Task management system and task management method suitable for swarm unmanned aerial vehicle system

Abstract

The invention discloses a task management system and a task management method suitable for a swarm unmanned aerial vehicle system, and in the task management system, hardware cross-linking, remote control instruction transmission and remote measurement information transmission are carried out between a command control subsystem and a flight control subsystem; the flight control subsystem is connected with the task control subsystem, and task control and management information for the swarm unmanned aerial vehicle system is processed through the task control subsystem, so that modification of the unmanned aerial vehicle from a single unmanned aerial vehicle to multiple unmanned aerial vehicles is realized by additionally arranging the task control subsystem; the task control subsystem and the task load subsystem are crosslinked, and the task control subsystem is used for transmitting a remote control instruction and a telemetering return of the task load subsystem and receiving task image information from the task load subsystem; the command and control subsystem and the task load subsystem are crosslinked, and the task load subsystem transmits task image information to the command and control subsystem, so that the ground station can display the task image information in real time. According to the technical scheme provided by the invention, the problem that the existing flight management system of the unmanned aerial vehicle is difficult to realize information interaction, instruction control, cooperative task execution and autonomous task planning among multiple unmanned aerial vehicles in a swarm unmanned aerial vehicle system is solved.

Description

Technical Field

[0001] This invention relates to, but is not limited to, the field of aircraft management system design technology, and particularly to a mission management system and mission management method applicable to swarm unmanned aerial vehicle (UAV) systems. Background Technology

[0002] Swarm drone systems are an innovative flight system that enables efficient mission execution and information gathering by coordinating and communicating among multiple drones. This technology will bring enormous potential and transformative changes to various industries.

[0003] The aircraft management system (AMS) is a comprehensive system for aircraft platform control, decision-making, and management. Centered on the aircraft management computer, it enables the interconnection of all equipment within the aircraft and serves as the central node for information exchange. Traditional UAV flight management systems focus more on individual aircraft flight control, while swarm UAVs need to consider multiple aspects such as communication and collaboration, distributed control, and self-organization and adaptation. Achieving inter-aircraft information exchange, command control, collaborative task execution, and autonomous task planning is a direct requirement of swarm UAV systems. Summary of the Invention

[0004] The purpose of this invention is to solve the above-mentioned technical problems. This invention provides a task management system and task management method suitable for swarm drone systems, so as to solve the problem that existing drone flight management systems are difficult to realize inter-drone information interaction, command control, collaborative task execution and autonomous task planning in swarm drone systems.

[0005] The technical solution of the present invention: In a first aspect, the embodiments of the present invention provide a mission management system applicable to a swarm of unmanned aerial vehicle (UAV) systems, including: a command and control subsystem, and a flight control subsystem, a mission control subsystem, and a mission payload subsystem disposed in each UAV of the swarm of UAV systems;

[0006] The command and control subsystem and the flight control subsystem are interconnected via Ethernet or RS422 serial port for transmitting remote control commands and telemetry information.

[0007] The flight control subsystem is connected to the mission control subsystem via a serial port. The mission control subsystem is used to process mission control and management information for the swarm UAV system, thereby enabling the conversion of UAVs from single-unit to multi-unit systems by adding the mission control subsystem.

[0008] The task control subsystem and the task payload subsystem are interconnected via an RS422 serial port and an SDI interface; wherein, the RS422 serial port is used to transmit remote control commands and telemetry reports from the task payload subsystem, and the SDI interface is used by the task control subsystem to receive task image information from the task payload subsystem.

[0009] The command and control subsystem and the mission payload subsystem are interconnected via an SDI interface. The mission payload subsystem transmits mission image information to the command and control subsystem via the SDI interface, enabling the ground station to display the mission image information in real time.

[0010] Optionally, in the mission management system applicable to swarm drone systems as described above,

[0011] The command and control subsystem includes a ground station and ground-based data link equipment, as well as an airborne data link equipment configured in each UAV.

[0012] The ground-side data link equipment is interconnected with the ground station via Ethernet, and the ground-side data link equipment and the airborne data link equipment use wireless data link communication. The airborne data link equipment and the flight control subsystem are interconnected via Ethernet or RS422 serial port.

[0013] Optionally, in the mission management system applicable to swarm drone systems as described above,

[0014] The flight control subsystem is interconnected with the airborne data link equipment and mission control subsystem in the command and control subsystem, and is configured as a comprehensive system for UAV to perform aircraft platform control, decision-making and management.

[0015] After each UAV is powered on, it periodically sends telemetry information to the command and control subsystem through the flight control subsystem.

[0016] Optionally, in the mission management system for swarm drone systems as described above, the mission payload subsystem includes an optoelectronic payload device;

[0017] The optoelectronic payload equipment is interconnected with the airborne data link equipment of the command and control subsystem through the SDI interface to transmit mission image information to the ground station.

[0018] The optoelectronic payload device and the mission control subsystem are interconnected via an SDI interface and an RS422 serial port. The RS422 serial port is used by the mission payload subsystem to receive payload control commands issued by the mission control subsystem and to send payload telemetry information to the mission control subsystem. The SDI interface is used by the mission control subsystem to receive mission image information from the optoelectronic payload device for image recognition and comprehensive processing. This allows the mission payload subsystem to receive payload control commands from ground station personnel as well as payload control commands planned autonomously by the mission control subsystem.

[0019] Optionally, in the mission management system applicable to swarm drone systems as described above, the mission control subsystem includes: an information input module, a mission management module, a mission payload algorithm module, and an information output module;

[0020] The information input module is used to receive aircraft status information and remote control commands transmitted by the flight control subsystem, as well as telemetry information and mission image information transmitted by the mission payload subsystem, and to send the received information and commands to other modules within the mission control subsystem, including: transmitting aircraft status information and remote control commands from the flight control subsystem to the mission management module, transmitting mission image information from the optoelectronic payload device to the mission payload algorithm module, and transmitting telemetry information from the optoelectronic payload device to the information output module;

[0021] The task payload algorithm module is used to perform image recognition and comprehensive processing based on the received task image information, and transmit the recognized comprehensive information of the task target to the task management module and the information output module respectively.

[0022] The mission management module is used to perform mission scheduling and planning, mission control and payload management based on the received aircraft status information, remote control commands and mission target information, so as to generate mission planning information, payload control commands and flight mission control commands. The flight mission control commands include flight control commands for implementing route management.

[0023] The task management module is also used to transmit the telemetry information received from the information input module, the task planning information generated by itself, and the flight task control commands to the flight control subsystem through the information output module, so that the flight control subsystem can execute the flight task according to the swarm route obtained from the task planning and the task division of each UAV.

[0024] The task management module is also used to transmit the load control commands in the remote control commands received from the information input module, as well as the load control commands generated by the module itself, to the task load subsystem through the information output module. The information output module also transmits the local status information to the task load subsystem, so that the task load subsystem can perform reconnaissance tasks according to the load control commands and the local status information, and obtain target reconnaissance information and target mission image information.

[0025] Optionally, in the mission management system for swarm UAV systems described above, the communication between the flight control subsystem and the mission control subsystem includes:

[0026] The flight control subsystem communicates with the mission control subsystem via a 3-way full-duplex RS422 interface, including: serial port 1, serial port 2 and serial port 3.

[0027] The serial port 1 is used for uplink transparent transmission of uplink remote control commands from the command and control subsystem and downlink transparent transmission of downlink telemetry information from the task control subsystem.

[0028] The serial port 2 is used to transmit event-based commands and telemetry reports between the flight control subsystem and the mission control subsystem. Specifically, it is used for the flight control subsystem to receive remote control commands from the mission control subsystem, as well as telemetry reports.

[0029] The serial port 3 is used for short-cycle information transmission between the flight control subsystem and the mission control subsystem, including flight mission control commands issued by the mission control subsystem to the flight control subsystem, and local status information fed back by the flight control subsystem to the mission control subsystem; wherein, the flight mission control commands include modal scheduling commands and automatic flight commands.

[0030] Secondly, embodiments of the present invention also provide a task management method for a task management system suitable for a swarm drone system, wherein the task management method is executed using a task management system suitable for a swarm drone system as described in any of the above claims, wherein the task control subsystem includes: an information input module, a task management module, a task payload algorithm module, and an information output module; the task management method includes:

[0031] Step 10: The command and control subsystem loads the flight parameters of each UAV into the flight control subsystem via remote control commands and sends take-off commands. After each UAV takes off, its flight control subsystem reports its own telemetry information, which is used to display the speed, position, attitude, route, and status of the onboard equipment.

[0032] Step 20: The command and control subsystem sends remote control commands (including mission planning commands and payload control commands) to the flight control subsystem. The flight control subsystem forwards these commands to the mission control subsystem. The mission control subsystem receives the mission planning commands through the information input module and sends them to the mission management module to perform mission scheduling and mission planning, mission control and payload management. It generates mission planning information, payload control commands and flight mission control commands. The mission control subsystem also transmits the mission planning information and flight mission control commands it generates, as well as the telemetry information (2) received from the mission payload subsystem, to the flight control subsystem through the information output module. This enables the flight control subsystem to perform flight missions according to the swarm route obtained from the mission planning and the mission division of each aircraft. The mission control subsystem also transmits the payload control commands it generates and the payload control commands received from the flight control subsystem to the mission payload subsystem through the information output module. This enables the mission payload subsystem to perform reconnaissance missions according to the payload control commands and the aircraft's status information, and to obtain target reconnaissance information and target mission image information.

[0033] Optionally, in the task management method for a task management system applicable to a swarm drone system as described above, before step 10, the method further includes:

[0034] Step 01: Multiple drones are powered on on the ground. The ground station of the command and control subsystem receives the telemetry information of each aircraft. The command and control subsystem sets the mission flight path and swarm mission waypoint attributes for each aircraft. After receiving the mission flight path information, the flight control subsystem forwards it to the mission control subsystem.

[0035] Step 02: The command and control subsystem loads flight management information (including at least one of formation, mission area, map information, and reconnaissance subgroups) into the flight control subsystem. The flight management information is then transmitted to the flight control subsystem via a data link. The flight control subsystem performs packet segmentation processing and transmits the data to the mission control subsystem. The mission control subsystem receives the flight management information through the information input module and sends it to the mission management module for information processing. It then reports successful loading to the flight control subsystem through the information output module. The flight control subsystem directly transmits the report information to the command and control subsystem, enabling the command and control subsystem to display that the information loading is normal.

[0036] Optionally, in the task management method for a task management system applicable to a swarm drone system as described above, step 20 further includes the following during task execution:

[0037] Step 30: During the mission, perform payload control on the UAV's electro-optical pod, including:

[0038] Step 31: During the mission, a collaborative search by the electro-optical pod is performed. In the manual search phase, the ground station of the command and control subsystem sends payload control commands. These commands are transmitted and forwarded to the mission payload subsystem via the flight control subsystem and the mission control subsystem to control the electro-optical pod. The mission image information obtained by the electro-optical pod is forwarded directly to the ground station via the airborne link equipment, allowing mission monitoring personnel to see the real-time payload image. The other path sends the data to the mission payload algorithm module of the mission control subsystem for target identification, and then forwards the target identification information to the mission management module and the flight control subsystem respectively.

[0039] Step 32: After processing, the target identification information sent to the mission management module in step 31 is converted into guidance commands and payload control commands according to the mission search requirements. The guidance commands are sent back to the flight control subsystem to control the aircraft to approach the target area or change its flight path, while the payload control commands are sent back to the mission payload subsystem to perform target tracking or other tasks. The target identification information sent to the flight control subsystem in step 31 is then directly transmitted to the ground station through the data link equipment, enabling mission monitoring personnel to monitor the target information.

[0040] Step 33: After each UAV reaches the formation disbandment waypoint or receives the mission abort command, the mission management system determines that the mission execution is complete and enters the return-to-home phase. Flight control authority is entirely exercised by the flight control system. The mission control subsystem disables its own flight control output function and no longer participates in flight management, only used for individual UAV payload control. This means it only transmits data for photoelectric payload remote control commands and telemetry information, and runs the mission payload algorithm to obtain comprehensive target information. At this point, each UAV enters individual mode, the formation disbands, and each UAV is directly controlled by the flight control subsystem to begin its return-to-home process until the flight path is completed and the aircraft lands.

[0041] The beneficial effects of this invention: This invention provides a mission management system and method suitable for swarm drone systems. The mission management system includes a command and control subsystem, and flight control subsystems, mission control subsystems, and mission payload subsystems installed in each drone within the swarm drone system. Through hardware interconnection between the command and control subsystem and the flight control subsystem, remote control commands and telemetry information are transmitted. Through serial port connection between the flight control subsystem and the mission control subsystem, the mission control subsystem processes mission control and management information for the swarm drone system, thereby enabling the conversion of drones from single-drone to multi-drone configurations. Through interconnection between the mission control subsystem and the mission payload subsystem, remote control commands and telemetry reports from the mission payload subsystem are transmitted, and mission image information is received from the mission payload subsystem. Through interconnection between the command and control subsystem and the mission payload subsystem, mission image information is transmitted from the mission payload subsystem to the command and control subsystem, enabling real-time display of mission image information by the ground station. In the technical solution provided by the embodiments of the present invention, by adding a high-performance task control subsystem to the swarm drone system, completing the hardware interconnection and software communication interaction with the flight control subsystem, and running the relevant task management module, the traditional single drone can be quickly transformed into a swarm drone system, and the inter-drone information interaction, command control, collaborative task execution and autonomous task planning required by the swarm drone system can be completed. Attached Figure Description

[0042] The accompanying drawings are provided to further understand the technical solutions of the present invention and constitute a part of the specification. They are used together with the embodiments of this application to explain the technical solutions of the present invention and do not constitute a limitation on the technical solutions of the present invention.

[0043] Figure 1 This invention provides a schematic diagram illustrating the principle of a task management system and its implementation method for a swarm drone system. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that, unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

[0045] As explained in the background section, swarm drone systems have advantages in efficient task execution and information collection. Traditional drone flight management systems focus more on the flight control of individual drones, while swarm drones need to consider multiple aspects such as communication and collaboration, distributed control, and self-organization and self-adaptation.

[0046] To address the needs of swarm drone systems for inter-drone information interaction, command control, collaborative task execution, and autonomous task planning, this invention provides a task management system and method suitable for swarm drone systems. By extending the traditional single-drone flight management functions of drones, it achieves hardware and software interconnection between the drone flight control system and the task management system, completing the transformation and implementation of the single-drone flight management system into swarm system task management, thereby conveniently and quickly realizing the task management function requirements of swarm drone systems.

[0047] The present invention provides the following specific embodiments, which can be combined with each other. For the same or similar concepts or processes, they may not be described again in some embodiments.

[0048] Figure 1 This is a schematic diagram of the system architecture of a task management system for a swarm drone system provided in an embodiment of the present invention. The task management system provided in this embodiment of the present invention will be described below from both hardware and software architecture perspectives:

[0049] (I) Hardware Architecture:

[0050] The mission management system for swarm drone systems provided in this embodiment of the invention includes: a command and control subsystem, and a flight control subsystem, a mission control subsystem, and a mission payload subsystem set in each drone in the swarm; the above four subsystems are interconnected to realize the structural relationship of the hardware architecture.

[0051] (1) Interconnection between the command and control subsystem and the flight control subsystem:

[0052] like Figure 1 In the structure of the mission management system shown, the command and control subsystem and the flight control subsystem are interconnected via Ethernet or RS422 serial port for transmitting remote control commands and telemetry information between the two subsystems.

[0053] (2) Serial port cross-connection between the flight control subsystem and the mission control subsystem:

[0054] In this embodiment of the invention, the flight control subsystem and the mission control subsystem are connected via a serial port. The mission control subsystem is used to process a large amount of mission control and management information for the swarm drone system, thereby enabling the conversion of drones from single-unit to multi-unit systems by adding a mission control subsystem.

[0055] It should be noted that this embodiment of the invention adds a high-performance task management processing board (hereinafter referred to as the task control board, as the hardware part of the task control subsystem) to the traditional flight control processing board of the flight management computer (hereinafter referred to as the flight control board). This task management board is used to process task control and management information with a large computational load. The flight control board and the task control board are interconnected through a three-way UART serial port. As modular units, the flight control board and the task control board can be installed and removed separately. The installation of the task control board can enable the rapid modification of UAVs from single-unit to multi-unit configurations.

[0056] (3) Interconnection between the mission control subsystem and the mission payload subsystem:

[0057] In this embodiment of the invention, the task control subsystem and the task payload subsystem are interconnected via an RS422 serial port and an SDI interface. The RS422 serial port is used to transmit remote control commands and telemetry reports from the task payload subsystem (specifically, the RS422 serial port is used by the task payload subsystem to receive remote control commands issued by the task control subsystem and to send telemetry reports to the task control subsystem), and the SDI interface is used by the task control subsystem to receive task image information from the task payload subsystem.

[0058] (4) Interconnection between the command and control subsystem and the mission payload subsystem:

[0059] In this embodiment of the invention, the command and control subsystem and the mission payload subsystem are interconnected through an SDI interface. The mission payload subsystem transmits mission image transmission information to the command and control subsystem through the SDI interface, enabling the ground station to display mission image information in real time.

[0060] (II) Software Architecture:

[0061] The software architecture of the task control subsystem added in this embodiment of the invention specifically includes the following functions:

[0062] (1) Bridging communication;

[0063] It enables bridging communication between the command and control subsystem, flight control subsystem, mission control subsystem, and mission payload subsystem, decoupled from the protocol, and used only for transparent data transmission.

[0064] (2) Data interaction with the flight control subsystem;

[0065] It enables bidirectional interactive transmission of event-based commands and telemetry reports between the mission control subsystem and the flight control subsystem, including: uplink aircraft status information and remote control commands from the flight control subsystem, and downlink flight mission control commands and telemetry information from the mission control subsystem.

[0066] (3) Run the task management software;

[0067] The mission management software runs within the mission control subsystem. It provides the mission management software with remote control commands and telemetry information required for mission control through information transmitted from the flight control subsystem and information transparently transmitted from the command and control subsystem. It also outputs flight mission control commands and mission planning information generated by the mission management software to the flight control subsystem.

[0068] (4) Run the task load algorithm software;

[0069] The mission control subsystem supports the operation of computationally intensive mission payload algorithm software. The mission control subsystem receives data information collected by the mission payload subsystem and outputs comprehensive mission target information to the flight control subsystem.

[0070] This invention provides a mission management system and method suitable for swarm unmanned aerial vehicle (UAV) systems. The mission management system includes a command and control subsystem, and flight control subsystems, mission control subsystems, and mission payload subsystems installed in each UAV within the swarm system. Hardware interconnection between the command and control subsystem and the flight control subsystem enables the transmission of remote control commands and telemetry information. A serial port connection between the flight control subsystem and the mission control subsystem allows the mission control subsystem to process mission control and management information for the swarm UAV system, thereby enabling the conversion of single-UAV systems to multiple-UAV systems through the added mission control subsystem. Interconnection between the mission control subsystem and the mission payload subsystem enables the transmission of remote control commands and telemetry reports from the mission payload subsystem, as well as the reception of mission image information from the mission payload subsystem. Interconnection between the command and control subsystem and the mission payload subsystem enables the mission payload subsystem to transmit mission image information to the command and control subsystem, allowing for real-time display of mission image information by the ground station. In the technical solution provided by the embodiments of the present invention, by adding a high-performance task control subsystem to the swarm drone system, completing the hardware interconnection and software communication interaction with the flight control subsystem, and running the relevant task management module, the traditional single drone can be quickly transformed into a swarm drone system, and the inter-drone information interaction, command control, collaborative task execution and autonomous task planning required by the swarm drone system can be completed.

[0071] The following provides a detailed description of the functional implementation of each subsystem in the mission management system for swarm drone systems provided in the embodiments of the present invention.

[0072] I. Functional Implementation Between Subsystems in the Task Management System

[0073] Each drone in the swarm drone system is equipped with a flight control subsystem, a mission control subsystem, and a mission payload subsystem, as well as an airborne data link device within the command and control subsystem, all part of the mission management system provided in this application. The implementation scheme for the interconnection between the four subsystems is described in detail below.

[0074] (a) Implementation plan for the interconnection of the command and control subsystem

[0075] like Figure 1 As shown, the command and control subsystem includes a ground station and ground-based data link equipment, as well as an airborne data link equipment configured in each UAV. The ground-based data link equipment is interconnected with the ground station via Ethernet, and the ground-based data link equipment communicates with the airborne data link equipment wirelessly. The airborne data link equipment is interconnected with the flight control subsystem via Ethernet or an RS422 serial port.

[0076] The outputs of the command and control subsystem include:

[0077] Remote control commands 1 include: flight control commands and mission planning commands for individual aircraft, flight control commands and mission planning commands for the cluster, and payload control commands;

[0078] Aircraft status information includes: on-board status information (on-board data link equipment → on-board data link equipment of other aircraft); and status information of other aircraft (on-board data link equipment of on-board equipment of on-board equipment of on-board equipment of on-board equipment of on-board equipment of on-board equipment of on-board equipment → between flight control subsystems).

[0079] The input items for the command and control subsystem include:

[0080] Telemetry information 1 includes: onboard status information (flight control subsystem → onboard data link equipment), command response report information, as well as mission planning information, payload equipment information and target comprehensive information (these three items of information are transmitted through the flight control subsystem);

[0081] Mission image information of the mission payload subsystem;

[0082] Status information of other aircraft (airborne data link devices on other drones → airborne data link devices of this aircraft).

[0083] (b) Implementation plan for the interconnection of the flight control subsystem

[0084] like Figure 1 As shown, the flight control subsystem is interconnected with the airborne data link equipment in the command and control subsystem and the mission control subsystem, but not directly interconnected with the mission payload subsystem. The main functions of this flight control subsystem are implemented by the flight control board, which serves as a comprehensive system for the UAV to control, make decisions, and manage the aircraft platform.

[0085] The outputs of the flight control subsystem include:

[0086] Telemetry information 1 includes local status information, command response report information, mission planning information, payload equipment information, and target comprehensive information (the latter three items are transmitted through the mission control subsystem).

[0087] Remote control command 2 includes: payload control command and mission planning command (both of which are transmitted from the command and control subsystem by the flight control subsystem).

[0088] The inputs to the flight control subsystem include:

[0089] Other aircraft status information (from the command and control subsystem) remote control command 1, including single-aircraft / cluster flight control command, single-aircraft / cluster mission planning command, and payload control command (from the command and control subsystem);

[0090] Remote control command 4 includes: flight mission control commands (generated by the mission control subsystem);

[0091] Telemetry information 4 includes: mission planning information (including mission planning results and execution status, generated by the mission control subsystem), payload equipment information (transmitted downlink by the mission payload subsystem), target comprehensive information (transmitted downlink by the mission payload subsystem), and command response report information.

[0092] (c) Cross-linking implementation scheme for the mission payload subsystem

[0093] The main functions of the mission payload subsystem are implemented by the optoelectronic payload equipment. The optoelectronic payload equipment is interconnected with the airborne data link equipment of the command and control subsystem via the SDI interface, and is used to transmit mission image information to the ground station.

[0094] Unlike traditional single-unit payload management, the command control and telemetry reports of the optoelectronic payload equipment are not directly linked to the flight control subsystem. Instead, they are linked to the mission control subsystem through the SDI interface and the RS422 serial port. The RS422 serial port is used by the mission payload subsystem to receive payload control commands (e.g., pod control commands) issued by the mission control subsystem, and to send telemetry reports (i.e., telemetry information, including payload equipment information and target reconnaissance information) to the mission control subsystem. The SDI interface is used by the mission control subsystem to receive mission image information from the optoelectronic payload equipment for image recognition and comprehensive processing. This allows the mission payload subsystem to receive both manually issued payload control commands from the ground station (here referring to those transmitted through the flight control subsystem) and payload control commands autonomously planned by the mission control subsystem.

[0095] The output items of the mission payload subsystem include: mission image information, telemetry information 2, including: payload equipment information, target reconnaissance information, and command response report information.

[0096] The inputs to the mission payload subsystem include: payload control commands transmitted by the flight control subsystem and the mission control subsystem, as well as payload control commands generated by the mission control subsystem itself, and onboard status information generated by the flight control subsystem and transmitted by the mission control subsystem.

[0097] (d) Cross-linking implementation scheme of the task control subsystem

[0098] The mission control subsystem is the core of the mission management system architecture and a key element that distinguishes swarm UAV systems from single-unit UAV systems. Its main functions are implemented by the mission control board. For example... Figure 1 As shown, the task control subsystem is divided into four modules: information input module, task management module, task payload algorithm module, and information output module.

[0099] (1) Information input module;

[0100] 1.1 The function of this information input module is to receive aircraft status information and remote control commands transmitted by the flight control subsystem, as well as telemetry information and mission image information transmitted by the mission payload subsystem, and to send the received information and commands to other modules within the mission control subsystem. Specifically, this sending includes:

[0101] a) Transmits aircraft status information and remote control commands from the flight control subsystem to the mission management module;

[0102] b) Transmitting mission image information from the optoelectronic payload device to the mission payload algorithm module;

[0103] c) Transmit telemetry information from the optoelectronic payload device to the information output module.

[0104] 1.2 The input items of the information input module include:

[0105] Flight control subsystem inputs: Aircraft status information: local aircraft status information, other aircraft status information; Remote control command 2: payload control command, single aircraft / cluster mission planning command (remote control command 2 is transmitted through the flight control subsystem);

[0106] Inputs to the mission payload subsystem: Mission Image Information (SDI) and Telemetry Information 2 (including: payload equipment information, target reconnaissance information, and command response report information);

[0107] 1.3 The output items of the information input module include:

[0108] Remote control command 3 (same as remote control command 2) includes: payload control command and mission planning command, which sends the commands transparently transmitted by the flight control subsystem to the mission management module;

[0109] Task Image Information (SDI) forwards the task image information generated by the task payload subsystem to the task payload algorithm module.

[0110] The aircraft status information is sent to the task management module.

[0111] Telemetry information 3 (same as telemetry information 2) includes: payload equipment information, target reconnaissance information, and command response report information, which are sent to the mission management module and the information output module.

[0112] (2) Task payload algorithm module;

[0113] 2.1 The function of the task payload algorithm module is to perform image recognition and comprehensive processing based on the received task image information, and to transmit the recognized target comprehensive information to the task management module and the information output module respectively.

[0114] 2.2 The input items for the task payload algorithm module include: task image information (SDI) generated by the task payload subsystem;

[0115] 2.3 The output items of the task payload algorithm module include: target comprehensive information, which is output to the task management module and the information output module.

[0116] (3) Task Management Module;

[0117] 3.1 The task management module is the key module for realizing the task management system for the swarm of UAVs. The function of the task management module in each UAV is to transmit the telemetry information and remote control commands received from the information input module, as well as the task planning information and flight mission control commands generated by itself, to the flight control subsystem through the information output module, so that the flight control subsystem can execute the flight mission according to the swarm route obtained from the task planning and the task division of each UAV.

[0118] 3.2 The input items for the task management module include:

[0119] Remote control command 3 (same as remote control command 2) includes: payload control command, mission planning command, and remote control commands transmitted from the flight control subsystem.

[0120] Telemetry information 3 (same as telemetry information 2) includes: payload equipment information, command response report information, and target reconnaissance information, which comes from the mission payload subsystem;

[0121] Aircraft status information comes from the flight control subsystem;

[0122] The comprehensive target information comes from the task payload algorithm module.

[0123] 3.3 The output items of the task management module include:

[0124] Mission planning information: This module generates the mission information itself and sends it to the flight control subsystem through the information output module;

[0125] The generated payload control commands (e.g., pod control commands) after planning, together with the payload control commands transmitted by the flight control subsystem, are sent to the mission payload subsystem through the information output module.

[0126] Flight mission control command: This command, generated by the module itself, is sent to the flight control subsystem through the information output module.

[0127] (4) Information output module;

[0128] 4.1 This information output module integrates the outputs of the information input module, mission management module, and mission payload algorithm module within the mission control subsystem. As an interface for external devices, it transmits information to the command and control subsystem, flight control subsystem, and mission payload subsystem, respectively.

[0129] 4.2 The input items for the information output module include:

[0130] a) Receives payload control commands, mission control commands, and mission planning information generated by the mission management module itself, as well as transmitted from the flight control subsystem.

[0131] b) Receive telemetry information 3 (same as telemetry information 2) from the information input module, including: payload equipment information, target reconnaissance information, and command response report information;

[0132] c) Receive comprehensive target information generated by the task payload algorithm module through task image recognition processing.

[0133] 4.2 The output items of the information output module include:

[0134] a) The load control commands in the remote control commands 3 received from the information input module, as well as the load control commands generated by the module itself, are transmitted to the task load subsystem through the information output module.

[0135] b) The information output module transmits the local status information to the mission payload subsystem, so that the mission payload subsystem can perform reconnaissance missions according to the payload control commands and local status information, and obtain target reconnaissance information and target mission image information;

[0136] c) Send remote control command 4 to the flight control subsystem, i.e., the flight mission control command;

[0137] d) Telemetry information 4 to the flight control subsystem, including: payload equipment information and command response report information from telemetry information 3, target comprehensive information generated by the mission payload algorithm module, and mission planning information generated by the mission management module.

[0138] II. Communication methods between the flight control subsystem and the mission control subsystem in the mission management system

[0139] The communication design between the flight control subsystem and the mission control subsystem is the core and challenge of the mission management system architecture. Achieving rapid communication between the flight control subsystem and the mission control subsystem while ensuring the functionality of a single UAV system remains unaffected is a key specific implementation method of this invention. The following explains:

[0140] (1) Overall communication architecture

[0141] Taking a certain type of flight control computer with an added mission control subsystem as an example, this type of flight control computer is equipped with a flight control board and a mission control board, which are the hardware of the flight control subsystem and the mission control subsystem, respectively. The connection between the mission control board and the flight control board adopts a 3-channel full-duplex RS422 interface communication with a baud rate of 460800bps. On this basis, a communication protocol between the flight control board and the mission control board is built to realize command transmission and data interaction. The functions of each serial port and the data frame types are shown in Table 1 below.

[0142] Table 1. Functions and Data Frame Types of Serial Ports Between Flight Controller and Flight Control Board

[0143]

[0144]

[0145] 1.1 Inter-board serial port 1 communication protocol

[0146] The main function of serial port 1 is to transmit uplink remote control commands from the ground station and downlink telemetry information from the control board.

[0147] The payload control commands sent by the remote control uplink of the command and control subsystem are periodic packets with a default period of 100ms. The single-aircraft / cluster flight control commands and single-aircraft / cluster mission planning commands sent by the remote control uplink are event packets. After receiving the above event commands, the flight control board does not decode them, but directly forwards them to the flight control board in their source code.

[0148] The telemetry downlink periodic packet sent from the mission control board to the flight control board is 100ms by default. This periodic packet should include mission planning information, payload equipment information, and target comprehensive information. Downlink events include command reporting information (command execution status report, query command report, payload response remote control command report, etc.). After receiving the above telemetry information, the flight control board does not perform decoding operations, but directly transmits the source code to the link.

[0149] For uplink remote control commands, the flight controller board checks every 10ms whether there is a complete uplink remote control data packet. If a complete packet is read, it can be transparently forwarded to any control board.

[0150] For the downlink telemetry information of the mission control board, the flight control board checks every 10ms whether it has read the complete downlink telemetry data packet of the mission board. If a complete packet is read, it is forwarded to the data link device.

[0151] The specific agreement is as follows:

[0152] 1.1.1 Flight Controller Board -> Controller Board

[0153]

[0154]

[0155] 1.1.2 Control Board -> Flight Control Board

[0156]

[0157]

[0158] 1.2, Inter-board Serial Protocol 2

[0159] Serial port 2 is used for transmitting event-based commands and reporting telemetry information between the mission control board and the flight control board. The protocol between the mission control board and the flight control board is always consistent with the remote control / telemetry command protocol from the ground station to the flight control board (proper subset). The flight control board receives remote control commands (flight mission control commands) from the mission control board and reports telemetry information.

[0160] For remote control commands from the mission control board to the flight control board, there are periodic communication maintenance packets (empty commands) and event-based command packets. The periodic commands (empty commands) are 100ms by default, and the event-based commands are issued by the mission control board according to the mission requirements. The remote control command protocol is consistent with the link communication protocol, and the implementation scheme is consistent.

[0161] The telemetry information for the flight controller board -> the mission controller board includes the local periodic telemetry information and the local event-based command / query report packets; the periodic telemetry packets are 100ms by default, and the event-based telemetry packets are reported immediately according to the response; the telemetry protocol is consistent with the link communication protocol, and the implementation scheme is consistent.

[0162] The telemetry information from the flight control board to the drone control board also includes periodic telemetry data packets from other drones in the group. After receiving the periodic telemetry data packets from other drones in the group, the flight control board does not decode them but forwards them directly to the drone control board in their original form (the forwarding period is adjusted according to the number of drones in the group and is sent in a polling manner within the bandwidth constraint).

[0163] The specific agreement is as follows:

[0164] 1.2.1 Flight Controller Board -> Controller Board

[0165]

[0166] Event packets 6 through N+5 are sent to the control board according to the remote control report protocol (including the header and trailer of the remote control report frame).

[0167] 1.2.2, Flight Control Board -> Flight Control Board

[0168]

[0169]

[0170] 1.3, Inter-board Serial Protocol 3

[0171] Serial port 3 is used for short-cycle information transmission between the mission control board and the flight control board, including: 1) flight mission control commands such as modal scheduling commands and automatic flight commands issued by the mission control board to the flight control board; 2) local status information fed back by the flight control board to the mission control board. The above information mainly serves the fast-cycle control logic such as terminal guidance.

[0172] The data transmission period is defined as 10ms. The specific protocol is as follows:

[0173] 1.3.1 Flight Controller Board -> Controller Board

[0174]

[0175]

[0176] 1.3.2, Controller Board -> Flight Controller Board

[0177]

[0178]

[0179] Based on the task management system for swarm drone systems provided in the above embodiments of the present invention, the present invention also provides a task management method for the task management system for swarm drone systems. The task management method is executed using the task management system for swarm drone systems provided in any of the above embodiments. Figure 1 As shown, the task control subsystem in the task management system includes: an information input module, a task management module, a task load algorithm module, and an information output module.

[0180] The following specific embodiments illustrate the implementation of the task management method for a swarm drone system provided by the present invention.

[0181] Example 1:

[0182] In this embodiment 1, a mission control subsystem based on a mission board was added to a certain type of 40kg UAV to form a mission management system, and mission planning, confrontation, and tracking functions were tested. A semi-physical bench test was used, directly connecting the ground station in the mission control subsystem to the flight control subsystem. Bus simulation software and aircraft model software provided the flight management computer (which includes both the flight control and mission control subsystems) with the relevant information required for simulated flight. An Ethernet switch simulated the airborne and ground link equipment.

[0183] The task management system in this embodiment 1 executes the task management method, which includes the following implementation steps:

[0184] Step 1: The flight control computer powers on (i.e., the UAV powers on), and the ground station begins receiving and displaying the UAV's telemetry information. The ground station loads flight management information (including at least one of formation, mission area, flight path, map information, and reconnaissance subgroups) into the flight control subsystem. This information is transmitted via data link to the flight control subsystem of the flight control computer. The flight control subsystem performs packet segmentation processing and then transmits the data transparently to the mission control subsystem. The mission control subsystem receives the flight management information through its information input module and sends it to the mission management module for processing. Through its information output module, it reports successful loading to the flight control subsystem. The flight control subsystem then directly transmits the report to the command and control subsystem, ensuring the ground station displays that the information loading is normal.

[0185] Step 2: The ground station of the command and control subsystem sends remote control command 1 to the flight control subsystem, sets the relevant flight parameters, and sends takeoff command; the UAV takes off, and the flight control subsystem reports telemetry information 1 (including local telemetry information + telemetry information 4), which is used to display key information such as the speed, position, attitude, and route of the UAV, as well as the status of relevant airborne equipment.

[0186] Step 3: Send a "pre-command + standoff tracking" command through the command and control subsystem. The command is first sent to the flight control module and then forwarded to the mission control subsystem. After receiving the command through the information input module, the mission control subsystem sends it to the mission management module. The mission management module processes the data and reports that the subgroup and airspace number reception are normal, the standoff tracking branch has entered normally, and the planned flight path and control commands are sent back to the flight control subsystem through the information output module for flight control management. The pre-set reconnaissance flight path is completed in the designated mission area.

[0187] Step 4: The mission control subsystem completes the confrontation tracking route planning and sends the mission planning information (route information, etc.) and flight control information (guidance command information, etc.) to the flight control subsystem. The flight control subsystem forwards the mission planning information generated by the mission control subsystem to the command and control subsystem. The ground station receives the planning success sign, the UAV reconnaissance route is normally acquired and displayed, and the UAV can execute the confrontation tracking mission according to the planned route and the guidance command of the mission control module.

[0188] Example 2:

[0189] In this second embodiment, a mission management system is formed by adding a mission control subsystem based on a mission board to a certain type of 40kg-class UAV, and a dual-aircraft collaborative formation search test flight is carried out.

[0190] Step 1: Both UAVs are powered on, and the ground station of the command and control subsystem begins to simultaneously receive telemetry information from both UAVs. The ground station sends remote control commands to both aircraft: 1) Set flight management information (including at least one of formation, mission area, flight path, map information, and reconnaissance subgroup); 2) Complete the setting of mission flight path and formation waypoint attributes; 3) After receiving the mission flight path information, the flight control subsystem forwards it to the mission control subsystem.

[0191] Step 2: The ground station of the command and control subsystem sends remote control command 1 to the flight control subsystems of the two UAVs respectively, and sets the relevant flight parameters. After the takeoff conditions of the two UAVs are checked and passed, they take off in sequence. The mission control subsystem processes the mission attributes of the route information received in Step 1. The first UAV hovers and waits at the formation assembly waypoint. After the second UAV arrives, the two UAVs form a formation and enter formation mode. The guidance mode is switched to formation flight. The relative information between the UAVs is obtained by the flight control subsystem receiving telemetry information from other UAVs transmitted by the link equipment, processing the telemetry data packets, and forwarding them to the mission control subsystem. The mission control subsystem sends guidance commands (flight mission control commands) to the flight control subsystem for flight control management according to the mission plan.

[0192] Step 3: The functions of the mission payload subsystem required for the collaborative search mission are mainly implemented by the electro-optical pod equipment. During the collaborative search phase, in the manual search phase, payload control commands are sent from the ground station of the command and control subsystem. These commands are then forwarded through the flight control subsystem and mission control subsystem to the mission payload subsystem for control of the electro-optical pod. The mission image information (e.g., video stream) obtained by the electro-optical pod is forwarded directly to the ground station via the SDI interface and airborne link equipment, allowing mission monitoring personnel to view the real-time payload image. Simultaneously, the information is sent via the SDI interface to the mission payload algorithm module of the mission control subsystem for target identification, processing to obtain comprehensive target information, and then forwarding this information to the mission management module and the flight control subsystem.

[0193] Step 4: The comprehensive target information sent to the mission management module in Step 3 is processed by the program and converted into guidance commands (flight control commands) and payload control commands according to mission search requirements. The guidance commands are transmitted back to the flight control subsystem to control the aircraft to approach the target area or change its flight path; the payload control commands are sent to the mission payload subsystem for target tracking or other tasks. The comprehensive target information sent to the flight control subsystem in Step 3 is directly transmitted to the ground station via the data link equipment, enabling mission monitoring personnel to monitor the target information.

[0194] Step 5: After each UAV reaches the formation disbandment waypoint or receives the mission abort command, the mission management system determines that the mission execution is complete and enters the return-to-home phase. Flight control authority is entirely exercised by the flight control system. The mission control subsystem disables its own flight control output function and no longer participates in flight management, only used for individual payload control. This means it only transmits data for photoelectric payload remote control commands and telemetry information, and runs the mission payload algorithm to obtain comprehensive target information. At this time, each UAV enters individual mode and the formation disbands. Each UAV is directly controlled by the flight control subsystem to begin its return journey until the flight path is completed and the aircraft lands.

[0195] While the embodiments disclosed in this invention are as described above, they are merely illustrative of the embodiments to facilitate understanding of the invention and are not intended to limit the invention. Any person skilled in the art to which this invention pertains may make any modifications and variations in the form and details of the implementation without departing from the spirit and scope disclosed herein; however, the scope of patent protection for this invention shall still be determined by the scope defined in the appended claims.

Claims

1. A mission management system suitable for swarm drone systems, characterized in that, include: Command and control subsystem, as well as flight control subsystem, mission control subsystem and mission payload subsystem installed in each UAV of the swarm UAV system; The command and control subsystem and the flight control subsystem are interconnected via Ethernet or RS422 serial port for transmitting remote control commands and telemetry information. The flight control subsystem is connected to the mission control subsystem via a serial port. The mission control subsystem is used to process mission control and management information for the swarm UAV system, thereby enabling the conversion of UAVs from single-unit to multi-unit systems by adding the mission control subsystem. The task control subsystem and the task payload subsystem are interconnected via an RS422 serial port and an SDI interface; wherein, the RS422 serial port is used to transmit remote control commands and telemetry reports from the task payload subsystem, and the SDI interface is used by the task control subsystem to receive task image information from the task payload subsystem. The command and control subsystem and the mission payload subsystem are interconnected via an SDI interface. The mission payload subsystem transmits mission image information to the command and control subsystem via the SDI interface, enabling the ground station to display the mission image information in real time.

2. The task management system for swarm drone systems according to claim 1, characterized in that, The command and control subsystem includes a ground station and ground-based data link equipment, as well as an airborne data link equipment configured in each UAV. The ground-side data link equipment is interconnected with the ground station via Ethernet, and the ground-side data link equipment and the airborne data link equipment use wireless data link communication. The airborne data link equipment and the flight control subsystem are interconnected via Ethernet or RS422 serial port.

3. The task management system for swarm drone systems according to claim 2, characterized in that, The flight control subsystem is interconnected with the airborne data link equipment and mission control subsystem in the command and control subsystem, and is configured as a comprehensive system for UAV to perform aircraft platform control, decision-making and management. After each UAV is powered on, it periodically sends telemetry information to the command and control subsystem through the flight control subsystem.

4. The mission management system for swarm drone systems according to claim 3, characterized in that, The mission payload subsystem includes an optoelectronic payload device; The optoelectronic payload equipment is interconnected with the airborne data link equipment of the command and control subsystem through the SDI interface to transmit mission image information to the ground station. The optoelectronic payload device and the mission control subsystem are interconnected via an SDI interface and an RS422 serial port. The RS422 serial port is used by the mission payload subsystem to receive payload control commands issued by the mission control subsystem and to send payload telemetry information to the mission control subsystem. The SDI interface is used by the mission control subsystem to receive mission image information from the optoelectronic payload device for image recognition and comprehensive processing. This allows the mission payload subsystem to receive payload control commands from ground station personnel as well as payload control commands planned autonomously by the mission control subsystem.

5. The task management system for swarm drone systems according to claim 4, characterized in that, The task control subsystem includes: an information input module, a task management module, a task payload algorithm module, and an information output module; The information input module is used to receive aircraft status information and remote control commands transmitted by the flight control subsystem, as well as telemetry information and mission image information transmitted by the mission payload subsystem, and to send the received information and commands to other modules within the mission control subsystem, including: transmitting aircraft status information and remote control commands from the flight control subsystem to the mission management module, transmitting mission image information from the optoelectronic payload device to the mission payload algorithm module, and transmitting telemetry information from the optoelectronic payload device to the information output module; The task payload algorithm module is used to perform image recognition and comprehensive processing based on the received task image information, and transmit the recognized comprehensive information of the task target to the task management module and the information output module respectively. The mission management module is used to perform mission scheduling and planning, mission control and payload management based on the received aircraft status information, remote control commands and mission target information, so as to generate mission planning information, payload control commands and flight mission control commands. The flight mission control commands include flight control commands for implementing route management. The task management module is also used to transmit the telemetry information received from the information input module, the task planning information generated by itself, and the flight task control commands to the flight control subsystem through the information output module, so that the flight control subsystem can execute the flight task according to the swarm route obtained from the task planning and the task division of each UAV. The task management module is also used to transmit the load control commands in the remote control commands received from the information input module, as well as the load control commands generated by the module itself, to the task load subsystem through the information output module. The information output module also transmits the local status information to the task load subsystem, so that the task load subsystem can perform reconnaissance tasks according to the load control commands and the local status information, and obtain target reconnaissance information and target mission image information.

6. A mission management system for swarm unmanned aerial vehicle systems according to any one of claims 1 to 5, characterized in that, The communication methods between the flight control subsystem and the mission control subsystem include: The flight control subsystem communicates with the mission control subsystem via a 3-way full-duplex RS422 interface, including: serial port 1, serial port 2 and serial port 3. The serial port 1 is used for uplink transparent transmission of uplink remote control commands from the command and control subsystem and downlink transparent transmission of downlink telemetry information from the task control subsystem. The serial port 2 is used to transmit event-based commands and telemetry reports between the flight control subsystem and the mission control subsystem. Specifically, it is used for the flight control subsystem to receive remote control commands from the mission control subsystem, as well as telemetry reports. The serial port 3 is used for short-cycle information transmission between the flight control subsystem and the mission control subsystem, including flight mission control commands issued by the mission control subsystem to the flight control subsystem, and local status information fed back by the flight control subsystem to the mission control subsystem; wherein, the flight mission control commands include modal scheduling commands and automatic flight commands.

7. A task management method for a task management system suitable for swarm drone systems, characterized in that, The task management method is executed using a task management system suitable for swarm drone systems as described in any one of claims 1 to 6, wherein the task control subsystem includes: an information input module, a task management module, a task payload algorithm module, and an information output module; the task management method includes: Step 10: The command and control subsystem loads the flight parameters of each UAV into the flight control subsystem via remote control commands and sends take-off commands. After each UAV takes off, its flight control subsystem reports its own telemetry information, which is used to display the speed, position, attitude, route, and status of the onboard equipment. Step 20: The command and control subsystem sends remote control commands to the flight control subsystem, which then forwards them to the mission control subsystem. The mission control subsystem receives mission planning commands through the information input module and sends them to the mission management module to execute mission scheduling, mission planning, mission control, and payload management. It generates mission planning information, payload control commands, and flight mission control commands. The mission control subsystem also transmits its own generated mission planning information and flight mission control commands, as well as the telemetry information received from the mission payload subsystem, to the flight control subsystem through the information output module. This enables the flight control subsystem to execute flight missions according to the swarm flight path obtained from the mission planning and the mission assignments of each aircraft. The mission control subsystem also transmits its own generated payload control commands and the payload control commands received from the flight control subsystem to the mission payload subsystem through the information output module. This enables the mission payload subsystem to execute reconnaissance missions based on the payload control commands and its own status information, obtaining target reconnaissance information and target mission image information.

8. The task management method for a task management system applicable to a swarm drone system according to claim 7, characterized in that, Before step 10, the following are also included: Step 01: Multiple drones are powered on on the ground. The ground station of the command and control subsystem receives the telemetry information of each aircraft. The command and control subsystem sets the mission flight path and swarm mission waypoint attributes for each aircraft. After receiving the mission flight path information, the flight control subsystem forwards it to the mission control subsystem. Step 02: The command and control subsystem loads flight management information into the flight control subsystem. This flight management information is then transmitted to the flight control subsystem via a data link. The flight control subsystem performs packet segmentation processing and transmits the information directly to the mission control subsystem. The mission control subsystem receives the flight management information through the information input module and sends it to the mission management module for information processing. It then sends a successful loading report to the flight control subsystem through the information output module. The flight control subsystem directly transmits the report to the command and control subsystem, enabling the command and control subsystem to display that the information loading is normal.

9. The task management method for a task management system applicable to a swarm drone system according to claim 8, characterized in that, Step 20, during the execution of the task, also includes: Step 30: During the mission, perform payload control on the UAV's electro-optical pod, including: Step 31: During the mission, a collaborative search by the electro-optical pod is performed. In the manual search phase, the ground station of the command and control subsystem sends payload control commands. These commands are transmitted and forwarded to the mission payload subsystem via the flight control subsystem and the mission control subsystem to control the electro-optical pod. The mission image information obtained by the electro-optical pod is forwarded directly to the ground station via the airborne link equipment, allowing mission monitoring personnel to see the real-time payload image. The other path sends the data to the mission payload algorithm module of the mission control subsystem for target identification, and then forwards the target identification information to the mission management module and the flight control subsystem respectively. Step 32: After processing, the target identification information sent to the mission management module in step 31 is converted into guidance commands and payload control commands according to the mission search requirements. The guidance commands are sent back to the flight control subsystem to control the aircraft to approach the target area or change its flight path, while the payload control commands are sent back to the mission payload subsystem to perform target tracking or other tasks. The target identification information sent to the flight control subsystem in step 31 is then directly transmitted to the ground station through the data link equipment, enabling mission monitoring personnel to monitor the target information. Step 33: After each UAV reaches the formation disbandment waypoint or receives the mission abort instruction, the mission management system determines that the mission execution is complete and enters the return phase. Flight control authority is fully exercised by the flight control system. The mission control subsystem shuts down its own flight control output function and no longer participates in flight management. It is only used for single-aircraft payload control, that is, only to realize the data transmission of photoelectric payload remote control commands and telemetry information, and to run the mission payload algorithm to obtain comprehensive target information. At this time, each UAV enters single-aircraft mode and the formation disbands. Each UAV is directly controlled by the flight control subsystem to start the return journey until the flight route is completed and the aircraft lands.

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