A control system and method for facilitating combined flight of multiple unmanned aerial vehicles

Abstract

The application discloses a kind of control system and method convenient for the flight of multiple unmanned aerial vehicle combination, it is related to unmanned aerial vehicle control technical field, including: task planning module, based on flight task demand, for unmanned aerial vehicle group planning flight trajectory, flight attitude and flight place;Electromagnetic monitoring module, based on anti-electromagnetic unmanned aerial vehicle in flight task place monitoring surrounding electromagnetic environment, collects electromagnetic data;Analysis module, based on electromagnetic data, analysis and judgment whether electromagnetic influences unmanned aerial vehicle group normal flight in current environment, establishes the electromagnetic threshold value that cannot fly interference, classifies electromagnetic analysis result.The application is based on frequency hopping communication technology, according to electromagnetic analysis result adjustment communication frequency, select the frequency of small electromagnetic interference to communicate, effectively guarantee the communication stability between unmanned aerial vehicle group and control system, reduce the influence of electromagnetic interference on communication, ensure that unmanned aerial vehicle group can accurately receive control instruction, stably fly.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) control technology, specifically to a control system and method that facilitates the combined flight of multiple UAVs. Background Technology

[0002] With the rapid development of technology, multi-drone combined flight has been widely used in many fields, such as logistics delivery, surveying and exploration, and security monitoring. However, in practical applications, multi-drone combined flight faces numerous challenges. On the one hand, the complex and ever-changing electromagnetic environment severely impacts drone flight. In urban environments, the electromagnetic signals generated by numerous electronic devices and communication base stations intertwine, forming complex sources of electromagnetic interference. In outdoor environments, there may also be natural electromagnetic interference, such as strong electromagnetic pulses generated by lightning. This electromagnetic interference can affect the stability of the drone's communication link, leading to delays or errors in receiving control commands, or even communication interruptions, causing the drone to lose control and fail to fly along its intended trajectory, seriously threatening flight safety. Existing electromagnetic... Monitoring methods often fail to acquire electromagnetic environment information in a real-time, comprehensive, and accurate manner, and lack effective countermeasures to flexibly adjust flight parameters and communication frequencies based on electromagnetic interference. For the coordinated flight control of multiple UAVs, traditional mission planning methods are insufficient to meet the diverse flight mission requirements. Different flight missions, such as precise cargo delivery and large-area mapping, have drastically different requirements for the flight trajectory, attitude, and flight location of UAVs. However, existing mission planning systems cannot fully integrate the specific characteristics of the flight mission and the real-time electromagnetic environment to rationally plan flight schemes for each UAV, resulting in low efficiency of combined flight of multiple UAVs and inability to complete missions efficiently. To address this, we propose a control system and method that facilitates combined flight of multiple UAVs. Summary of the Invention

[0003] To address the aforementioned technical problems, a control system and method for facilitating the combined flight of multiple unmanned aerial vehicles (UAVs) are provided. This technical solution resolves the aforementioned issues.

[0004] To achieve the above objectives, the technical solution adopted by this invention is: a control system that facilitates the combined flight of multiple unmanned aerial vehicles (UAVs), comprising:

[0005] The mission planning module plans the flight trajectory, flight attitude, and flight location for the UAV group based on the flight mission requirements.

[0006] The electromagnetic monitoring module is used by anti-electromagnetic drones to monitor the surrounding electromagnetic environment at the flight mission location and collect electromagnetic data.

[0007] The analysis module, based on electromagnetic data, analyzes and judges whether electromagnetic interference in the current environment affects the normal flight of the UAV group, establishes an electromagnetic interference threshold that prevents flight, and classifies the electromagnetic analysis results into categories such as no electromagnetic influence, presence of electromagnetic influence, and severe electromagnetic influence that prevents flight.

[0008] The anti-interference communication control module establishes communication with the UAV group, obtains analysis results, adjusts the communication frequency based on frequency hopping communication technology, selects a frequency with less electromagnetic interference for communication, and controls the flight of the UAV group.

[0009] The ground control module monitors the flight status of the UAV group in real time and records and stores the flight data; if the analysis module determines that there is a serious electromagnetic influence that prevents flight, the mission planning will be re-executed.

[0010] Preferably, the task planning steps of the task planning module are as follows:

[0011] Obtain the current task type and analyze the impact of the environment;

[0012] Understand the performance of the drone group, determine the number of drones participating in the mission, and assess their coordination capabilities;

[0013] The mission area is selected, and suitable take-off and landing points are chosen based on terrain requirements.

[0014] Based on the flight trajectory and mission requirements, plan the corresponding flight attitude and optimize for multiple targets;

[0015] The flight simulation is used for evaluation, the plan is revised based on the evaluation results, and a planning document is generated.

[0016] Preferably, electromagnetic data is collected based on monitoring by electromagnetic sensors. The acquisition method involves dividing the task area into several grid areas, and the anti-electromagnetic UAV flies along a preset grid path, passing through each grid point in sequence to collect electromagnetic data. During the acquisition process, the data quality is checked in real time, and the collected data is preprocessed before being uploaded and stored.

[0017] Preferably, the analysis steps of the analysis model are as follows:

[0018] The acquired data is normalized, and then the electromagnetic data is subjected to spectrum analysis to determine the frequency distribution of the electromagnetic signal; the electromagnetic intensity of different frequency bands is obtained to determine whether there are electromagnetic signals that interfere with UAV communication.

[0019] Based on the anti-interference index of the UAV and actual flight tests, the interference electromagnetic threshold was determined.

[0020] The obtained electromagnetic intensity value is compared with the determined electromagnetic interference threshold to determine the degree of electromagnetic influence. The determination results are then classified, including no electromagnetic influence, presence of electromagnetic influence, and severe electromagnetic influence that prevents flight.

[0021] Preferably, the normalization process assumes that the collected electromagnetic data set is... ,in Indicates the first Each electromagnetic data sample is mapped to a minimum-maximum normalization method. The formula for processing intervals is:

[0022]

[0023] in It is normalized data. It is a data set The minimum value in, It is a data set The maximum value in;

[0024] Spectrum analysis is based on Fourier transform processing. Let's assume that after... Frequency domain data is obtained after Fourier transform of the points. ,in Indicates the first The amplitude value of each frequency component is transformed using the following formula:

[0025]

[0026] in It is the imaginary unit; after Fourier transform, the frequency resolution is obtained. ,in It is the sampling frequency. It refers to the Fourier points and frequency points. , ;

[0027] The analysis results are divided into several frequency bands. Electromagnetic intensity in each frequency band ( The amplitude values ​​of the frequency domain data within this frequency band are obtained by calculating them.

[0028] After spectrum analysis, the electromagnetic intensity of different frequency bands is obtained. Based on the set UAV communication frequency band range and interference electromagnetic threshold, it is determined whether there are electromagnetic signals that interfere with UAV communication. If an electromagnetic signal with an intensity exceeding the threshold is detected in the UAV communication frequency band, it is determined that there is interference; otherwise, it is determined that there are no electromagnetic signals that interfere with UAV communication in the current environment.

[0029] Preferably, when electromagnetic interference is present, adjustments are made based on anti-interference communication control, and the flight control steps for the UAV group are as follows:

[0030] Based on frequency hopping communication technology, a communication link is established by selecting a frequency with less interference. When performing flight missions, flight control commands are generated, and encoding algorithms are used to convert the commands into communication digital signals.

[0031] Flight control commands are sent to the UAV group at selected frequencies with low interference, and data is transmitted by switching between different frequencies according to the set frequency hopping pattern.

[0032] The UAV team monitors the frequency hopping communication channel in real time, receives command signals, maintains the same frequency hopping pattern as the control center, captures command signals on the frequency, performs decoding operations, and restores the digital signals to flight control commands;

[0033] The drone team received the instructions and executed the corresponding flight operations.

[0034] Preferably, the specific control analysis is expressed as follows:

[0035] Select a frequency with low interference From a set of candidate frequencies Select a frequency that meets the anti-interference strength requirements. Minimum, that is ;

[0036] When performing a flight mission, a set of flight control commands is generated. After encoding algorithm The processed result is a set of communication digital signals. , represented as For each instruction The corresponding signal is obtained after encoding. ,Right now ;

[0037] Selected frequency with low interference Send the digital signal corresponding to the command, and then follow the frequency hopping pattern. Switching between different frequencies for data transmission, for the first... Secondary transmission Its transmission frequency Determined based on the frequency hopping pattern and transmission sequence;

[0038] in This indicates the selected frequency with minimal interference. The first in the frequency hopping pattern One frequency, Represents the set of flight control commands. Indicates the first One instruction, Indicates the encoding algorithm, This represents the set of encoded digital communication signals. Indicates the first One signal, Indicates the data transmission process. Indicates the first This transmission.

[0039] Preferably, the ground control module monitors the flight status of the UAV group in real time based on sensor and communication technology. Each UAV is equipped with an inertial measurement unit to monitor the attitude information of the UAV. The UAV's position coordinates are tracked based on the global positioning module. The UAV transmits data wirelessly to the ground control module for storage and management via its onboard communication module.

[0040] Preferably, if the analysis results from the analysis module indicate that there is a severe electromagnetic interference that prevents flight, a re-mission planning process is triggered to select a suitable flight location.

[0041] A control method for facilitating the combined flight of multiple UAVs, comprising the following control steps:

[0042] S1. Based on the requirements of the flight mission, plan the flight trajectory, flight attitude and flight location for the UAV group;

[0043] S2. Use an anti-electromagnetic drone to fly to the mission location, monitor the surrounding electromagnetic environment in real time, and collect data;

[0044] S3. Analyze and determine whether electromagnetic interference in the current environment affects the normal flight of the UAV group, establish an electromagnetic interference threshold that prevents flight, and classify the electromagnetic analysis results based on the threshold, including no electromagnetic influence, electromagnetic influence present, and severe electromagnetic influence that prevents flight.

[0045] S4. When determining whether there is no electromagnetic influence or electromagnetic influence, establish communication with the UAV group, obtain the analysis results, adjust the communication frequency based on frequency hopping communication technology, select a frequency with less electromagnetic interference for communication, and control the flight of the UAV group.

[0046] S5. If the analysis module determines that there is a serious electromagnetic influence that prevents flight, then the mission planning will be redone.

[0047] S6, the ground control module, monitors the flight status of the UAV group in real time and records and stores the flight data of the UAV group.

[0048] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0049] This invention ensures that UAVs efficiently execute missions according to predetermined objectives by planning flight trajectories, attitudes, and locations for the UAV group. By monitoring and analyzing the electromagnetic environment at the mission location, it promptly identifies potential electromagnetic interference problems and classifies the degree of electromagnetic influence. Based on frequency hopping communication technology, it adjusts the communication frequency according to the electromagnetic analysis results, selecting frequencies with less electromagnetic interference for communication. This effectively ensures stable communication between the UAV group and the control system, reduces the impact of electromagnetic interference on communication, and ensures that the UAV group can accurately receive control commands and fly stably. Attached Figure Description

[0050] Figure 1 This is a framework diagram of the control system of the present invention;

[0051] Figure 2 This is a flowchart of the control steps of the present invention. Detailed Implementation

[0052] The following description is intended to disclose the invention and enable those skilled in the art to implement it. The preferred embodiments described below are merely examples, and other obvious variations will occur to those skilled in the art.

[0053] Reference Figure 1 and Figure 2 As shown, a control system that facilitates the combined flight of multiple unmanned aerial vehicles (UAVs) includes:

[0054] The mission planning module plans the flight trajectory, flight attitude, and flight location for the UAV group based on the flight mission requirements.

[0055] The electromagnetic monitoring module is used by anti-electromagnetic drones to monitor the surrounding electromagnetic environment at the flight mission location and collect electromagnetic data.

[0056] The analysis module, based on electromagnetic data, analyzes and judges whether electromagnetic interference in the current environment affects the normal flight of the UAV group, establishes an electromagnetic interference threshold that prevents flight, and classifies the electromagnetic analysis results into categories such as no electromagnetic influence, presence of electromagnetic influence, and severe electromagnetic influence that prevents flight.

[0057] The anti-interference communication control module establishes communication with the UAV group, obtains analysis results, adjusts the communication frequency based on frequency hopping communication technology, selects a frequency with less electromagnetic interference for communication, and controls the flight of the UAV group.

[0058] The ground control module monitors the flight status of the UAV group in real time and records and stores the flight data; if the analysis module determines that there is a serious electromagnetic influence that prevents flight, the mission planning will be re-executed.

[0059] This application can precisely plan the flight trajectory, attitude, and location for the UAV group according to the specific needs of the flight mission, ensuring that the UAV group executes the mission efficiently according to the predetermined goal, and improving the accuracy and success rate of mission completion. The electromagnetic monitoring module and the analysis module work together to monitor and analyze the electromagnetic environment of the flight mission location through the anti-electromagnetic UAV, which can promptly detect potential electromagnetic interference problems and classify the degree of electromagnetic influence, providing a basis for subsequent countermeasures. The anti-interference communication control module is based on frequency hopping communication technology, which can adjust the communication frequency according to the electromagnetic analysis results and select the frequency with less electromagnetic interference for communication, effectively ensuring the communication stability between the UAV group and the control system, reducing the impact of electromagnetic interference on communication, and ensuring that the UAV group can accurately receive control commands and fly stably. The ground control module monitors the flight status of the UAV group in real time and records and stores the flight data, which helps operators to grasp the operation status of the UAV group in a timely manner. It also provides rich data support for subsequent mission evaluation and fault analysis. When the analysis module determines that there is a serious electromagnetic influence that prevents flight, the ground control module can re-plan the mission in a timely manner, giving the system a strong emergency response capability. It can flexibly cope with complex and ever-changing electromagnetic environments, ensuring the safety of the UAV group and the continuation of the mission. With the coordinated work of various modules, the control system can comprehensively ensure the combined flight of multiple UAVs in complex electromagnetic environments, effectively reduce the impact of electromagnetic interference on flight, improve flight safety and reliability, and reduce the possibility of flight accidents and mission failures caused by electromagnetic interference.

[0060] Among them, anti-electromagnetic drones are used for data collection. Through design and technical means, they achieve electromagnetic interference resistance, enabling them to resist external electromagnetic interference. Even in environments with electromagnetic interference, they can still fly stably, accurately receive and execute control commands, and complete various tasks such as environmental monitoring, intelligence gathering, and communication relay.

[0061] The task planning steps in the task planning module are as follows:

[0062] Obtain the current task type and analyze the impact of the environment;

[0063] Understand the performance of the drone group, determine the number of drones participating in the mission, and assess their coordination capabilities;

[0064] The mission area is selected, and suitable take-off and landing points are chosen based on terrain requirements.

[0065] Based on the flight trajectory and mission requirements, plan the corresponding flight attitude and optimize for multiple targets;

[0066] The flight simulation is used for evaluation, the plan is revised based on the evaluation results, and a planning document is generated.

[0067] Electromagnetic data is collected based on monitoring by electromagnetic sensors. The acquisition method involves dividing the task area into several grid areas. The anti-electromagnetic UAV flies along a preset grid path, passing through each grid point in sequence to collect electromagnetic data. During the acquisition process, the data quality is checked in real time, and the collected data is preprocessed before being uploaded and stored.

[0068] This application obtains information on the current task type and analyzes its environmental impact, enabling task planning to fully integrate with actual conditions and develop more reasonable solutions tailored to different task and environmental characteristics, thereby improving the feasibility and efficiency of task execution.

[0069] Understanding the performance of the drone group, determining the number of drones participating in the mission, and assessing their collaborative capabilities can optimize resource allocation, avoid resource waste or shortage, ensure that the drone group performs at its best in the mission, and improve the overall level of collaborative operation. Screening the mission area and selecting appropriate take-off and landing points according to terrain requirements helps ensure the safe take-off and landing of drones, reduces risks caused by terrain factors, and provides favorable starting and ending positions for subsequent flights. Dividing the mission area into several grid areas and having anti-electromagnetic drones fly along preset grid paths to collect data can ensure comprehensive and systematic monitoring of the electromagnetic environment of the mission area, avoid data omissions and blind spots, and obtain more complete electromagnetic data information.

[0070] The analysis steps of the analysis model are as follows:

[0071] The acquired data is normalized by mapping various types of electromagnetic data to a unified numerical range, [0,1] or [-1,1]. This allows data of different types and magnitudes to be compared and analyzed on the same scale, laying a solid foundation for further in-depth data feature mining. After normalization, spectral analysis is performed on the electromagnetic data. With the help of professional spectral analysis tools and algorithms, the characteristics of the electromagnetic data in the frequency domain are explored in depth, and the frequency distribution of the electromagnetic signal is accurately determined. In this process, the proportion of different frequency components in the entire electromagnetic signal can be clearly distinguished, and the electromagnetic intensity of different frequency bands can be obtained. By carefully observing the changing trend and specific values ​​of the electromagnetic intensity of each frequency band, and comparing them with the frequency range used by UAV communication, it can be determined whether there are electromagnetic signals that interfere with UAV communication.

[0072] To more accurately assess the impact of the electromagnetic environment on UAV flight, an interference electromagnetic threshold was determined based on the UAV's anti-interference performance indicators and actual flight tests, taking into account multiple factors. The UAV's anti-interference performance indicators are jointly determined by its own design characteristics, hardware performance, and the anti-interference technologies employed. Simultaneously, through numerous meticulously designed actual flight tests, flight status and communication quality data of the UAV were recorded under different electromagnetic environments. Data analysis methods were used to conduct in-depth mining and statistical analysis of this data, thereby determining a reasonable and practically valuable interference electromagnetic threshold. The electromagnetic intensity values ​​obtained from spectrum analysis were compared with the determined interference electromagnetic threshold. By rigorously comparing the values, when the electromagnetic intensity value is far below the interference electromagnetic threshold, it is determined that the electromagnetic environment has no electromagnetic impact on the drone's flight. If the electromagnetic intensity value is close to or slightly exceeds the interference electromagnetic threshold, it indicates that there is a certain degree of electromagnetic impact, but the drone may still be able to maintain normal flight. However, once the electromagnetic intensity value significantly exceeds the interference electromagnetic threshold, it can be determined as a serious electromagnetic impact that prevents flight. In this case, the drone's flight safety and communication stability will be greatly threatened, and it will be unable to perform flight missions normally. After clearly classifying the judgment results, it can provide an intuitive and accurate basis for taking corresponding countermeasures, ensuring the safety and reliability of drone flight.

[0073] The normalization process assumes that the collected electromagnetic data set is... ,in Indicates the first Each electromagnetic data sample is mapped to a minimum-maximum normalization method. The formula for processing intervals is:

[0074]

[0075] in It is normalized data. It is a data set The minimum value in, It is a data set The maximum value in;

[0076] Spectrum analysis is based on Fourier transform processing. Let's assume that after... Frequency domain data is obtained after Fourier transform of the points. ,in Indicates the first The amplitude value of each frequency component is transformed using the following formula:

[0077]

[0078] in It is the imaginary unit; after Fourier transform, the frequency resolution is obtained. ,in It is the sampling frequency. It refers to the Fourier points and frequency points. , ;

[0079] The analysis results are divided into several frequency bands. Electromagnetic intensity in each frequency band ( The amplitude values ​​of the frequency domain data within this frequency band are obtained by calculating them.

[0080] After spectrum analysis, the electromagnetic intensity of different frequency bands is obtained. Based on the set UAV communication frequency band range and interference electromagnetic threshold, it is determined whether there are electromagnetic signals that interfere with UAV communication. If an electromagnetic signal with an intensity exceeding the threshold is detected in the UAV communication frequency band, it is determined that there is interference; otherwise, it is determined that there are no electromagnetic signals that interfere with UAV communication in the current environment.

[0081] This application employs a minimum-maximum normalization method for normalization, mapping the collected electromagnetic data to a specified interval. Spectrum analysis, based on Fourier transform, yields frequency domain data, frequency resolution, and information at each frequency point. The analysis results are divided into frequency bands, and the electromagnetic intensity of each band is calculated by determining the amplitude of the frequency domain data. Based on the set UAV communication frequency band range and interference electromagnetic threshold, it determines whether electromagnetic signals interfering with communication exist. Normalization improves data comparability and optimizes algorithm performance. Spectrum analysis based on Fourier transform reveals frequency domain characteristics and controls frequency resolution. Dividing frequency bands and calculating electromagnetic intensity focuses on interference characteristics, simplifies data, and extracts effective information. Interference judgment based on communication frequency bands and thresholds provides targeted communication protection and clear decision-making basis.

[0082] In the presence of electromagnetic interference, adjustments are made based on anti-interference communication control. The flight control steps for the UAV group are as follows:

[0083] Based on frequency hopping communication technology, a communication link is established by selecting a frequency with less interference. When performing flight missions, flight control commands are generated, and encoding algorithms are used to convert the commands into communication digital signals.

[0084] Flight control commands are sent to the UAV group at selected frequencies with low interference, and data is transmitted by switching between different frequencies according to the set frequency hopping pattern.

[0085] The UAV team monitors the frequency hopping communication channel in real time, receives command signals, maintains the same frequency hopping pattern as the control center, captures command signals on the frequency, performs decoding operations, and restores the digital signals to flight control commands;

[0086] The drone team received the instructions and executed the corresponding flight operations.

[0087] This application utilizes frequency hopping communication technology to select frequencies with low interference to establish a communication link, which can effectively avoid strong electromagnetic interference frequency bands and greatly improve the stability of the communication link. In complex electromagnetic environments, conventional communication frequencies are susceptible to interference, leading to communication interruptions or signal distortion. Frequency-hopping communication, however, can dynamically find relatively "clean" communication frequencies, ensuring smooth communication between the control center and the UAV group, laying a solid foundation for the successful execution of flight missions. After generating flight control commands, an encoding algorithm is used to convert them into digital communication signals, which are then transmitted at selected frequencies according to a frequency-hopping pattern. This method increases the security and reliability of command transmission. The encoding algorithm can encrypt the commands to prevent them from being stolen or tampered with during transmission. The frequency-hopping pattern constantly changes the signal transmission path, reducing the possibility of continuous interference from the same frequency, ensuring that flight control commands are accurately transmitted to the UAV group. The UAV group monitors the frequency-hopping communication channel in real time and maintains a frequency-hopping pattern consistent with the control center, enabling it to accurately capture command signals. This allows the UAV group to respond promptly to commands issued by the control center, and even in environments with constantly changing electromagnetic interference, it can quickly adapt to frequency switching, ensuring real-time communication. Through decoding operations, the digital signals are restored to flight control commands, further ensuring the accurate reception and understanding of the commands.

[0088] The specific control analysis is expressed as follows:

[0089] Select a frequency with low interference From a set of candidate frequencies Select a frequency that meets the anti-interference strength requirements. Minimum, that is ;

[0090] When performing a flight mission, a set of flight control commands is generated. After encoding algorithm The processed result is a set of communication digital signals. , represented as For each instruction The corresponding signal is obtained after encoding. ,Right now ;

[0091] Selected frequency with low interference Send the digital signal corresponding to the command, and then follow the frequency hopping pattern. Switching between different frequencies for data transmission, for the first... Secondary transmission Its transmission frequency Determined based on the frequency hopping pattern and transmission sequence;

[0092] in This indicates the selected frequency with minimal interference. The first in the frequency hopping pattern One frequency, Represents the set of flight control commands. Indicates the first One instruction, Indicates the encoding algorithm, This represents the set of encoded digital communication signals. Indicates the first One signal, Indicates the data transmission process. Indicates the first This transmission.

[0093] This application selects the frequency with the lowest anti-interference strength from a set of candidate frequencies as the frequency with the least interference; during flight missions, the generated flight control command set is processed into a set of communication digital signals by an encoding algorithm, with each command corresponding to an encoded signal; the selected frequency is used to send the command digital signal, and then the data is transmitted by switching between different frequencies according to the frequency hopping pattern and transmission order. Precise frequency selection can avoid strong interference and ensure the stability of the communication link; the encoding process can encrypt the command and ensure the secure and accurate transmission of the command; the frequency switching for data transmission according to the frequency hopping pattern improves the anti-interference capability, ensures efficient and stable transmission of commands, and ensures the smooth operation of flight missions.

[0094] The ground control module monitors the flight status of the UAV group in real time based on sensor and communication technologies. Each UAV is equipped with an inertial measurement unit to monitor the attitude information of the UAV. The GPS module tracks the position coordinates of the UAV. The UAV transmits data wirelessly to the ground control module for storage and management via its onboard communication module.

[0095] Each UAV in this application is equipped with an inertial measurement unit (IMU) to monitor attitude information and a global positioning module (GPS) to track its position coordinates. This allows for comprehensive collection of UAV flight data. The attitude information reflects the UAV's flight angle, roll, and pitch states, while the position coordinates clearly define its spatial location. The combination of these two features provides the ground control module with comprehensive and accurate flight status data, helping operators accurately grasp the UAV's real-time dynamics. The UAV transmits flight data wirelessly to the ground control module via its onboard communication module. This real-time transmission mechanism enables the ground control center to obtain UAV flight information immediately and promptly understand changes in flight status. Compared to non-real-time data acquisition methods, this significantly improves the ability to respond to sudden events during flight. The rapid response to situations allows for timely adjustments to flight strategies or the issuance of emergency commands, providing valuable time. The ground control module stores and manages the received data, facilitating retrospective analysis of historical flight data. By comparing flight data from different time periods, potential faults can be identified, providing a reference for subsequent flight safety. Furthermore, if abnormalities are detected in the real-time flight status information, the ground control module can quickly detect them, take timely measures, adjust flight parameters, and direct the UAV to return to base, effectively reducing the risk of flight accidents and ensuring the safety of the UAV and mission execution. Based on the analysis results, if a severe electromagnetic interference that prevents flight is detected, a re-mission planning process is triggered to select a suitable flight location.

[0096] A control method for facilitating the combined flight of multiple UAVs, comprising the following control steps:

[0097] S1. Based on the requirements of the flight mission, plan the flight trajectory, flight attitude and flight location for the UAV group;

[0098] S2. Use an anti-electromagnetic drone to fly to the mission location, monitor the surrounding electromagnetic environment in real time, and collect data;

[0099] S3. Analyze and determine whether electromagnetic interference in the current environment affects the normal flight of the UAV group, establish an electromagnetic interference threshold that prevents flight, and classify the electromagnetic analysis results based on the threshold, including no electromagnetic influence, electromagnetic influence present, and severe electromagnetic influence that prevents flight.

[0100] S4. When determining whether there is no electromagnetic influence or electromagnetic influence, establish communication with the UAV group, obtain the analysis results, adjust the communication frequency based on frequency hopping communication technology, select a frequency with less electromagnetic interference for communication, and control the flight of the UAV group.

[0101] S5. If the analysis module determines that there is a serious electromagnetic influence that prevents flight, then the mission planning will be redone.

[0102] S6, the ground control module, monitors the flight status of the UAV group in real time and records and stores the flight data of the UAV group.

[0103] During the mission planning phase, this application precisely sets the flight trajectory, attitude, and location according to the flight mission requirements, improving mission execution efficiency and making rational use of resources. By monitoring the electromagnetic environment through an electromagnetically resistant UAV, it analyzes and judges the impact and establishes thresholds, classifying the results. For different electromagnetic conditions, if it is determined that there is no electromagnetic influence or that there is one, frequency hopping communication technology is used to adjust the frequency to ensure stable communication and control the flight of the UAV group. Once a severe electromagnetic influence that prevents flight occurs, the mission is immediately replanned, enhancing the system's adaptability to complex electromagnetic environments. In addition, the ground control module monitors the flight status of the UAV group in real time, records and stores data, making it easy to grasp the flight situation at any time, detect anomalies in a timely manner, and provide strong data support for subsequent mission evaluation, fault diagnosis, and performance optimization, comprehensively ensuring the safety and efficient operation of UAV flights.

[0104] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention.

Claims

1. A control system for facilitating the combined flight of multiple unmanned aerial vehicles (UAVs), characterized in that, Comprise: Task planning module, based on flight task demand, for unmanned aerial vehicle group planning flight trajectory, flight attitude and flight location; Electromagnetic monitoring module, based on anti-electromagnetic unmanned aerial vehicle in flight task place monitoring surrounding electromagnetic environment, collecting electromagnetic data; Analysis module, based on electromagnetic data, analysis and judgment of current environment, electromagnetic influence on normal flight of unmanned aerial vehicle group, establish unable to fly interference electromagnetic threshold, the electromagnetic analysis result classification, including no electromagnetic influence, there is electromagnetic influence and serious unable to fly electromagnetic influence; Anti-interference communication control module, with unmanned aerial vehicle group to establish communication, obtain analysis result, based on frequency hopping communication technology adjustment communication frequency, select electromagnetic interference small frequency communication, control unmanned aerial vehicle group flight; Ground control module, real-time monitoring unmanned aerial vehicle group flight state, record storage unmanned aerial vehicle group flight data; In analysis module judgment exists serious unable to fly electromagnetic influence, re task planning; For existing electromagnetic influence, based on anti-interference communication control adjustment, control unmanned aerial vehicle group flight; Specific control analysis expression is: Selecting a frequency with low interference From a set of candidate frequencies Selecting a frequency that meets a minimum level of resistance to interference That is, ; A set of flight control instructions is generated for performing a flight mission , is processed by an encoding algorithm to obtain a set of communication digital signals , denoted as , where for each instruction , a corresponding signal is obtained by encoding, i.e. ; selected frequency with small interference transmitting the digital signal corresponding to the instruction, and then transmitting the digital signal according to the frequency hopping pattern switching between different frequencies for data transmission, for the first transmission its transmission frequency is determined according to the frequency hopping pattern and the transmission sequence;​ in This indicates the selected frequency with minimal interference. The first in the frequency hopping pattern One frequency, Represents the set of flight control commands. Indicates the first One instruction, Indicates the encoding algorithm, This represents the set of encoded digital communication signals. Indicates the first One signal, Indicates the data transmission process. Indicates the first This transmission.

2. The control system of claim 1, wherein, Task planning module task planning steps are: Obtain current task type, and analyze the influence of environment; Understand the performance of unmanned aerial vehicle group, determine the number of unmanned aerial vehicles participating in the task, and evaluate the cooperation ability between them; Screen out the task area, select suitable take-off and landing points based on terrain demand; According to the flight trajectory and task demand, plan the corresponding flight attitude, and optimize multiple targets; Simulation flight evaluation, based on the evaluation results, correct the planning, and generate planning file.

3. The control system of claim 1, wherein, Collecting electromagnetic data based on electromagnetic sensor monitoring, collection method by dividing the task area into several grid areas, anti-electromagnetic unmanned aerial vehicle according to the preset grid path flight, in turn through each grid point for electromagnetic data collection, in the collection process, real-time quality inspection of data, pre-processing of collected data upload storage.

4. The control system of claim 1, wherein, Analysis model analysis steps are: The obtained data is normalized, and the electromagnetic data is analyzed after processing, and the frequency distribution of electromagnetic signal is determined; Get the electromagnetic intensity of different frequency bands, and judge whether there is electromagnetic signal interfering with unmanned aerial vehicle communication; Based on the anti-interference index of unmanned aerial vehicle and actual flight test, the interference electromagnetic threshold is determined; The obtained electromagnetic intensity value is compared with the determined interference electromagnetic threshold, the electromagnetic influence degree is judged, and the judgment result is classified, including no electromagnetic influence, there is electromagnetic influence and serious unable to fly electromagnetic influence.

5. The control system of claim 4, wherein, where the normalization processing sets the collected electromagnetic data set as where represents the i-th electromagnetic data sample, and based on the minimum-maximum normalization method, the data is mapped to the interval , and the processing formula is: ​ wherein is the normalized data, is the minimum value in the data set is the maximum value in the data set is the maximum value in the data set is the maximum value in the data set The spectral analysis is processed based on Fourier transformation, assuming that the Fourier transformation of the signal x(t) results in frequency domain data X(f) after wherein denotes the amplitude value of the n-th frequency component, and the transformation formula is ​​ wherein is the imaginary unit, and by Fourier transformation, a frequency resolution is obtained, wherein is the sampling frequency, is the number of Fourier points, and the frequency points , ; dividing the analysis result into several frequency bands , electromagnetic intensity of each frequency band ( ) obtaining the frequency domain data amplitude value in the frequency band After frequency spectrum analysis, further get the electromagnetic intensity of different frequency bands, based on the set unmanned aerial vehicle communication frequency band range and interference electromagnetic threshold, judge whether there is electromagnetic signal interfering with unmanned aerial vehicle communication, if the electromagnetic signal exceeding the threshold intensity is detected in the unmanned aerial vehicle communication frequency band, it is judged that there is interference, otherwise it is judged that there is no electromagnetic signal interfering with unmanned aerial vehicle communication in the current environment.

6. The control system of claim 1, wherein, For existing electromagnetic influence, based on anti-interference communication control adjustment, control unmanned aerial vehicle group flight steps are: Based on the frequency hopping communication technology, a frequency with small interference is selected to establish a communication link. When performing a flight task, flight control instructions are generated, and an encoding algorithm is used to convert the instructions into a communication digital signal form; The flight control instructions are sent to the UAV group at a selected frequency with small interference, and data transmission is performed by switching between different frequencies according to a set frequency hopping pattern; The UAV group monitors the frequency hopping communication channel in real time, receives the instruction signal, maintains the same frequency hopping pattern as the control center, captures the instruction signal in frequency, and performs decoding operation to restore the digital signal to the flight control instruction; The UAV group receives the instruction and performs the corresponding flight operation.

7. The control system of claim 1, wherein, The ground control module monitors the flight state of the UAV group in real time based on sensor and communication technology. Each UAV is equipped with an inertial measurement unit for monitoring the attitude information of the UAV. The global positioning module is used to track the position coordinates of the UAV. The UAV sends the data to the ground control module in a wireless transmission manner for storage management.

8. The control system of claim 1, wherein, Based on the analysis results of the analysis module, if there is a serious electromagnetic influence that cannot fly, a re-task planning process is triggered to select a suitable flight location.

9. A control method for facilitating combined flight of multiple unmanned aerial vehicles, applied to the control system for facilitating combined flight of multiple unmanned aerial vehicles according to any of claims 1 to 8, characterized in that, The control steps are: S1. Based on the flight task requirements, the flight trajectory, flight attitude and flight location of the UAV group are planned; S2. The anti-electromagnetic UAV flies to the flight task location and monitors the surrounding electromagnetic environment in real time to collect data; S3. Analyze whether the electromagnetic environment affects the normal flight of the UAV group, establish a flight interference electromagnetic threshold, and classify the electromagnetic analysis results based on the threshold, including no electromagnetic influence, electromagnetic influence and serious flight interference electromagnetic influence; S4. When the results of no electromagnetic influence and electromagnetic influence are determined, communication is established with the UAV group to obtain the analysis results, the communication frequency is adjusted based on the frequency hopping communication technology, and a frequency with small electromagnetic interference is selected for communication to control the flight of the UAV group; S5. If the analysis module determines that there is a serious flight interference electromagnetic influence, re-task planning is performed; S6. The ground control module monitors the flight state of the UAV group in real time and records and stores the flight data of the UAV group.

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