Unmanned aerial vehicle target formation flight vector transformation decomposition method and device

Abstract

The invention relates to the field of kinematics vector transformation and decomposition, in particular to an unmanned aerial vehicle target formation flight vector transformation and decomposition method and device. The device comprises a data acquisition module, a data processing module and a display module. The data processing module is in communication connection with the data acquisition module and the display module, the data acquisition module is used for acquiring an unmanned aerial vehicle target formation, and the data processing module is used for receiving the unmanned aerial vehicle target formation, performing vector decomposition according to the unmanned aerial vehicle target formation and a built-in preset algorithm to obtain a vector decomposition result, and displaying the vector decomposition result. Through the configuration mode, several types of typical unmanned aerial vehicle cluster combination flight vector transformation decomposition actions are extracted, and an unmanned aerial vehicle cluster target test technology experiment verification subject is formed.

Description

Technical Field

[0001] The present invention relates to the field of kinematic vector transformation decomposition methods, and in particular to a method and device for decomposing vector transformation of unmanned aerial vehicle target formation flight. Background Art

[0002] Due to the increasing application value of UAV targets, their complex group target phenomena and random and intelligent characteristic changes make UAV targets a new difficult problem in the field of radar target characteristics research. Through experimental testing technology, the electromagnetic scattering characteristics and characteristic laws of UAV targets are mastered, and characteristic analysis and characteristic research are carried out, which is of great significance for UAV target characteristic modeling and verification, UAV cluster target detection and identification, etc. At present, there are still many technical difficulties in the experimental testing of cluster target electromagnetic scattering characteristics, including the correlation between static single target and group target characteristics, dynamic testing of dense group target characteristics, and the consistency law of phenomenological characteristics of experimental simulation and formation flight, which need to be studied and solved.

[0003] The drone formation arranges multiple drones in a specified formation and forms a larger group through mutual communication between drones. Unlike general groups, the drone formation pays more attention to the mutual coordination between drones in the group. In air combat, drone clusters can obtain absolute advantages in combat by coordinating positions, reducing or even blocking possible maneuvers or attack routes of enemy aircraft; at the same time, drone clusters can also launch simultaneous saturation all-round attacks to expand the killing range. Therefore, it is of great significance to study the construction of typical drone cluster formations. Summary of the invention

[0004] In order to solve the technical problem to be solved by the present invention, a method for decomposing vector transformation of UAV target formation flight is provided, several types of typical UAV cluster combination flight vector transformation decomposition actions are extracted to form a UAV cluster target test technology experimental verification subject, and an embodiment of the present invention provides a method and device for decomposing vector transformation of UAV target formation flight.

[0005] In a first aspect, an embodiment of the present invention provides a UAV target formation flight vector transformation and decomposition device, the device comprising a data acquisition module, a data processing module, and a display module; the data processing module is respectively connected to the data acquisition module and the display module in communication;

[0006] The data acquisition module is used to collect the formation of the drone target;

[0007] The data processing module is used to receive the UAV target formation, and perform vector decomposition according to the UAV target formation according to a built-in preset algorithm to obtain a vector decomposition result;

[0008] The data processing module is used to display the vector decomposition result.

[0009] In a second aspect, an embodiment of the present invention further provides a method for decomposing a vector transformation of a UAV target formation flight, comprising:

[0010] The device is used to perform vector transformation decomposition on UAV target formation flight to obtain vector decomposition results.

[0011] In a third aspect, an embodiment of the present invention further provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the method described in any embodiment of the present invention is implemented.

[0012] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, enables the computer to execute the method described in any embodiment of the present invention.

[0013] An embodiment of the present invention provides a method and device for vector transformation decomposition of unmanned aerial vehicle target formation flight. The device of the present invention includes a data acquisition module, a data processing module, and a display module; the data processing module is respectively communicated with the data acquisition module and the display module, the data acquisition module is used to collect the formation of unmanned aerial vehicle target formations, the data processing module is used to receive the formation of the unmanned aerial vehicle target formations, and perform vector decomposition according to the formation of the unmanned aerial vehicle target formations according to a built-in preset algorithm to obtain a vector decomposition result, and the data processing module is used to display the vector decomposition result. Through the above configuration, the present invention extracts several types of typical unmanned aerial vehicle cluster combination flight vector transformation decomposition actions to form a subject for experimental verification of unmanned aerial vehicle cluster target testing technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] 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 description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0015] Figure 1 This is a structural diagram of a UAV target formation flight vector transformation decomposition device provided by an embodiment of the present invention;

[0016] Figure 2 is a hardware architecture diagram of an electronic device provided by an embodiment of the present invention;

[0017] Figure 3It is a flow chart of a method for vector transformation decomposition of UAV target formation flight provided by one embodiment of the present invention;

[0018] Figure 4 This is a schematic diagram of a single-machine hovering provided by an embodiment of the present invention;

[0019] Figure 5 This is a schematic diagram of a single machine independent hovering provided by an embodiment of the present invention;

[0020] Figure 6 This is a schematic diagram of a single machine round trip provided by an embodiment of the present invention;

[0021] Figure 7 This is a schematic diagram of a square hovering formation provided by an embodiment of the present invention;

[0022] Figure 8 This is a schematic diagram of a formation diamond hovering provided by an embodiment of the present invention;

[0023] Fig. 9 is a formation rotation schematic diagram provided by an embodiment of the present invention;

[0024] Fig.10 This is a schematic diagram of the overall rotation of a formation provided by an embodiment of the present invention;

[0025] Fig.11 is a schematic diagram of a formation circular motion provided by an embodiment of the present invention;

[0026] Fig.12 This is a schematic diagram of a square formation flying straight provided by an embodiment of the present invention;

[0027] Fig.13 This is a diamond-shaped schematic diagram of a formation direct flight provided by an embodiment of the present invention;

[0028] Fig.14 is a schematic diagram of diagonal diffusion of a formation provided by an embodiment of the present invention;

[0029] Fig.15 It is a formation tangential schematic diagram provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0031] UAV formation flight refers to the arrangement of multiple UAVs in a three-dimensional space according to a certain formation, and the stable formation structure can be guaranteed at all times. At the same time, during the flight, the individuals in the group can also adjust their positions and postures according to the external environment or internal command requirements, so as to cooperate and complete the expected tasks. In the actual mission execution, multiple UAVs will form formations in different formation structures, such as echelons, horizontal columns, vertical columns, V-shaped and circular shapes. When multiple targets appear in the radar beam, the echoes received by the radar are also generated by the mutual coupling of multiple targets. When the structure and density of the formation are different, the coupling between targets will also present different results.

[0032] Please refer to Figure 1 , an embodiment of the present invention provides a UAV target formation flight vector transformation and decomposition device, the device includes a data acquisition module 100, a data processing module 102, and a display module 104; the data processing module 102 is respectively connected to the data acquisition module 100 and the display module 104 for communication;

[0033] The data acquisition module 100 is used to collect the formation of the drone target formation;

[0034] The data processing module 102 is used to receive the UAV target formation and perform vector decomposition according to the UAV target formation according to a built-in preset algorithm to obtain a vector decomposition result;

[0035] The data processing module 104 is used to display the vector decomposition result.

[0036] In an embodiment of the present invention, the device of the present invention includes a data acquisition module, a data processing module, and a display module; the data processing module is respectively communicated with the data acquisition module and the display module, the data acquisition module is used to collect the UAV target formation formation, the data processing module is used to receive the UAV target formation formation, and perform vector decomposition according to the UAV target formation formation according to a built-in preset algorithm to obtain a vector decomposition result, and the data processing module is used to display the vector decomposition result. Through the above configuration method, the present invention extracts several types of typical UAV cluster combination flight vector transformation decomposition actions to form a UAV cluster target test technology experimental verification subject.

[0037] The present invention has the following beneficial effects: using the UAV target formation flight vector transformation decomposition method of the present invention, a dynamic test subject for the electromagnetic scattering characteristics of UAV targets is formed, and the electromagnetic scattering characteristic information and characteristic laws of UAV targets are mastered through experimental tests, which is of great significance for the detection and identification of UAV cluster targets.

[0038] In one embodiment of the present invention, the data processing module includes a communication module;

[0039] The communication module is used for communication connection between the data acquisition module and the display module.

[0040] In the embodiment of the present invention, the communication module acts as a bridge between the data acquisition module and the display module, so that the data acquired by the data acquisition module can be accurately transmitted to the display module. For example, in an environmental monitoring system, the data acquisition module collects environmental data such as temperature and humidity, and the communication module can send these data to the display module via wired (such as USB, Ethernet) or wireless (such as Wi-Fi, Bluetooth, ZigBee), so that the user can intuitively see the collected data on the display module (which can be a display screen or a terminal device).

[0041] In one embodiment of the present invention, the data processing module includes a storage module;

[0042] The storage module is used to store the UAV target formation and vector decomposition results.

[0043] In the embodiment of the present invention, the storage module in the data processing module plays an important role. It is specifically responsible for storing the formation of the target drone and the vector decomposition results. The various formation styles presented by the formation and the corresponding data obtained after vector decomposition will be saved by the storage module, which is convenient for subsequent viewing, analysis or further optimization of the formation flight strategy based on these data.

[0044] In one embodiment of the present invention, the apparatus includes a control module;

[0045] The control module is used to control the data acquisition module, data processing module and display module.

[0046] In the embodiment of the present invention, the control module can reasonably regulate the data collection work of the data acquisition module to ensure that data that meets the requirements is collected; it can also direct the data processing module to process the data according to corresponding rules and procedures; and it can also control the display module to accurately and orderly display the various types of information that need to be presented.

[0047] In one embodiment of the present invention, the data processing module includes a computing module;

[0048] The calculation module is used for built-in preset algorithms.

[0049] In the embodiment of the present invention, the calculation module in the data processing module has an important purpose, and it can have a preset algorithm built in. For example, in some application scenarios such as data analysis and image recognition, the preset algorithm in the calculation module can play a role, and perform operations such as calculation and analysis on the input data according to the established rules, thereby helping to realize the corresponding functions and providing strong support for the efficient operation of the entire system.

[0050] In one embodiment of the present invention, the data processing module includes a pre-processing module;

[0051] The preprocessing module is used to preprocess the received UAV target formation.

[0052] In the embodiment of the present invention, the pre-processing module in the data processing module plays an indispensable role. It is mainly responsible for processing the received UAV target formation in advance. For example, it standardizes the format of the formation data, removes some interference or error information, and performs preliminary integration, so that subsequent analysis, calculation and other processes can be carried out based on more accurate and appropriate data.

[0053] In one embodiment of the present invention, the device includes a communication encryption module;

[0054] The communication encryption module is used to encrypt the communication between the data acquisition module and the data processing module.

[0055] In the embodiment of the present invention, the communication encryption module in the device is crucial, as it can ensure the security of communication between the data acquisition module and the data processing module. When the two transmit data, the communication encryption module converts the data into an encrypted form for transmission by using a specific encryption algorithm. In this way, even if the data is intercepted during the transmission process, without the corresponding decryption means, the interceptor cannot obtain the real content, thereby effectively preventing security issues such as data leakage.

[0056] In the embodiment of the present invention, the vector transformation decomposition of the UAV target flight motion can decompose the UAV dynamic process into a combination of several basic dynamic processes. When the UAV has these basic dynamic functions, the construction of a typical UAV target formation can be completed through combined application. Figure 4-Figure 15 Several common UAV swarm flight paradigm decomposition actions are listed. Among them, Figure 4-Figure 6 Several basic decomposition actions of a single aircraft, corresponding to the test and modeling verification of single aircraft RCS, micro-Doppler, one-dimensional range image and other characteristics; Figure 7-Figure 8 The multi-aircraft formation hovering involved corresponds to the decomposition action of the instantaneous combination state during the flight of the UAVs; Figure 9-10 The involved formation rotation, formation autorotation and formation circular motion simulation correspond to the basic dynamic forms of formation tracking variable-angle flight state; Figure 11-Figure 12 The combined straight flight involved corresponds to the radial distance change process between the formation and the test system; Figure 13-Figure 15 The diagonal diffusion of the formation involved corresponds to the changing process of the density of the drone cluster formation.

[0057] like Figure 1 , Figure 2As shown, an embodiment of the present invention provides a UAV target formation flight vector transformation and decomposition device. The device embodiment can be implemented by software, or by hardware or a combination of software and hardware. From the hardware level, Figure 1 As shown, it is a hardware architecture diagram of an electronic device where a UAV target formation flight vector transformation and decomposition device is provided in an embodiment of the present invention. Figure 1 In addition to the processor, memory, network interface, and non-volatile memory shown, the electronic device in the embodiment may also include other hardware, such as a forwarding chip responsible for processing messages, etc. Taking software implementation as an example, Figure 2 As shown, as a device in a logical sense, the CPU of the electronic device in which it is located reads the corresponding computer program in the non-volatile memory into the internal memory and runs it.

[0058] like Figure 3 As shown, this embodiment provides a method for decomposing vector transformation of UAV target formation flight, and the device includes:

[0059] The device is used to perform vector transformation decomposition on UAV target formation flight to obtain vector decomposition results.

[0060] It is to be understood that the structure illustrated in the embodiment of the present invention does not constitute a specific limitation on a UAV target formation flight vector transformation decomposition device. In other embodiments of the present invention, a UAV target formation flight vector transformation decomposition device may include more or fewer components than shown in the figure, or combine certain components, or split certain components, or arrange the components differently. The components shown in the figure may be implemented in hardware, software, or a combination of software and hardware.

[0061] The information interaction, execution process and other contents between the modules in the above-mentioned device are based on the same concept as the embodiment of the method of the present invention. For the specific contents, please refer to the description in the embodiment of the method of the present invention, and no further description is given here.

[0062] An embodiment of the present invention further provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, a method for vector transformation decomposition of UAV target formation flight in any embodiment of the present invention is implemented.

[0063] An embodiment of the present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the processor executes a method for vector transformation and decomposition of a UAV target formation flight in any embodiment of the present invention.

[0064] Specifically, a device or apparatus equipped with a storage medium can be provided, on which software program code that implements the functions of any of the above-mentioned embodiments is stored, and the computer (or CPU or MPU) of the device or apparatus can read and execute the program code stored in the storage medium.

[0065] In this case, the program code itself read from the storage medium can realize the function of any one of the above-mentioned embodiments, and thus the program code and the storage medium storing the program code constitute a part of the present invention.

[0066] The storage medium embodiments for providing the program code include a floppy disk, a hard disk, a magneto-optical disk, an optical disk (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), a magnetic tape, a non-volatile memory card, and a ROM. Alternatively, the program code can be downloaded from a server computer by a communication network.

[0067] In addition, it should be clear that the functions of any of the above embodiments can be implemented not only by executing the program code read by the computer, but also by enabling an operating device operating on the computer to complete part or all of the actual operations based on the instructions of the program code.

[0068] In addition, it can be understood that the program code read from the storage medium is written to a memory provided in an expansion board inserted into the computer or to a memory provided in an expansion module connected to the computer, and then based on the instructions of the program code, a CPU installed on the expansion board or expansion module is enabled to perform part or all of the actual operations, thereby realizing the functions of any of the above-mentioned embodiments.

[0069] It should be noted that, in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0070] A person of ordinary skill in the art can understand that all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above method embodiments; and the aforementioned storage medium includes: ROM, RAM, magnetic disk or optical disk, etc., various media that can store program codes.

[0071] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A UAV target formation flight vector transformation and decomposition device, characterized in that: The device comprises a data acquisition module, a data processing module and a display module; the data processing module is respectively connected to the data acquisition module and the display module for communication; The data acquisition module is used to collect the formation of the drone target; The data processing module is used to receive the UAV target formation, and perform vector decomposition according to the UAV target formation according to a built-in preset algorithm to obtain a vector decomposition result; The data processing module is used to display the vector decomposition result.

2. The device according to claim 1, characterized in that The data processing module includes a communication module; The communication module is used for communication connection between the data acquisition module and the display module.

3. The device according to claim 2, characterized in that The data processing module includes a storage module; The storage module is used to store the UAV target formation and the vector decomposition result.

4. The device according to claim 3, characterized in that The device includes a control module; The control module is used to control the data acquisition module, the data processing module and the display module.

5. The device according to claim 4, characterized in that The data processing module includes a computing module; The calculation module is used to embed the preset algorithm.

6. The device according to claim 5, characterized in that The data processing module includes a preprocessing module; The preprocessing module is used to preprocess the received UAV target formation.

7. The device according to claim 6, characterized in that The device includes a communication encryption module; The communication encryption module is used to encrypt the communication between the data acquisition module and the data processing module.

8. A method for decomposing vector transformation of UAV target formation flight, characterized in that: The method comprises: The device described in any one of claims 1 to 7 is used to perform vector transformation decomposition on the UAV target formation flight to obtain a vector decomposition result.

9. An electronic device, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the method as claimed in claim 8 is implemented.

10. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and when the computer program is executed in a computer, the computer is caused to execute the method described in claim 8.

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