to balance the importance of turn rate and climb rate in maneuverability assessment according to the weight coefficient determined by the test, the aircraft reliability index R needs to obtain the aircraft's mean time between failures MTBF data to calculate. Let MTBF be , the calculation formula of aircraft reliability index is: , the calculation formula of the aircraft's fuel reserve and endurance index F is: , where q is the aircraft's fuel reserve, c is the fuel consumption rate, and the weight coefficient is This is determined by constructing a judgment matrix that compares the relative importance of mobility, reliability, and fuel reserves and endurance to the leader.

4. The aircraft formation cooperative control method according to claim 1, characterized in that: S400, determining the weights of the demand characteristics in the formation leading and following Determined by expert evaluation based on specific task requirements, the normalized score on the task requirement characteristics By normalizing the actual performance value of the aircraft on this feature, we can get , the calculation formula is: ,in Represents the theoretical maximum detection range that an aircraft can achieve under standard test conditions, which is determined through a pre-set professional detection test process. It is the actual value of the maximum detection range obtained after testing with the same standard among all aircraft actually participating in the formation. is the actual value of the minimum detection range among these aircraft, and the total number n of mission requirement characteristics is determined according to the specific dimensions of the mission requirements.

5. The aircraft formation cooperative control method according to claim 1, characterized in that: In the step S400, the adaptability score H of the aircraft in the formation leader and follower to the high temperature environment is determined by testing the engine starting performance, flight control system stability, and electronic equipment working status of the aircraft at different high temperature values. The adaptability score C of the cold environment is calculated by conducting aircraft performance tests in cold environment simulation facilities to evaluate the engine working efficiency, fuel atomization effect, and structural material performance of the aircraft under low temperature conditions. The adaptability score W of the complex meteorological environment is calculated by simulating the flight performance test of the aircraft under complex meteorological conditions in a wind tunnel, rain and fog in the laboratory, based on the test data. By constructing a judgment matrix to compare the relative importance of high temperature, cold, and complex meteorological environment adaptability in a specific task environment, the eigenvector of the judgment matrix is ​​obtained. The value of .

6. The aircraft formation cooperative control method according to claim 1, characterized in that: The S500, the construction of the flight situation awareness model in the leadership decision information release. After the leader aircraft receives the position, speed, airflow, and visual multimodal information of each aircraft in the formation, it performs preprocessing and information fusion, including the fusion of position and visual information to build a real-time position model and draw a three-dimensional space position map, airflow information fusion combined with geographic information to analyze the airflow environment, target detection information and GIS data fusion to evaluate the threat environment and determine safe and dangerous areas, thereby constructing a flight situation awareness model, covering the drawing of a three-dimensional space position map to display the aircraft position and trajectory and classify and display it, airflow environment analysis to determine the airflow area and predict the impact of airflow.

7. The aircraft formation cooperative control method according to claim 1, characterized in that: In S600, in the follower response adjustment, the position of the leader at a future time is predicted by the aircraft behavior prediction model, and the current position of the leader aircraft is assumed to be , the velocity vector is , the acceleration vector is , the time step is , the follower aircraft predicts the leader's position at the next time t , the calculation formula is: , , .

8. The aircraft formation cooperative control method according to claim 1, characterized in that: In the above S700, the formation deviation D is calculated by the formation deviation evaluation formula in the formation monitoring and dynamic adjustment, and the calculation formula is: , where m is the total number of aircraft in the formation, is the ideal position of the i-th aircraft, is the actual position of the i-th aircraft.

9. The aircraft formation cooperative control method according to claim 1, characterized in that: The formula for setting the formation deviation threshold in formation monitoring and dynamic adjustment in S700 is: , where T represents the formation deviation threshold, and k is an adjustment coefficient determined according to mission requirements and aircraft performance factors. Indicates the safe distance between aircraft, calculated based on the size and speed of the aircraft.

10. The aircraft formation cooperative control method according to claim 1, characterized in that: The S800, leader reselection mechanism in emergency handling reallocation, comprehensively considers the remaining performance, current position, and mission execution capability of the aircraft, and selects a new leader from the remaining aircraft in the formation. After the leader reselection mechanism is triggered, each aircraft in the formation sends its own status information to other aircraft through the aircraft formation information network. Each aircraft evaluates and screens other aircraft in the formation based on the received information, and selects the aircraft with the highest score as the new leader based on the results of the evaluation and screening. After the new leader is determined, it quickly takes over the command of the formation. After receiving the instructions from the new leader, other aircraft in the formation adjust the flight plan and formation formation according to the new task allocation and the leader's instructions.

Images