Unmanned aerial vehicle cluster leading-slave type sparse formation forward cooperative control method

Abstract

The invention belongs to the technical field of unmanned aerial vehicle cluster systems, and particularly relates to an unmanned aerial vehicle cluster leading-slave type sparse formation forward cooperative control method, and when an unmanned aerial vehicle or a patrol flight type unmanned system cluster executes tasks such as continuous target detection and cooperative omni-directional strike, member nodes need to be dispersed on different task routes across waypoints. And forming a sparse formation and carrying out forward collaboration. According to the method, equivalent mapping of the positions of all cluster members on an expected route is obtained, the moving track length difference containing a linear level flight section and a turning arc section between a leading machine and a slave machine is solved, the expected speed followed by the slave machine is calculated according to the accurate forward distance relation, and cross-waypoint forward position collaboration of the leading machine and the slave machine is completed. According to the method, distributed operation is carried out in each cluster member node, only single-leading aircraft information is needed to serve as collaborative reference, the relative position relation among cluster members can be kept across waypoints, and the method has wide collaborative military task application prospects.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned aerial vehicle cluster systems, and in particular relates to a forward collaborative control method for a leader-slave sparse formation of an unmanned aerial vehicle cluster. Background Art

[0002] The clustered organizational model of intelligent unmanned systems has become an efficient and popular means to improve their overall mission capabilities, among which collaborative formation control is the basis and prerequisite for the complementarity and improvement of cluster member capabilities. For unmanned aerial vehicles or patrol-type unmanned systems with faster operating speeds and wider mission ranges, the formation control of their clusters often considers the realization of dense formations, that is, multiple adjacent member nodes form a formation with a certain geometric configuration on the same route. However, due to the needs of collaborative tasks such as all-round detection and omnidirectional strikes, cluster systems often require member nodes to be scattered on different routes and carry out collaborative cooperation. Dense formation control cannot consider the forward relative relationship between members across waypoints. Therefore, it is necessary to further consider the forward collaborative control method to achieve sparse formations. Summary of the invention

[0003] 1. Technical issues to be resolved

[0004] The technical problem to be solved by the present invention is: the forward collaborative control problem of a cluster of unmanned aerial vehicles in a sparse formation mission across waypoints.

[0005] (II) Technical solution

[0006] In order to solve the above technical problems, the present invention provides a forward collaborative control method for a leader-slave sparse formation of a swarm of unmanned aerial vehicles. The innovation of this method lies in that the relative position state between the leader and the slave can be maintained across waypoints, and it has universal adaptability to the number of waypoints crossed and the expected route pattern; at the same time, it takes into account the circular motion trajectory of unmanned aerial vehicles or patrol-type unmanned systems during turning, has universal adaptability to the turning radius of cluster nodes at different flight speeds, and can handle cluster sparse formations in unconventional motion states such as circular circling. The principle block diagram of the forward collaborative control of the leader-slave sparse formation of the swarm of unmanned aerial vehicles is shown in the figure. Figure 1 As shown, the control method includes:

[0007] Step 1: Coordinate system definition

[0008] Local North Celestial East Coordinate System: also called navigation coordinate system or ground coordinate system, the origin is fixed to any point on the ground, the X-axis points to the geographic North Pole of the ellipsoid model, the Z-axis points to the geographic East of the ellipsoid model, and the Y-axis is perpendicular to the other two axes and forms a right-handed system;

[0009] Step 2: Input and output definitions;

[0010] Step 21: Enter information definition;

[0011] Desired waypoint: Position in the inertial coordinate system (X hld ,Y hld ,Z hld ), the number of waypoints NHD (ie X hld , Y hld , Z hld The length of each is NHD), the expected route speed V qw 、Expected forward distance between leader and follower L qw ;

[0012] Current node flight status: node number id, position in the inertial coordinate system (x, y, z), current waypoint number iHD (an integer with 1≤iHD≤NHD), turning mode mode (1 for straight and level flight, 2 for turning arc segment), ground speed V g ;

[0013] Leading aircraft flight status: node number id L , the position in the inertial coordinate system (x L ,y L ,z L ), current waypoint number iHD L (is an integer and 1≤iHD L ≤NHD), turning mode mode L (1 for straight and level flight, 2 for turning arc), ground speed V gL ;

[0014] Step 23: Output information definition;

[0015] Cross-waypoint forward distance deviation: dis coop , Forward cooperative speed expectation: V coop ;

[0016] Step 3: Establish mathematical model;

[0017] Step 31: Project the position state to the reference expected track;

[0018] Project the position status of the local node and the leading node onto the reference expected track that includes the turning arc segment and the straight level flight segment, such as Figure 2 As shown, the calculation steps are as follows:

[0019] Step 311: According to the current node waypoint number iHD, obtain its current waypoint plane position (X hld1 ,Z hld1 ), the plane position of the last waypoint (X hld0 ,Z hld0 ), the next waypoint plane position (X hld2 ,Z hld2 );

[0020] Step 312: For the plane position (x, z), if the current node is in the straight level flight segment, that is, if mode == 1, calculate the projection position on the reference expected track as follows:

[0021]

[0022] A=X hld2 -X hld1 ,B=Z hld1 -Z hld2 ,C=(Z hld2 -Z hld1 )X hld1 +(X hld1 -X hld2 )Z hld1 (2)

[0023]

[0024]

[0025]

[0026] r mode2 =0 (6)

[0027] Among them, l p1 Indicates the plane distance between the node position and the current waypoint. A, B, and C are mathematical representation parameters of the current route. p12 Indicates the shortest distance between the node location and the current route, r p12 The proportion of the node executing the current route, r mode2 Indicates the ratio of the length of the turned arc flown to the total length of the turned arc;

[0028] Otherwise, the current node is in the turning arc segment, and the calculation is as follows:

[0029]

[0030]

[0031]

[0032]

[0033]

[0034]

[0035]

[0036]

[0037]

[0038]

[0039] Where ρ0 represents the heading angle of the previous route, ρ1 represents the heading angle of the current route, and Δρ 01 Represents the above two heading angle deviations, R zφ is the theoretical turning radius, g is the gravity acceleration, φ is the preset tilt turning roll angle, R zw01 Indicates the distance from the current waypoint when entering or exiting a curve, (x c1 ,z c1 ) is the turning point of the current route, (x c2 ,z c2 ) indicates the exit point of the current route, (x cc ,z cc ) is the midpoint of the exit / entry bend, (x c1 ,z c1 ) represents the turning center of the current route, r mode2_0 is the original calculated value;

[0040] Step 313: For the plane position of the leading machine (x L ,z L ), waypoint number iHD L , Turn mode mode L Repeat formulas (1) to (6) or (7) to (16) to obtain the projection position The arc ratio r mode2L ;

[0041] Step 32: Prepare for distance calculation.

[0042] Step 321: The assignment operation is as follows:

[0043]

[0044]

[0045] sign=1 (19)

[0046] Among them, iHD min 、mode min , r mode2min Indicates the waypoint number, turning mode, projected position, arc ratio flown, iHD max 、mode max , r mode2maxIndicates the relevant state variables of the node with advanced position, sign is the flag bit of the slave node lagging or leading;

[0047] Step 322: If after the above assignment, iHD is satisfied min >iHD max Conditions, assignment operations are as follows:

[0048]

[0049]

[0050] sign=-1 (22)

[0051] Step 33: If this node is the leader node, id == id L , directly assign dis coop =0; otherwise, proceed to the calculation of the subsequent step 34 or step 35;

[0052] Step 34: Calculation of forward distance deviation across waypoints when the leader and follower waypoint numbers are the same

[0053] If the waypoint numbers of the leader and follower are the same, iHD min ==iHD max ,like Figure 3 As shown, the calculation steps are as follows;

[0054] Step 341: According to the current waypoint number iHD1=iHD min =iHD max , get the current waypoint plane position (X hld1 ,Z hld1 ), the plane position of the last waypoint (X hld0 ,Z hld0 ), the next waypoint plane position (X hld2 ,Z hld2 ), and use equations (7) to (10) to calculate Δρ 01 , R zφ , R zw01 ;

[0055] Step 342: Make accurate judgment on the front and back of members at the same waypoint, and calculate the flag position as follows:

[0056] like or

[0057]

[0058] sign all =sign (23)

[0059] otherwise,

[0060]

[0061] sign all =temp·sign (25)

[0062] In the formula, sign all Indicates the symbol of the forward distance from the aircraft;

[0063] Step 343: Calculate the leader-follower forward distance deviation according to the situation, as follows:

[0064]

[0065] Among them, L coop It represents the unsigned forward distance deviation value of the slave, and the operator max(·,·) represents the maximum value;

[0066] Step 344: The function of the flag bit before and after superposition is determined, and the calculation is as follows:

[0067] dis coop =sign all ·L coop (27)

[0068] In the formula, dis coop That is the forward distance deviation across the waypoint;

[0069] Step 35: Calculation of forward distance deviation across waypoints when leader and follower waypoint numbers are inconsistent

[0070] If the waypoint numbers of the leader and follower are inconsistent, iHD min ~=iHD max ,like Figure 4 As shown, the calculation steps are as follows;

[0071] Step 351: Set L coop The initial value is 0, and in iHD1, iHD min 、iHD min +1, …, iHD max -1. iHD max Carry out subsequent calculation steps under the loop conditions;

[0072] Step 352: According to the waypoint number iHD1, obtain the current waypoint plane position (X hld1 ,Z hld1 ), the plane position of the last waypoint (X hld0 ,Z hld0 ), the next waypoint plane position (X hld2 ,Z hld2 ), the plane position of the next waypoint (X hld3 ,Z hld3), use equations (7) to (10) to calculate ρ1 and Δρ 01 , R zφ , R zw01 , and perform the following calculations:

[0073]

[0074]

[0075]

[0076] Among them, ρ2 represents the heading angle of the next route, Δρ 12 is the current and next heading angle deviation, R zw12 Indicates the distance to the next waypoint when entering / exiting a turn;

[0077] Step 353: If iHD1 == iHD min , the forward distance deviation between leader and follower is calculated cyclically as follows:

[0078]

[0079] Step 354: Otherwise if iHD1 == iHD max , the forward distance deviation between leader and follower is calculated cyclically as follows:

[0080]

[0081] Step 355: Otherwise, the leader-follower forward distance deviation is calculated cyclically as follows:

[0082]

[0083] Step 356: The function of the flag bit before and after superposition is determined, and the calculation is as follows:

[0084] dis coop =sign·L coop (34)

[0085] Step 36: Calculate the expected speed based on the forward distance deviation

[0086] Based on the aforementioned forward distance deviation dis coop The speed expectation is calculated as follows:

[0087] V coop =V qw +K P ·(L qw -dis coop )+K D ·(V gL -V g ) (35)

[0088] Among them, K P , K D is the proportional and differential control coefficient greater than zero.

[0089] (III) Beneficial effects

[0090] Compared with the prior art, the present invention targets the actual collaborative mission requirements of drone or patrol-type unmanned system clusters, handles cross-waypoint sparse collaborative mission scenarios that traditional dense formation collaborative control cannot cope with, and can ensure the relative position relationship of multiple drone nodes in a large space without changing the commonly used leader-slave collaborative architecture, and is universally adaptable to conditions such as the number of waypoints, expected route patterns, and cluster node turning trajectories. This method has realized the equal-phase uniformly distributed circling interference function of the patrol aircraft cluster for the active signal source, and can meet other military mission requirements such as continuous target detection and coordinated omnidirectional strikes, and has broad application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0091] Figure 1 This is a block diagram of the forward collaborative control principle of a leader-follower sparse formation of a swarm of UAVs.

[0092] Figure 2 It is a schematic diagram of the projection from the actual position of the node to the reference expected track.

[0093] Figure 3 This is a schematic diagram of the forward distance calculation when the waypoint numbers of the leader and follower are the same.

[0094] Figure 4 This is a schematic diagram of the forward distance calculation when the waypoint numbers of the leader and follower are inconsistent. DETAILED DESCRIPTION

[0095] In order to make the purpose, content, and advantages of the present invention more clear, the specific implementation methods of the present invention are further described in detail below in conjunction with the accompanying drawings and examples.

[0096] The present invention discloses a forward collaborative control method for a leader-follower sparse formation of a drone cluster: when a drone or patrol-type unmanned system cluster performs tasks such as continuous target detection and coordinated omnidirectional strike, each member node needs to be spread across waypoints on different mission routes to form a sparse formation and carry out forward collaboration. This method obtains the equivalent mapping of the position of each cluster member on the desired route, solves the difference in the length of the running trajectory including the straight level flight segment and the turning arc segment between the leader and the follower, and uses this accurate forward distance relationship to calculate the expected speed of the follower to complete the forward position collaboration of the leader and the follower across waypoints. This method performs distributed computing in each cluster member node, only requires a single leader information as a collaborative reference, can maintain the relative position relationship between cluster members across waypoints, and has broad application prospects for collaborative military tasks.

[0097] In order to solve the above technical problems, the present invention provides a forward collaborative control method for a leader-slave sparse formation of a swarm of unmanned aerial vehicles. The innovation of this method lies in that the relative position state between the leader and the slave can be maintained across waypoints, and it has universal adaptability to the number of waypoints crossed and the expected route pattern; at the same time, it takes into account the circular motion trajectory of unmanned aerial vehicles or patrol-type unmanned systems during turning, has universal adaptability to the turning radius of cluster nodes at different flight speeds, and can handle cluster sparse formations in unconventional motion states such as circular circling. The principle block diagram of the forward collaborative control of the leader-slave sparse formation of the swarm of unmanned aerial vehicles is shown in the figure. Figure 1 As shown, the control method includes:

[0098] Step 1: Coordinate system definition

[0099] Local North Celestial East Coordinate System: also called navigation coordinate system or ground coordinate system, the origin is fixed to any point on the ground, the X-axis points to the geographic North Pole of the ellipsoid model, the Z-axis points to the geographic East of the ellipsoid model, and the Y-axis is perpendicular to the other two axes and forms a right-handed system;

[0100] Step 2: Input and output definitions;

[0101] Step 21: Enter information definition;

[0102] Desired waypoint: Position in the inertial coordinate system (X hld ,Y hld ,Z hld ), the number of waypoints NHD (ie X hld , Y hld , Z hld The length of each is NHD), the expected route speed V qw 、Expected forward distance between leader and follower L qw ;

[0103] Current node flight status: node number id, position in the inertial coordinate system (x, y, z), current waypoint number iHD (an integer with 1≤iHD≤NHD), turning mode mode (1 for straight and level flight, 2 for turning arc segment), ground speed V g ;

[0104] Leading aircraft flight status: node number id L , the position in the inertial coordinate system (x L ,y L ,z L ), current waypoint number iHD L (is an integer and 1≤iHD L ≤NHD), turning mode mode L (1 for straight and level flight, 2 for turning arc), ground speed V gL ;

[0105] Step 23: Output information definition;

[0106] Cross-waypoint forward distance deviation: dis coop , Forward cooperative speed expectation: V coop ;

[0107] Step 3: Establish mathematical model;

[0108] Step 31: Project the position state to the reference expected track;

[0109] Project the position status of the local node and the leading node onto the reference expected track that includes the turning arc segment and the straight level flight segment, such as Figure 2 As shown, the calculation steps are as follows:

[0110] Step 311: According to the current node waypoint number iHD, obtain its current waypoint plane position (X hld1 ,Z hld1 ), the plane position of the last waypoint (X hld0 ,Z hld0 ), the next waypoint plane position (X hld2 ,Z hld2 );

[0111] Step 312: For the plane position (x, z), if the current node is in the straight level flight segment, that is, if mode == 1, calculate the projection position on the reference expected track as follows:

[0112]

[0113] A=X hld2 -X hld1 ,B=Z hld1 -Z hld2 ,C=(Z hld2 -Z hld1 )X hld1 +(X hld1 -X hld2 )Z hld1 (2)

[0114]

[0115]

[0116]

[0117] r mode2 =0 (6)

[0118] Among them, l p1Indicates the plane distance between the node position and the current waypoint. A, B, and C are mathematical representation parameters of the current route. p12 Indicates the shortest distance between the node location and the current route, r p12 The proportion of the node executing the current route, r mode2 Indicates the ratio of the length of the turned arc flown to the total length of the turned arc;

[0119] Otherwise, the current node is in the turning arc segment, and the calculation is as follows:

[0120]

[0121]

[0122]

[0123]

[0124]

[0125]

[0126]

[0127]

[0128]

[0129]

[0130] Where ρ0 represents the heading angle of the previous route, ρ1 represents the heading angle of the current route, and Δρ 01 Represents the above two heading angle deviations, R zφ is the theoretical turning radius, g is the gravity acceleration, φ is the preset tilt turning roll angle, R zw01 Indicates the distance from the current waypoint when entering or exiting a curve, (x c1 ,z c1 ) is the turning point of the current route, (x c2 ,z c2 ) indicates the exit point of the current route, (x cc ,z cc ) is the midpoint of the exit / entry bend, (x c1 ,z c1 ) represents the turning center of the current route, r mode2_0 is the original calculated value;

[0131] Step 313: For the plane position of the leading machine (x L ,z L ), waypoint number iHDL , Turn mode mode L Repeat formulas (1) to (6) or (7) to (16) to obtain the projection position The arc ratio r mode2L ;

[0132] Step 32: Prepare for distance calculation.

[0133] Step 321: The assignment operation is as follows:

[0134]

[0135]

[0136] sign=1 (19)

[0137] Among them, iHD min 、mode min , r mode2min Indicates the waypoint number, turning mode, projected position, arc ratio flown, iHD max 、mode max , r mode2max Indicates the relevant state variables of the node with advanced position, sign is the flag bit of the slave node lagging or leading;

[0138] Step 322: If after the above assignment, iHD is satisfied min >iHD max Conditions, assignment operations are as follows:

[0139]

[0140]

[0141] sign=-1 (22)

[0142] Step 33: If this node is the leader node, id == id L , directly assign dis coop =0; otherwise, proceed to the calculation of the subsequent step 34 or step 35;

[0143] Step 34: Calculation of forward distance deviation across waypoints when the leader and follower waypoint numbers are the same

[0144] If the waypoint numbers of the leader and follower are the same, iHD min ==iHD max ,like Figure 3 As shown, the calculation steps are as follows;

[0145] Step 341: According to the current waypoint number iHD1=iHD min =iHD max , get the current waypoint plane position (X hld1 ,Z hld1 ), the plane position of the last waypoint (X hld0 ,Z hld0 ), the next waypoint plane position (X hld2 ,Z hld2 ), and use equations (7) to (10) to calculate Δρ 01 , R zφ , R zw01 ;

[0146] Step 342: Make accurate judgment on the front and back of members at the same waypoint, and calculate the flag position as follows:

[0147] like or

[0148]

[0149] sign all =sign (23)

[0150] otherwise,

[0151]

[0152] sign all =temp·sign (25)

[0153] In the formula, sign all Indicates the symbol of the forward distance from the aircraft;

[0154] Step 343: Calculate the leader-follower forward distance deviation according to the situation, as follows:

[0155]

[0156] Among them, L coop It represents the unsigned forward distance deviation value of the slave, and the operator max(·,·) represents the maximum value;

[0157] Step 344: The function of the flag bit before and after superposition is determined, and the calculation is as follows:

[0158] dis coop =sign all ·L coop (27)

[0159] In the formula, dis coop That is the forward distance deviation across the waypoint;

[0160] Step 35: Calculation of forward distance deviation across waypoints when leader and follower waypoint numbers are inconsistent

[0161] If the waypoint numbers of the leader and follower are inconsistent, iHD min ~=iHD max ,like Figure 4 As shown, the calculation steps are as follows;

[0162] Step 351: Set L coop The initial value is 0, and in iHD1, iHD min 、iHD min +1, …, iHD max -1. iHD max Carry out subsequent calculation steps under the loop conditions;

[0163] Step 352: According to the waypoint number iHD1, obtain the current waypoint plane position (X hld1 ,Z hld1 ), the plane position of the last waypoint (X hld0 ,Z hld0 ), the next waypoint plane position (X hld2 ,Z hld2 ), the plane position of the next waypoint (X hld3 ,Z hld3 ), use equations (7) to (10) to calculate ρ1 and Δρ 01 , R zφ , R zw01 , and perform the following calculations:

[0164]

[0165]

[0166]

[0167] Among them, ρ2 represents the heading angle of the next route, Δρ 12 is the current and next heading angle deviation, R zw12 Indicates the distance to the next waypoint when entering / exiting a turn;

[0168] Step 353: If iHD1 == iHD min , the forward distance deviation between leader and follower is calculated cyclically as follows:

[0169]

[0170] Step 354: Otherwise if iHD1 == iHD max , the forward distance deviation between leader and follower is calculated cyclically as follows:

[0171]

[0172] Step 355: Otherwise, the leader-follower forward distance deviation is calculated cyclically as follows:

[0173]

[0174] Step 356: The function of the flag bit before and after superposition is determined, and the calculation is as follows:

[0175] dis coop =sign·L coop (34)

[0176] Step 36: Calculate the expected speed based on the forward distance deviation

[0177] Based on the aforementioned forward distance deviation dis coop The speed expectation is calculated as follows:

[0178] V coop =V qw +K P ·(L qw -dis coop )+K D ·(V gL -V g ) (35)

[0179] Among them, K P , K D is the proportional and differential control coefficient greater than zero.

[0180] Example 1

[0181] This embodiment implements a method for forward collaborative control of a leader-slave sparse formation of a drone cluster. In the specific implementation process, the following steps are followed:

[0182] 1: Start, get the flight status of the current slave node and leader node;

[0183] 2: During formation control, execute necessary transition routes between dense formation and sparse formation according to the requirements of collaborative tasks;

[0184] 3: Establish good initial conditions for sparse formation control through route transition, switch from dense formation forward cooperative control to sparse formation forward cooperative control, and obtain the expected flight speed of the slave aircraft;

[0185] 4: The drone's underlying controller ensures that the platform's actual flight speed tracks the above-mentioned expected flight speed, thus achieving formation coordination;

[0186] 5: Analyze the results of the coordinated flight to check the formation and relative position relationship between the leading and following aircraft.

[0187] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A forward collaborative control method for a leader-slave sparse formation of a UAV cluster, characterized in that: The control method comprises: Step 1: Coordinate system definition Local North Celestial East Coordinate System: also called navigation coordinate system or ground coordinate system, the origin is fixed to any point on the ground, the X-axis points to the geographic North Pole of the ellipsoid model, the Z-axis points to the geographic East of the ellipsoid model, and the Y-axis is perpendicular to the other two axes and forms a right-handed system; Step 2: Input and output definitions; Step 21: Enter information definition; Desired waypoint: Position in the inertial coordinate system (X hld ,Y hld ,Z hld ), the number of waypoints NHD, the expected route speed V qw 、Expected forward distance between leader and follower L qw ; Current node flight status: node number id, position in the inertial coordinate system (x, y, z), current waypoint number iHD, turning mode mode, ground speed V g ; Leading aircraft flight status: node number id L , the position in the inertial coordinate system (x L ,y L ,z L ), current waypoint number iHD L , Turn mode mode L (1 for straight and level flight, 2 for turning arc), ground speed V gL ; Step 23: Output information definition; Cross-waypoint forward distance deviation: dis coop , Forward cooperative speed expectation: V coop ; Step 3: Establish mathematical model; Step 31: Project the position state to the reference expected track; Project the position status of the local node and the leading node onto the reference expected flight path that includes the turning arc segment and the straight level flight segment. The calculation steps are as follows: Step 311: According to the current node waypoint number iHD, obtain its current waypoint plane position (X hld1 ,Z hld1 ), the plane position of the last waypoint (X hld0 ,Z hld0 ), the next waypoint plane position (X hld2 ,Z hld2 ); Step 312: For the plane position (x, z), if the current node is in the straight level flight segment, that is, if mode == 1, calculate the projection position on the reference expected track as follows: A=X hld2 -X hld1 ,B=Z hld1 -Z hld2 ,C=(Z hld2 -Z hld1 )X hld1 +(X hld1 -X hld2 )Z hld1 (2) r mode2 ＝0 (6) Among them, l p1 Indicates the plane distance between the node position and the current waypoint. A, B, and C are mathematical representation parameters of the current route. p12 Indicates the shortest distance between the node location and the current route, r p12 The proportion of the node executing the current route, r mode2 Indicates the ratio of the length of the turned arc flown to the total length of the turned arc; Otherwise, the current node is in the turning arc segment, and the calculation is as follows: Where ρ0 represents the heading angle of the previous route, ρ1 represents the heading angle of the current route, and Δρ 01 Represents the above two heading angle deviations, R zφ is the theoretical turning radius, g is the gravity acceleration, φ is the preset tilt turning roll angle, R zw01 Indicates the distance from the current waypoint when entering or exiting a curve, (x c1 ,z c1 ) is the turning point of the current route, (x c2 ,z c2 ) indicates the exit point of the current route, (x cc ,z cc ) is the midpoint of the exit / entry bend, (x c1 ,z c1 ) represents the turning center of the current route, r mode2_0 is the original calculated value; Step 313: For the plane position of the leading machine (x L ,z L ), waypoint number iHD L , Turn mode mode L Repeat formulas (1) to (6) or (7) to (16) to obtain the projection position The arc ratio r mode2L ; Step 32: Prepare for distance calculation. Step 321: The assignment operation is as follows: sign=1 (19) Among them, iHD min 、mode min , r mode2min Indicates the waypoint number, turning mode, projected position, arc ratio flown, iHD max 、mode max , r mode2max Indicates the relevant state variables of the node with advanced position, sign is the flag bit of the slave node lagging or leading; Step 322: If after the above assignment, iHD is satisfied min >iHD max Conditions, assignment operations are as follows: sign=-1 (22) Step 33: If this node is the leader node, id == id L , directly assign dis coop =0; otherwise, proceed to the calculation of the subsequent step 34 or step 35; Step 34: Calculation of forward distance deviation across waypoints when the leader and follower waypoint numbers are the same If the waypoint numbers of the leader and follower are the same, iHD min ==iHD max , the calculation steps are as follows; Step 341: According to the current waypoint number iHD1=iHD min =iHD max , get the current waypoint plane position (X hld1 ,Z hld1 ), the plane position of the last waypoint (X hld0 ,Z hld0 ), the next waypoint plane position (X hld2 ,Z hld2 ), and use equations (7) to (10) to calculate Δρ 01 , R zφ , R zw01 ; Step 342: Make accurate judgment on the front and back of members at the same waypoint, and calculate the flag position as follows: like or sign all =sign (23) otherwise, sign all =temp·sign (25) In the formula, sign all Indicates the symbol of the forward distance from the aircraft; Step 343: Calculate the leader-follower forward distance deviation according to the situation, as follows: Among them, L coop It represents the unsigned forward distance deviation value of the slave, and the operator max(·,·) represents the maximum value; Step 344: The function of the flag bit before and after superposition is determined, and the calculation is as follows: dis coop =sign all ·L coop (27) In the formula, dis coop That is the forward distance deviation across the waypoint; Step 35: Calculation of forward distance deviation across waypoints when leader and follower waypoint numbers are inconsistent If the waypoint numbers of the leader and follower are inconsistent, iHD min ~=iHD max , the calculation steps are as follows; Step 351: Set L coop The initial value is 0, and in iHD1, iHD min 、iHD min +1, …, iHD max -1. iHD max Carry out subsequent calculation steps under the loop conditions; Step 352: According to the waypoint number iHD1, obtain the current waypoint plane position (X hld1 ,Z hld1 ), the plane position of the last waypoint (X hld0 ,Z hld0 ), the next waypoint plane position (X hld2 ,Z hld2 ), the plane position of the next waypoint (X hld3 ,Z hld3 ), use equations (7) to (10) to calculate ρ1 and Δρ 01 , R zφ , R zw01 , and perform the following calculations: Among them, ρ2 represents the heading angle of the next route, Δρ 12 is the current and next heading angle deviation, R zw12 Indicates the distance to the next waypoint when entering / exiting a turn; Step 353: If iHD1 == iHD min , the forward distance deviation between leader and follower is calculated cyclically as follows: Step 354: Otherwise if iHD1 == iHD max , the forward distance deviation between leader and follower is calculated cyclically as follows: Step 355: Otherwise, the leader-follower forward distance deviation is calculated cyclically as follows: Step 356: The function of the flag bit before and after superposition is determined, and the calculation is as follows: dis coop =sign·L coop (34) Step 36: Calculate the expected speed based on the forward distance deviation Based on the aforementioned forward distance deviation dis coop The speed expectation is calculated as follows: V coop =V qw +K P ·(L qw -dis coop )+K D ·(V gL -V g ) (35) Among them, K P , K D is the proportional and differential control coefficient greater than zero.

2. The forward collaborative control method of the UAV swarm leader-slave sparse formation according to claim 1, characterized in that: In step 21, the current waypoint number iHD is an integer and 1≤iHD≤NHD.

3. The forward collaborative control method of the UAV swarm leader-slave sparse formation as claimed in claim 1, characterized in that: In step 21, the value of the turning mode mode is: 1 for the straight and level flight segment, and 2 for the turning arc segment.

4. The forward collaborative control method of the UAV swarm leader-slave sparse formation as claimed in claim 1, characterized in that: In step 21, the current waypoint number iHD L is an integer and 1≤iHD L ≤NHD.

5. The forward collaborative control method of the UAV swarm leader-slave sparse formation as claimed in claim 1, characterized in that: In step 21, the turning mode mode L The value of is: 1 for straight and level flight segment, and 2 for turning arc segment.

6. The forward collaborative control method of the UAV swarm leader-slave sparse formation as claimed in claim 1, characterized in that: The method can maintain the relative position state between the leading aircraft and the following aircraft across waypoints, and has universal adaptability to the number of waypoints crossed and the expected route pattern.

7. The forward collaborative control method of the UAV swarm leader-slave sparse formation as claimed in claim 1, characterized in that: The method takes into account the circular motion trajectory of UAVs or patrol-type unmanned systems during turning, has universal adaptability to the turning radius of cluster nodes at different flight speeds, and can handle cluster sparse formations in unconventional motion states such as circular circling.

8. The forward collaborative control method of the UAV swarm leader-slave sparse formation as claimed in claim 1, characterized in that: The method is carried out according to the following steps: (1) Start by obtaining the flight status of the current slave node and the leader node; (2) During formation control, execute necessary transition routes between dense formation and sparse formation according to the requirements of collaborative tasks; (3) Establish good initial conditions for sparse formation control through route transition, switch from dense formation forward cooperative control to sparse formation forward cooperative control, and obtain the expected flight speed of the follower aircraft; (4) The UAV underlying controller ensures that the platform's actual flight speed tracks the above-mentioned expected flight speed to achieve formation coordination; (5) Analyze the results of the coordinated flight and check the formation and relative position relationship between the leading and following aircraft.

9. The forward collaborative control method of the UAV swarm leader-slave sparse formation as claimed in claim 1, characterized in that: The method belongs to the technical field of drone cluster systems.

10. The forward collaborative control method of the UAV swarm leader-slave sparse formation according to claim 1, characterized in that: The method is designed to meet the actual collaborative mission requirements of clusters of drones or patrol-type unmanned systems, and to handle cross-waypoint sparse collaborative mission scenarios that traditional dense formation collaborative control cannot cope with. It can ensure the relative position relationship of multiple drone nodes in a large spatial range without changing the commonly used leader-slave collaborative architecture, and can be universally adapted to the number of waypoints, expected route patterns, and cluster node turning trajectory conditions. The method has realized the equal-phase uniformly distributed circling interference function of the patrol vehicle cluster for the active signal source, and can meet other military mission requirements such as continuous target detection and coordinated omnidirectional strikes, and has broad application prospects.

Images