Method for gathering fixed-wing unmanned aerial vehicles before cluster formation

Abstract

The invention relates to the technical field of unmanned aerial vehicle cluster cooperative control, in particular to a fixed-wing unmanned aerial vehicle cluster pre-formation gathering method, which comprises the following steps: constructing formation configuration information and a coordinate transformation matrix, and obtaining coordinates of an end point of a formation entry line in a north-east coordinate system; planning an aggregation runway, and obtaining the length of a runway straight line segment of the aggregation runway; acquiring north-east coordinates corresponding to an end point and a starting point of the runway straight line segment; the multiple unmanned aerial vehicles enter the gathering runway to fly according to set conditions; and the unmanned aerial vehicle turns to enter a formation gathering route to complete gathering. By controlling the time difference before and after takeoff and combining control errors, it is guaranteed that unmanned aerial vehicles do not have collision risks in the air after takeoff in sequence, the fixed-wing unmanned aerial vehicles can be made to fly and wait in a formation surrounding mode on a gathering runway route, an ordered initial position is provided for unmanned aerial vehicle formation, formation is convenient to form, and the unmanned aerial vehicle formation efficiency is improved. The initial state of the unmanned aerial vehicles entering the formation is an array type, and the formation can be rapidly formed through spacing adjustment in the formation process.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicle cluster cooperative control, and particularly relates to a fixed-wing unmanned aerial vehicle cluster formation pre-assembly method. BACKGROUND

[0002] When a small number of fixed-wing unmanned aerial vehicles (within ten) fly in formation, there are two conventional methods, one is the method of assembling while flying, after ground launching, each node enters the formation route, and the position and speed are adjusted through four-dimensional track control to form the formation shape while flying; when the formation segment is short or the launch interval is long, assembling while flying cannot form the formation in the specified segment, so a waiting area for assembling is set, each unmanned aerial vehicle enters the waiting area for assembling after launching, and performs a circling action, and after all nodes are launched and assembled, they are uniformly transferred to the formation segment to avoid the large distance between the nodes, which leads to the failure of the formation.

[0003] With the wide application of unmanned aerial vehicles, their cost is continuously reduced, and their scale is increasing day by day. When a large-scale fixed-wing unmanned aerial vehicle formation performs a task, the disadvantages of the traditional method are increasingly prominent. The time before and after the launch of a large-scale unmanned aerial vehicle may be long, and the number is large. The method of assembling while flying cannot solve the obstacle avoidance problem, or the obstacle avoidance algorithm has a large computational cost in actual engineering development, which is difficult to ensure convergence. If a waiting area is set for each node, in order to avoid collision of each node in the waiting area, the area required for assembling is too large, which is not conducive to engineering application.

[0004] Therefore, it is necessary to provide a fixed-wing unmanned aerial vehicle cluster formation pre-assembly method to solve the above problems. SUMMARY

[0005] In order to realize collision-free assembling in the smallest possible area, multiple fixed-wing unmanned aerial vehicles can continuously fly in the assembling area, and can quickly form a formation shape after entering the formation, the present application provides a fixed-wing unmanned aerial vehicle cluster formation pre-assembly method to solve the existing problems.

[0006] The fixed-wing unmanned aerial vehicle cluster formation pre-assembly method provided by the present application adopts the following technical scheme, comprising: The formation configuration information is set in the north-east coordinate system, wherein the formation configuration information comprises: the formation channel width, the formation control deviation and the formation entering direction; The coordinate conversion matrix of the north-east coordinate system and the segment coordinate system is constructed according to the formation entering direction, and the coordinates of the end points of the formation entering line in the north-east coordinate system are obtained according to the coordinate conversion matrix and the coordinates of the end points of the formation entering line in the segment coordinate system; The planning of the assembly runway comprises two straight runway segments and two curve segments with a minimum turning radius of the unmanned aerial vehicle as a radius, the total length of the assembly runway is obtained according to the preset number of the unmanned aerial vehicle cluster nodes and the formation spacing, and the length of each straight runway segment is obtained according to the total length of the assembly runway and the radius of the curve segment. The flight path coordinates of the launching area are obtained according to the northeast coordinates of the launching area and the coordinate conversion matrix, and the flight direction of the unmanned aerial vehicle on the assembly runway is obtained according to the flight path coordinates of the launching area. The northeast coordinates corresponding to the end point and the starting point of the straight runway segment are obtained according to the formation channel width, the formation control deviation, the coordinate conversion matrix and the vertical distance between the straight runway segment and the formation entry line. The multiple unmanned aerial vehicles take off from the set point into the assembly runway in turn according to the set flight speed and the take-off interval time, and fly around the assembly runway according to the flight direction; until all the unmanned aerial vehicles enter the assembly runway to fly, when one of the unmanned aerial vehicles first reaches the northeast coordinates corresponding to the end point of the straight runway segment, all the unmanned aerial vehicles turn and enter the formation assembly flight path from the two end points of the formation entry line corresponding to each formation channel, and the assembly is completed.

[0007] The further technical scheme of the present application sets the channel information of the formation through the ground command center and uploads it to the airborne cooperative controller, when one of the unmanned aerial vehicles reaches the northeast coordinates corresponding to the end point of the straight runway segment, all the unmanned aerial vehicles turn and enter the formation assembly flight path from the two end points of the formation entry line corresponding to each formation channel along the formation entry direction, and the assembly is completed.

[0008] The further technical scheme of the present application sets the distance between the straight runway segment and the formation entry line to be greater than the minimum turning radius of the unmanned aerial vehicle.

[0009] The further technical scheme of the present application takes the position of the launching area as the coordinate origin, the north direction as the true north direction of the earth, and the east direction as the true east direction of the earth, and constructs the northeast coordinate system according to the right-hand rule.

[0010] The further technical scheme of the present application takes the starting point of the flight path as the origin of the flight path coordinate system, the X-axis direction of the flight path coordinate system as the direction from the starting point to the end point of the flight path, and defines the Y-axis direction of the flight path coordinate system according to the right-hand rule, and constructs the flight path coordinate system, wherein the starting point of the flight path is the intersection of the center line of the formation channel and the formation entry line.

[0011] The further technical scheme of the present application is that the coordinate conversion matrix is:

[0012] In the formula, The coordinate conversion matrix is represented as; The formation entry direction is represented as.

[0013] A further technical solution of the present invention involves obtaining the coordinates of the endpoint of the formation entry line in the northeast coordinate system as follows: The coordinates of the left endpoint of the formation entry line in the northeast coordinate system are expressed as follows:

[0014]

[0015] The coordinates of the right endpoint of the formation entry line in the northeast coordinate system are expressed as follows:

[0016]

[0017] In the formula, This indicates the coordinates of the left endpoint of the formation entry line in the northeast coordinate system. This indicates the coordinates of the right endpoint of the formation entry line in the northeast coordinate system; This indicates the coordinates of the left endpoint of the formation entry line in the segment coordinate system; This indicates the coordinates of the right endpoint of the formation's entry line in the segment coordinate system; Represents the coordinate transformation matrix; Indicates the direction in which the formation enters; Indicates the width of the formation channel.

[0018] A further technical solution of the present invention provides that the length of each straight segment of the track is:

[0019] In the formula, This indicates the length of each straight segment of the runway; This indicates the total perimeter of the assembly runway; This indicates the minimum turning radius of the drone.

[0020] A further technical solution of the present invention involves obtaining the heading direction of the UAV entering the assembly runway as follows: Set up launch area The northeast coordinates are The coordinate transformation of the northeast coordinates of the launch area is used to obtain the launch area. The flight segment coordinates are:

[0021] like The runway direction is clockwise, and the runway direction vector is... =1; like The runway direction is counterclockwise, and the runway direction vector is... =-1.

[0022] A further technical solution of the present invention involves obtaining the northeast coordinates corresponding to the end point and the start point of the straight section of the runway as follows: The northeast coordinate expression corresponding to the starting point of the runway straight segment is:

[0023] The northeast coordinate expression corresponding to the end of the straight section of the runway is:

[0024] In the formula, Indicates the starting point of the straight section of the runway. Corresponding northeast coordinates; Indicates the end point of the straight section of the runway. Corresponding northeast coordinates; This represents the runway direction vector; Indicates formation control deviation; Indicates the width of the formation passage; This indicates the perpendicular distance between the straight section of the runway and the formation entry line; This represents the coordinate transformation matrix.

[0025] The beneficial effects of this invention are: This invention establishes a swarm runway in front of the formation channel. When fixed-wing UAVs are launched sequentially from the launch area, they enter the takeoff route using the same reference flight path. The first UAV to enter the swarm runway is designated as the lead aircraft, and subsequent UAVs maintain a fixed distance from the preceding UAV. After all UAVs have launched, the UAVs within the swarm runway form a uniform formation and circle along the runway's flight path. Starting points are established on the straight sections of the runway adjacent to the formation segment. When ground clearance allows for departure and UAVs arrive at the starting points, all UAVs at the starting points transition to the formation swarm flight path until all nodes have transitioned. This allows swarm UAVs to transition to the formation swarm flight path in batches, and the initial state upon transitioning to the formation swarm flight path is the ideal initial state for forming a formation. Specific effects are as follows: Because fixed-wing drones cannot hover and wait in the air like rotorcraft, and if a large number of fixed-wing drones take off one after another without assembling, the later-taken drones may not be able to catch up with the earlier-taken drones, leading to formation failure. The method provided by this invention allows fixed-wing drones to fly in formation and circle along the assembly runway route, providing an orderly initial position before drone formation, facilitating formation. Secondly, the assembly method provided by this invention allows drones to take off sequentially along the same takeoff route to the same assembly area on the assembly runway. By controlling the time difference before and after takeoff, combined with control errors, it ensures that there is no risk of collision in the air after the drones take off sequentially. After the drones enter the runway assembly route, they form an evenly spaced formation on the runway route. The aircraft on the takeoff line simultaneously enter the formation flight. The initial state of the formation is an array, with no track intersections during the transition from assembly to formation. The initial state after entering the formation is an array, and the formation can be quickly formed by adjusting the spacing during the formation process. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a flowchart illustrating a pre-assembly method for a fixed-wing unmanned aerial vehicle (UAV) swarm formation according to the present invention. Figure 2 This is a schematic diagram of formation configuration information in an embodiment of the present invention; Figure 3 This is a schematic diagram of the flight segment coordinate system in an embodiment of the present invention; Figure 4 This is a schematic diagram of the assembly runway and the navigation direction in a clockwise direction in an embodiment of the present invention; Figure 5 This is a schematic diagram illustrating the first UAV entering the runway and simultaneously initiating virtual primary flight in an embodiment of the present invention; Figure 6 This is a schematic diagram illustrating how the drones entering the assembly runway and the virtual lead aircraft maintain a distance from each other in an embodiment of the present invention. Figure 7 This is a schematic diagram of the formation transition route of a fixed-wing UAV swarm in an embodiment of the present invention; Figure 8 This is a schematic diagram illustrating the pre-assembly of a fixed-wing UAV swarm in an embodiment of the present invention. Detailed Implementation

[0028] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] An embodiment of the present invention provides a method for pre-assembly of a fixed-wing unmanned aerial vehicle (UAV) swarm, such as... Figure 1 As shown, it includes: S1. Construct formation configuration information and coordinate transformation matrix, and obtain the coordinates of the endpoint of the formation entry line in the northeast coordinate system; Specifically, formation configuration information is set in the NE coordinate system, which includes: formation channel width, formation control deviation, and formation entry direction; the coordinate transformation matrix of the formation is constructed based on the formation entry direction, and the coordinates of the endpoints of the formation entry line in the NE coordinate system are obtained based on the coordinate transformation matrix and the coordinates of the endpoints of the formation entry line in the segment coordinate system.

[0030] For example, in one specific embodiment, the formation's channel information is set via a ground command center and uploaded to the airborne coordination controller. Specifically, such as... Figure 2 As shown, the formation configuration information includes: formation channel width B, formation control deviation A, and formation entry direction. Among them, such as Figure 3 As shown, the actual position of the UAV deviates laterally from the target segment by ±A; it should be noted that the formation entry line is the line connecting the two endpoints of the formation channel.

[0031] For example, such as Figure 2 As shown, in a specific embodiment, the launch area location is taken as the origin of the coordinate system, the north direction is the due north direction of the Earth, the east direction is the due east direction of the Earth, and the northeast coordinate system is constructed according to the right-hand rule.

[0032] For example, such as Figure 3 As shown, in one specific embodiment, the origin of the flight segment coordinate system is taken as the starting point of the flight segment, the X-axis of the flight segment coordinate system points from the starting point to the ending point of the flight segment, and the Y-axis of the flight segment coordinate system is defined according to the right-hand rule to construct the flight segment coordinate system. Specifically, in this embodiment, as follows... Figure 3 As shown, the starting point Qm of the flight segment is the intersection of the centerline of the formation channel and the formation entry line, with the X-axis pointing north in the northeast coordinate system. The direction the angle points.

[0033] For example, in one specific embodiment, the coordinate transformation matrix is:

[0034] In the formula, Represents the coordinate transformation matrix; Indicates the direction of formation entry For example, in one specific embodiment, the step of obtaining the coordinates of the endpoint of the formation entry line in the northeast coordinate system is as follows: The coordinates of the left endpoint of the formation entry line in the northeast coordinate system are expressed as follows:

[0035]

[0036] The coordinates of the right endpoint of the formation entry line in the northeast coordinate system are expressed as follows:

[0037]

[0038] In the formula, This indicates the coordinates of the left endpoint of the formation entry line in the northeast coordinate system. This indicates the coordinates of the right endpoint of the formation entry line in the northeast coordinate system; This indicates the coordinates of the left endpoint of the formation entry line in the segment coordinate system; This indicates the coordinates of the right endpoint of the formation's entry line in the segment coordinate system; Represents the coordinate transformation matrix; Indicates the direction in which the formation enters; Indicates the width of the formation channel.

[0039] S2. Plan the assembly runway and obtain the length of the straight section of the assembly runway; Specifically, the assembly runway is planned, which includes two straight sections and two curved sections with the minimum turning radius of the UAVs. The total perimeter of the assembly runway is obtained based on the preset number of UAV cluster nodes and the formation spacing. The length of each straight section is obtained based on the total perimeter of the assembly runway and the radius of the curved sections.

[0040] For example, in one specific embodiment, the steps for planning the assembly runway are as follows: The assembly runway is planned using an airborne collaborative terminal. Given that the minimum turning radius of the fixed-wing UAV is R, the distance D between the straight section of the runway and the formation entry line is D ≥ R (the default value is R, which can be modified by the ground command center), the number of cluster nodes is n, and the formation spacing is J. Then: the total perimeter of the assembly runway is T = n * J; the number of nodes in the UAV cluster is n, and the formation spacing is J, where the formation spacing J is the distance between two adjacent UAVs when all UAVs fly at equal intervals on the assembly runway.

[0041] For example, in one specific embodiment, the step of obtaining the length of each straight segment of the track is as follows:

[0042] In the formula, This indicates the length of each straight segment of the runway; This indicates the total perimeter of the assembly runway; This represents the minimum turning radius of the drone. It should be noted that this embodiment only considers... The situation.

[0043] S3. Obtain the northeast coordinates corresponding to the end and start points of the straight section of the runway; Specifically, the flight segment coordinates of the launch area are obtained based on the northeast coordinates of the launch area and the coordinate transformation matrix. The flight direction of the UAV on the assembly runway is obtained based on the flight segment coordinates of the launch area. The northeast coordinates corresponding to the end point and the beginning point of the runway straight segment are obtained based on the formation channel width, formation control deviation, coordinate transformation matrix, and the vertical distance between the runway straight segment and the formation entry line.

[0044] For example, in one specific embodiment, the step of obtaining the heading direction of the drone entering the assembly runway is as follows: Set up launch area The northeast coordinates are The coordinate transformation of the northeast coordinates of the launch area is used to obtain the launch area. The flight segment coordinates are:

[0045] like The runway direction is clockwise, and the runway direction vector is... =1; like The runway direction is counterclockwise, and the runway direction vector is... =-1.

[0046] For example, in one specific embodiment, the step of obtaining the northeast coordinates corresponding to the end point and the start point of the runway straight segment is as follows: The northeast coordinate expression corresponding to the starting point of the runway straight segment is:

[0047] The northeast coordinate expression corresponding to the end of the straight section of the runway is:

[0048] In the formula, Indicates the starting point of the straight section of the runway. Corresponding northeast coordinates; Indicates the end point of the straight section of the runway. Corresponding northeast coordinates; This represents the runway direction vector; Indicates formation control deviation; Indicates the width of the formation passage; This indicates the perpendicular distance between the straight section of the runway and the formation entry line; This represents the coordinate transformation matrix.

[0049] S4. Multiple drones enter the assembly runway and fly according to the set conditions; Specifically, multiple drones take off sequentially from a designated point into the assembly runway according to the set flight speed and takeoff interval, and fly around the assembly runway in the flight direction until all drones have entered the assembly runway.

[0050] For example, in one specific embodiment, if the drone swarm consists of n drones, the process of drones 1 to n taking off sequentially to assemble is as follows: the takeoff speed of the n drones is V0, the interval time is Δt = J / V0, the drone ID number is set to i, and the initial state of each drone is state(i) = 0x00, indicating that the i-th drone has not completed its takeoff. After each drone flies to a safe altitude, state(i) = 0x11, indicating that the i-th drone has completed its takeoff. Figure 4 As shown, the target point is set to Om. The UAV flies towards the target point Om along the takeoff route until the distance between the UAV and the target point Om is less than 2R. Then, the state of the UAV is changed from the target route to the assembly runway route, and the UAV starts flying along the assembly runway in the direction of clock. state(i) = 0x22, indicating that it has entered the assembly area and started to perform assembly runway navigation. Each UAV exchanges its own state(i) with the cluster through inter-UAV communication, and records the order j of state(i) being 0x22. The projection position of the first UAV to enter the assembly area on the assembly runway is taken as the initial position of the virtual leader, and the virtual leader starts to fly around the runway at a constant speed of V0. The virtual leader ID number is 0, that is, to maintain the circular formation flying on the assembly runway. The node with the order j of entering the runway keeps in contact with the virtual leader (the first UAV to enter the runway). The drones fly at intervals until all drones enter the assembly runway (i.e., all drones enter state(i)=0x22), thus completing the assembly runway flight.

[0051] S5. The drone turns and enters the formation assembly route to complete the assembly; Specifically, when one of the drones first reaches the northeast coordinate corresponding to the end of the straight section of the runway, all drones turn and enter the formation assembly route between the two ends of the formation entry line corresponding to each formation channel, thus completing the assembly.

[0052] For example, in one specific embodiment, the airborne cooperative controller sets the coordinates at the northeast-northeast of the endpoint corresponding to the first point of one of the UAVs on the runway straight segment. Then, all UAVs turn and enter the formation assembly route between the two endpoints of the formation entry line corresponding to each formation channel, completing the assembly. When all UAVs enter state(i)=0x22, if clock is 1, as... Figure 4 As shown, when a drone arrives at point Ps on the runway straight section, all drones on the runway straight section Pe-Ps switch to the formation assembly route; or when clock is -1, when a node arrives at point Pe on the runway straight section, all drones on the runway straight section Pe-Ps switch to the formation assembly route. The drone formation assembly mission is completed when there are no drones on the assembly runway route.

[0053] The following description, in conjunction with specific accompanying drawings and data, further illustrates this embodiment: 1. The cluster consists of 30 fixed-wing UAVs, with a formation channel width B = 1000m, a formation control deviation A = 5m, and a formation entry direction. (45° east of north), the Qm point on the formation entry line is set as the origin, with coordinates (0,0) in meters. Following step S1, the coordinates of Ql (353.55, -353.55) and Qr (-353.55, 353.55) in meters are obtained. The coordinate transformation matrix G is:

[0054] 2. The minimum turning radius R of the UAV is set to 400m, the distance D between the straight section of the runway and the formation entry line is set to 400m, the number of cluster nodes is 30, and the formation spacing is set to 120m; the northeast coordinates of the launch area are [0, -10000], which are transformed to the flight segment coordinates [-7071, -7071]. If the direction of the UAV's flight on the assembly runway is calculated to be counterclockwise, then the flight direction vector clock = -1.

[0055] 3. Calculate the end point and start point of the straight section of the assembly runway:

[0056]

[0057] 4. Drones are numbered 1 to 30, taking off sequentially to the assembly point at a speed of 40 m / s. The interval between drones is Δt = 120 / 40 = 3 seconds. After each drone reaches a safe altitude, state(i) = 0x11, indicating that the i-th drone has completed its takeoff. The target point is set to Om. Figure 4 and Figure 5As shown, the UAV flies towards the target point Om along the takeoff route until the distance between the UAV and the target point Om is less than 2R. Then, the state of the UAV is changed from the target route to the assembly runway route, and the UAV starts flying along the assembly runway in the direction of clock. state(i)=0x22, indicating that the i-th UAV has entered the assembly area. Each UAV sends its own state(i) to the cluster through inter-UAV communication. Each UAV receives the state(i) of other UAVs through inter-UAV communication. The projection position of the first node to enter the assembly area on the runway is taken as the initial position of the virtual leader, and the virtual leader starts flying around the runway at a constant speed. The virtual leader ID number is 0. Figure 5 This indicates that the first drone enters the runway and simultaneously initiates a virtual primary flight; such as Figure 6 As shown, maintain circular formation flying on the assembly runway: the node entering the runway in sequence j maintains contact with the virtual lead aircraft. Flight at intervals.

[0058] 5. For example Figure 7 As shown, when all drones enter state(i)=0x22, and one of the drones is the first to reach the end point Pe of the runway straight section (in this embodiment, Pe is the end point as the counterclockwise direction of navigation), all drones on the runway straight section Pe-Ps switch to the formation regrouping route as follows. Figure 7 As shown, when all UAVs on the assembly runway line are transferred to the formation assembly line, the following can be achieved: Figure 8 The flight shown has been completed and assembly is complete.

[0059] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for pre-assembly of a fixed-wing unmanned aerial vehicle (UAV) swarm, characterized in that, include: Set formation configuration information in the northeast coordinate system. The formation configuration information includes: formation channel width, formation control deviation and formation entry direction. Construct a coordinate transformation matrix between the northeast coordinate system and the flight segment coordinate system based on the direction of formation entry, and obtain the coordinates of the endpoint of the formation entry line in the northeast coordinate system based on the coordinate transformation matrix and the coordinates of the endpoint of the formation entry line in the flight segment coordinate system. The assembly runway is planned, consisting of two straight sections and two curved sections with the minimum turning radius of the UAVs. The total perimeter of the assembly runway is obtained based on the preset number of UAV cluster nodes and the formation spacing. The length of each straight section is obtained based on the total perimeter of the assembly runway and the radius of the curved sections. The flight segment coordinates of the launch area are obtained based on the northeast coordinates of the launch area and the coordinate transformation matrix. The flight direction of the UAV on the assembly runway is then obtained based on the flight segment coordinates of the launch area. Based on the formation channel width, formation control deviation, coordinate transformation matrix, and the vertical distance between the runway straight section and the formation entry line, obtain the northeast coordinates corresponding to the end and start points of the runway straight section; Multiple drones take off sequentially from a designated point and enter the assembly runway according to the set flight speed and takeoff interval, and fly around the assembly runway in the flight direction; until all drones have entered the assembly runway, when one of the drones first reaches the northeast coordinate corresponding to the end of the straight section of the runway, all drones turn and enter the formation assembly route between the two ends of the formation entry line corresponding to each formation channel, thus completing the assembly.

2. The method for pre-assembly of a fixed-wing UAV swarm according to claim 1, characterized in that, The ground command center sets the formation channel information and uploads it to the airborne collaborative controller. The airborne collaborative controller sets the northeast coordinates corresponding to the end of the runway straight section of one of the UAVs. Then all UAVs turn and enter the formation assembly route from the two ends of the formation entry line corresponding to each formation channel along the formation entry direction, thus completing the assembly.

3. The method for pre-assembly of a fixed-wing UAV swarm according to claim 1, characterized in that, Set the distance between the straight section of the runway and the formation entry line to be greater than the minimum turning radius of the UAV.

4. The method for pre-assembly of a fixed-wing UAV swarm according to claim 1, characterized in that, With the launch area location as the origin of the coordinate system, north is the direction of due north on Earth, and east is the direction of due east on Earth. A northeast coordinate system is constructed based on the right-hand rule.

5. A method for pre-assembly of a fixed-wing UAV swarm according to claim 1, characterized in that, The origin of the segment coordinate system is taken as the starting point of the segment, the X-axis of the segment coordinate system points from the starting point to the ending point, and the Y-axis of the segment coordinate system is defined according to the right-hand rule. The segment coordinate system is constructed in which the starting point of the segment is the intersection of the center line of the formation channel and the formation entry line.

6. The method for pre-assembly of a fixed-wing UAV swarm according to claim 1, characterized in that, The coordinate transformation matrix is: In the formula, Represents the coordinate transformation matrix; Indicates the direction in which the formation enters.

7. A method for pre-assembly of a fixed-wing UAV swarm according to claim 1, characterized in that, The steps to obtain the coordinates of the endpoint of the formation entry line in the northeast coordinate system are as follows: The coordinates of the left endpoint of the formation entry line in the northeast coordinate system are expressed as follows: The coordinates of the right endpoint of the formation entry line in the northeast coordinate system are expressed as follows: In the formula, This indicates the coordinates of the left endpoint of the formation entry line in the northeast coordinate system. This indicates the coordinates of the right endpoint of the formation entry line in the northeast coordinate system; This indicates the coordinates of the left endpoint of the formation entry line in the segment coordinate system; This indicates the coordinates of the right endpoint of the formation's entry line in the segment coordinate system; Represents the coordinate transformation matrix; Indicates the direction in which the formation enters; Indicates the width of the formation channel.

8. A method for pre-assembly of a fixed-wing UAV swarm according to claim 1, characterized in that, The length of each straight section of the track is: In the formula, This indicates the length of each straight segment of the runway; This indicates the total perimeter of the assembly runway; This indicates the minimum turning radius of the drone.

9. A method for pre-assembly of a fixed-wing UAV swarm according to claim 1, characterized in that, The steps to obtain the heading direction of the drone entering the assembly runway are as follows: Set up launch area The northeast coordinates are The coordinate transformation of the northeast coordinates of the launch area is used to obtain the launch area. The flight segment coordinates are: like The runway direction is clockwise, and the runway direction vector is... =1; like The runway direction is counterclockwise, and the runway direction vector is... =-1.

10. A method for pre-assembly of a fixed-wing UAV swarm according to claim 1, characterized in that, The steps to obtain the northeast coordinates of the end and start points of the straight section of the runway are as follows: The northeast coordinate expression corresponding to the starting point of the runway straight segment is: The northeast coordinate expression corresponding to the end of the straight section of the runway is: In the formula, Indicates the starting point of the straight section of the runway. Corresponding northeast coordinates; Indicates the end point of the straight section of the runway. Corresponding northeast coordinates; This represents the runway direction vector; Indicates formation control deviation; Indicates the width of the formation passage; This indicates the perpendicular distance between the straight section of the runway and the formation entry line; This represents the coordinate transformation matrix.

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