Heterogeneous aircraft adaptive formation fusion management system and method
The heterogeneous aircraft adaptive formation fusion management system solves the problem of insufficient adaptability of traditional formation management systems to heterogeneous aircraft, and realizes efficient formation collaborative operation and mission execution.
Patent Information
- Application Number
- CN202510989012.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-07-17
- Publication Date
- 2025-12-19
AI Technical Summary
Traditional formation management systems lack adaptability and flexibility to heterogeneous aircraft, making it difficult to achieve efficient formation collaborative operations.
An adaptive formation fusion management system for heterogeneous aircraft is provided, including an aircraft information acquisition module, a data fusion processing module, a formation planning module, a task allocation module, and a collaborative control module. Through multi-source data fusion algorithms, task allocation algorithms, and control law design, it achieves efficient management of heterogeneous aircraft.
It improves the coordination, stability, and mission execution efficiency of heterogeneous aircraft formations, ensuring the smooth completion and safety of formation missions.
Smart Images
Figure CN121165752A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of aircraft formation management, and in particular to a heterogeneous aircraft adaptive formation fusion management system and method. BACKGROUND
[0002] With the rapid development of aviation technology, heterogeneous aircraft formation is increasingly widely used in military reconnaissance, disaster relief, environmental monitoring and other fields. Due to the differences in type, performance and function, heterogeneous aircrafts face many challenges such as information sharing, task allocation, cooperative control and so on during formation flight.
[0003] Traditional formation management systems are often designed for specific types of aircraft, lack of adaptability and flexibility for heterogeneous aircrafts, and are difficult to achieve efficient formation cooperative operation.
[0004] Therefore, how to improve the cooperativeness, stability and task execution efficiency of heterogeneous aircraft formation has become a technical problem to be solved in the industry. SUMMARY
[0005] The present application provides a heterogeneous aircraft adaptive formation fusion management system and method to solve the problem that the traditional formation management system in the prior art lacks adaptability and flexibility for heterogeneous aircrafts, is difficult to achieve efficient formation cooperative operation, and improves the cooperativeness, stability and task execution efficiency of heterogeneous aircraft formation.
[0006] The present application provides a heterogeneous aircraft adaptive formation fusion management system, comprising an aircraft information acquisition module, a data fusion processing module, a formation formation planning module, a task allocation module and a cooperative control module. The aircraft information acquisition module is configured to acquire basic information, state information and environmental information of each heterogeneous aircraft. The data fusion processing module is configured to fuse and process the basic information, the state information and the environmental information. The formation formation planning module is configured to obtain task demand information, determine a formation formation based on the task demand information and performance information and environmental information of each heterogeneous aircraft. The task allocation module is configured to determine subtasks to be executed by each heterogeneous aircraft based on the task demand information and performance information of each heterogeneous aircraft. The cooperative control module is configured to control each heterogeneous aircraft based on the subtasks to be executed by each heterogeneous aircraft and the formation formation.
[0007] In some embodiments, the data fusion processing module is configured to: estimate the state information of each heterogeneous aircraft using a multi-source data fusion algorithm. The method of estimating the state information of each heterogeneous aircraft using a multi-source data fusion algorithm includes: in, This indicates that the heterogeneous aircraft are in the first... The posterior state estimate at time t; This indicates that the heterogeneous aircraft are in the first... State estimate at time 1; Represents the state transition function; Indicates the first Time-based control input; Indicates process noise; Indicates the first The observed value at time; Represents the observation function; Indicates observation noise; Indicates Kalman gain; This indicates that the heterogeneous aircraft are in the first... The prior state estimate at time t; the state estimate is an estimate of the state information of each heterogeneous aircraft; the control input is determined based on the flight control parameters of each heterogeneous aircraft.
[0008] In some embodiments, determining the sub-tasks to be performed by each heterogeneous aircraft based on the mission requirement information and the performance information of each heterogeneous aircraft includes: Based on the task requirement information, determine the quantity and cost of each subtask; Based on the performance information of each heterogeneous aircraft, the resource constraints of each heterogeneous aircraft are determined. Based on the number and cost of each sub-task, as well as the resource constraints of each heterogeneous aircraft, a task allocation algorithm is used to determine the sub-tasks to be performed by each heterogeneous aircraft. The objective function of the task allocation algorithm is: in, Indicates the first The heterogeneous spacecraft performed the first The cost of each sub-task; Indicates the first Does the heterogeneous spacecraft execute the...? Sub-tasks; Indicates execution. Indicates that the action will not be taken; Indicates the number of heterogeneous aircraft; Indicates the number of subtasks; Indicates the first The heterogeneous spacecraft performed the first Resources required for each sub-task Indicates the first Resource constraints of heterogeneous aircraft.
[0009] In some embodiments, the collaborative control module is used for: Based on the sub-tasks to be performed by each heterogeneous aircraft and the formation, the control law of each heterogeneous aircraft is determined. Based on the control laws of each heterogeneous aircraft, control is performed on each heterogeneous aircraft. The control law is expressed as follows: in, Indicates the first Control inputs for heterogeneous aircraft; and These represent the proportional control gain and the derivative control gain, respectively. Indicates the first The forward heading angle of a heterogeneous aircraft; Indicates the first The rear heading angle of a heterogeneous aircraft; Indicates the first The forward flight speed of a heterogeneous aircraft; Indicates the first The rear flight speed of a heterogeneous aircraft.
[0010] In some embodiments, the system further includes: The adaptive adjustment module is used to adjust the control laws of each heterogeneous aircraft based on mission adjustment information, environmental change information, and state change information of each heterogeneous aircraft.
[0011] In some embodiments, the system further includes: The communication module connects to each heterogeneous aircraft and the ground control center module, and is used to transmit data between each heterogeneous aircraft and the ground control center module, and to encrypt the data.
[0012] In some embodiments, the system further includes: The ground control center module is used to display the status information, formation, and mission execution status of each heterogeneous aircraft in real time; adjust the formation of each heterogeneous aircraft based on remote control commands; and record and analyze the flight data of each heterogeneous aircraft.
[0013] The application provides a heterogeneous aircraft adaptive formation fusion management method, comprising: Basic information, state information and environment information of each heterogeneous aircraft are collected; The basic information, the state information and the environment information are fused; Task demand information is acquired, and a formation shape is determined based on the task demand information and performance information and environment information of each heterogeneous aircraft; Subtasks to be executed by each heterogeneous aircraft are determined based on the performance information and the environment information of each heterogeneous aircraft and the task demand information; Each heterogeneous aircraft is controlled based on the subtasks to be executed by each heterogeneous aircraft and the formation shape.
[0014] The application provides an electronic device, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor executes the computer program to implement the heterogeneous aircraft adaptive formation fusion management method.
[0015] The application provides a non-transitory computer readable storage medium, which stores a computer program, wherein the computer program is executed by a processor to implement the heterogeneous aircraft adaptive formation fusion management method.
[0016] The application provides a heterogeneous aircraft adaptive formation fusion management system, which comprises an aircraft information collection module, a data fusion processing module, a formation shape planning module, a task allocation module and a cooperative control module. The aircraft information collection module is used for collecting basic information, state information and environment information of each heterogeneous aircraft. The data fusion processing module is used for fusing the basic information, the state information and the environment information. The formation shape planning module is used for acquiring task demand information, and determining a formation shape based on the task demand information and performance information and environment information of each heterogeneous aircraft. The task allocation module is used for determining subtasks to be executed by each heterogeneous aircraft based on the task demand information and the performance information of each heterogeneous aircraft. The cooperative control module is used for controlling each heterogeneous aircraft based on the subtasks to be executed by each heterogeneous aircraft and the formation shape. Since data of different sources and different types are fused, and flight tasks are allocated to suitable aircraft based on the data, the heterogeneous aircrafts are facilitated to be managed, the adaptability and flexibility of management are improved, and the cooperativeness, stability and task execution efficiency of the heterogeneous aircraft formation are improved. BRIEF DESCRIPTION OF DRAWINGS
[0017] The accompanying drawings, which are incorporated herein and form part of the specification, illustrate embodiments consistent with the application and, together with the description, further serve to explain the principles of the application.
[0018] In order to more clearly illustrate the technical solutions of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings described below are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort on the basis of these drawings.
[0019] Figure 1 is one of the structural schematic diagram of the heterogeneous aircraft adaptive formation fusion management system provided by the present application.
[0020] Figure 2 is the second structural schematic diagram of the heterogeneous aircraft adaptive formation fusion management system provided by the present application.
[0021] Figure 3 is the flow schematic diagram of the heterogeneous aircraft adaptive formation fusion management system provided by the present application.
[0022] Figure 4 is the structural schematic diagram of the electronic device provided by the present application. DETAILED DESCRIPTION
[0023] In order to make the person skilled in the art better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative effort should be within the scope of protection of the present application.
[0024] It should be noted that the terms "first", "second" and the like in the present application are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units or modules does not have to be limited to those steps or units or modules clearly listed, but can include other steps or units or modules not clearly listed or inherent to these processes, methods, products or devices.
[0025] Figure 1 is one of the structural schematic diagram of the heterogeneous aircraft adaptive formation fusion management system provided by the present application, as Figure 1As shown, the system includes an aircraft information acquisition module 110, a data fusion processing module 120, a formation formation planning module 130, a task allocation module 140 and a cooperative control module 150.
[0026] The aircraft information acquisition module 110 is used to acquire basic information, state information and environmental information of each heterogeneous aircraft. The data fusion processing module 120 is used to fuse process the basic information, the state information and the environmental information. The formation formation planning module 130 is used to obtain task demand information, and determine a formation formation based on the task demand information and performance information and environmental information of each heterogeneous aircraft. The task allocation module 140 is used to determine subtasks to be executed by each heterogeneous aircraft based on the task demand information and performance information of each heterogeneous aircraft. The cooperative control module 150 is used to control each heterogeneous aircraft based on the subtasks to be executed by each heterogeneous aircraft and the formation formation.
[0027] Specifically, the heterogeneous aircraft adaptive formation fusion management system provided by the embodiments of the present application is mainly used for managing heterogeneous aircrafts. The heterogeneous aircraft adaptive formation fusion management system can run on a computer. Each module in the heterogeneous aircraft adaptive formation fusion management system can be a hardware device installed with a function-implementing software program or a function-implementing software program.
[0028] Heterogeneous aircrafts refer to aircrafts of different types, different structures and different performance characteristics. They have obvious differences in power systems, flight principles, aerodynamic layouts, sizes and the like.
[0029] Basic information refers to data describing the basic attributes and characteristics of an aircraft, including aircraft type, size, weight, maximum flight speed, maximum endurance time and carried equipment.
[0030] State information refers to various data reflecting the running state of an aircraft at a certain time, including the position, speed, attitude, power level and fuel level of the aircraft.
[0031] Environmental information refers to various data of the external environment in which the aircraft is located during flight, including meteorological conditions, topographic information and obstacle information of the flight area.
[0032] Task demand information refers to a series of conditions, targets and requirements that must be met in order to complete a specific flight task. These information is the basis for aircraft design, planning, execution and evaluation of tasks, ensuring that the aircraft can efficiently and safely complete the intended task.
[0033] The performance information refers to a series of parameters and indexes describing the operation capability, efficiency and limitation of the aircraft under various working conditions, including the maximum flight speed, maneuverability and endurance performance parameters of the aircraft.
[0034] The formation refers to an ordered flight shape formed by a plurality of aircraft in a certain geometric arrangement and relative position when performing a task. The formation is formed and maintained, which is of great significance to improve flight efficiency, enhance cooperative combat capability, optimize task execution effect and ensure flight safety. The formation can be a diamond, a triangle and a rectangle.
[0035] The subtask refers to a plurality of independent, specific and operable small tasks decomposed for completing a complex flight task. These subtasks jointly constitute the execution process of the entire flight task, each subtask has a clear target, operation steps and completion standard, and through orderly completion of these subtasks, the aircraft can efficiently and safely achieve the overall task target.
[0036] The aircraft information acquisition module is used for acquiring basic information, state information and environment information of each heterogeneous aircraft. The module acquires data in real time through various sensors (such as Global Positioning System (GPS), inertial measurement unit, barometer, wind speed sensor, camera, radar, etc.) installed on each heterogeneous aircraft, and pre-processes the acquired data to remove noise and interference, and then sends the data to the data fusion processing module.
[0037] The data fusion processing module is used for fusion processing of the basic information, the state information and the environment information. Since the types and sources of the basic information, the state information and the environment information of each heterogeneous aircraft are different, the fusion processing of the data of different types and different sources is required.
[0038] In the embodiment of the application, the data fusion processing module estimates the position information, speed information and attitude information of the aircraft by using a multi-source data fusion algorithm. At the same time, the module fusion processes the environment information to construct a unified environment model, and provides accurate environment information for formation management and decision-making.
[0039] The formation planning module is used for acquiring task demand information, determining the formation based on the task demand information and the performance information and environment information of each heterogeneous aircraft.
[0040] In the embodiment of the present application, the task target of the formation is determined based on the acquired task demand information, such as reconnaissance range, coverage area, and communication requirement. Then, in combination with the performance information of the aircraft (such as the maximum flight speed, maneuvering performance, endurance time performance parameter of the aircraft), and the environmental information of the flight area (such as the environmental information of the topography, obstacle distribution, etc.), a suitable formation shape is selected, such as a rhombus, a triangle, a rectangle, etc. At the same time, the positions and roles of the various heterogeneous aircrafts in the formation need to be determined to ensure the stability and synergy of the formation. It should be noted that when planning the formation shape, the relative position and speed constraints between the various heterogeneous aircrafts need to be considered, and then the mathematical model of the formation shape is constructed.
[0041] The task allocation module is configured to determine the sub-tasks to be executed by the various heterogeneous aircrafts based on the task demand information and the performance information of the various heterogeneous aircrafts.
[0042] In the embodiment of the present application, the task is first decomposed into a plurality of independent, specific and operable sub-tasks based on the task demand information; each sub-task has clear requirements and constraints, including but not limited to task execution time, accuracy requirement, and payload requirement. Then, the capabilities of the various heterogeneous aircrafts are evaluated based on the performance information of the various heterogeneous aircrafts, including the endurance capability, maneuvering performance, and functions and performance of the carried equipment of the aircraft. Finally, a task allocation algorithm is adopted to allocate the sub-tasks to the most suitable aircrafts to ensure efficient completion of the task.
[0043] The cooperative control module is configured to control the various heterogeneous aircrafts based on the sub-tasks to be executed by the various heterogeneous aircrafts and the formation shape.
[0044] The cooperative control module can control the various heterogeneous aircrafts to realize the functions of formation keeping control, cooperative obstacle avoidance control, and cooperative task execution control. Among them, the formation keeping control function refers to keeping the aircrafts in the planned formation position by adjusting the flight parameters (such as throttle, rudder angle, etc.) of the aircrafts. The cooperative obstacle avoidance control function refers to using the fused environmental information to detect the position and motion state of the obstacles in real time, and coordinating the obstacle avoidance actions of the aircrafts to avoid collision. The cooperative task execution control function refers to controlling the working state of the equipment carried by the aircrafts according to the task allocation result to realize cooperative task execution.
[0045] The heterogeneous aircraft adaptive formation fusion management system provided in this invention includes an aircraft information acquisition module, a data fusion processing module, a formation planning module, a task allocation module, and a cooperative control module. The aircraft information acquisition module collects basic information, status information, and environmental information of each heterogeneous aircraft. The data fusion processing module fuses the basic information, status information, and environmental information. The formation planning module obtains task requirement information and determines the formation based on the task requirement information, performance information, and environmental information of each heterogeneous aircraft. The task allocation module determines the sub-tasks to be performed by each heterogeneous aircraft based on the task requirement information and the performance information of each heterogeneous aircraft. The cooperative control module controls each heterogeneous aircraft based on the sub-tasks to be performed by each heterogeneous aircraft and the formation. Because data from different sources and of different types is fused, and flight tasks are allocated to appropriate aircraft based on this data, the management of heterogeneous aircraft is facilitated, improving the adaptability and flexibility of management, and enhancing the coordination, stability, and task execution efficiency of the heterogeneous aircraft formation.
[0046] In some embodiments, the data fusion processing module is used for: A multi-source data fusion algorithm is used to estimate the state information of each heterogeneous aircraft; The method of estimating the state information of each heterogeneous aircraft using a multi-source data fusion algorithm includes: in, This indicates that the heterogeneous aircraft are in the first... The posterior state estimate at time t; This indicates that the heterogeneous aircraft are in the first... State estimate at time 1; Represents the state transition function; Indicates the first Time-based control input; Indicates process noise; Indicates the first The observed value at time; Represents the observation function; Indicates observation noise; Indicates Kalman gain; This indicates that the heterogeneous aircraft are in the first... The prior state estimate at time t; the state estimate is an estimate of the state information of each heterogeneous aircraft; the control input is determined based on the flight control parameters of each heterogeneous aircraft.
[0047] Specifically, the data fusion processing module uses a multi-source data fusion algorithm to estimate the aircraft's position, velocity, and attitude information.
[0048] Control inputs refer to the various command signals or operational quantities used to manipulate the attitude, trajectory, and performance of an aircraft.
[0049] In this embodiment of the invention, a Kalman filter can be used to accurately estimate the position, velocity, and attitude information of the aircraft. The Kalman filter is a recursive state estimation method suitable for linear Gaussian systems. It minimizes the mean square value of the estimation error by combining predicted and measured data.
[0050] The formula used to estimate the state information of each heterogeneous aircraft is: in, This indicates that the heterogeneous aircraft are in the first... The posterior state estimate at time t; This indicates that the heterogeneous aircraft are in the first... State estimate at time 1; Represents the state transition function; Indicates the first Time-based control input; Indicates process noise; Indicates the first The observed value at time; Represents the observation function; Indicates observation noise; Indicates Kalman gain; This indicates that the heterogeneous aircraft are in the first... The prior state estimate at time t; the state estimate is an estimate of the state information of each heterogeneous aircraft; the control input is determined based on the flight control parameters of each heterogeneous aircraft.
[0051] The heterogeneous aircraft adaptive formation fusion management system provided in this embodiment of the invention improves the accuracy and reliability of data by using a multi-source data fusion algorithm to estimate the state information of each heterogeneous aircraft, thereby improving the stability and reliability of mission execution.
[0052] In some embodiments, based on the mission requirement information and the performance information of each heterogeneous aircraft, the sub-tasks to be performed by each heterogeneous aircraft are determined, including: Based on the task requirements information, determine the quantity and cost of each subtask; Based on the performance information of each heterogeneous aircraft, the resource constraints of each heterogeneous aircraft are determined. Based on the number and cost of each sub-task, as well as the resource constraints of each heterogeneous aircraft, a task allocation algorithm is used to determine the sub-tasks to be performed by each heterogeneous aircraft. The objective function of the task allocation algorithm is: in, Indicates the first The heterogeneous spacecraft performed the first The cost of each sub-task; Indicates the first Does the heterogeneous spacecraft execute the...? Sub-tasks; Indicates execution. Indicates that the action will not be taken; Indicates the number of heterogeneous aircraft; Indicates the number of subtasks; Indicates the first The heterogeneous spacecraft performed the first Resources required for each sub-task Indicates the first Resource constraints of heterogeneous aircraft.
[0053] Specifically, the cost of a subtask refers to the resource consumption and requirements required to complete a flight subtask, including but not limited to mission execution time, accuracy requirements, and payload requirements.
[0054] Resource constraints for aircraft refer to the various resource-related constraints they face during flight missions. These constraints directly affect the aircraft's mission planning, execution, and performance. Resource constraints may include, but are not limited to, the performance of onboard equipment, flight endurance, and flight speed.
[0055] In this embodiment of the invention, based on task requirement information, the quantity and cost of each sub-task are determined. Then, considering the resource constraints of each heterogeneous aircraft, a task allocation algorithm is used to determine the sub-tasks to be executed by each heterogeneous aircraft. The objective function for task allocation is expressed as: in, Indicates the first The heterogeneous spacecraft performed the first The cost of each sub-task; Indicates the first Does the heterogeneous spacecraft execute the...? Sub-tasks; Indicates execution. Indicates that the action will not be taken; Indicates the number of heterogeneous aircraft; Indicates the number of subtasks; Indicates the first The heterogeneous spacecraft performed the first Resources required for each sub-task Indicates the first Resource constraints of heterogeneous aircraft.
[0056] The heterogeneous aircraft adaptive formation fusion management system provided in this embodiment of the invention decomposes flight missions into multiple executable sub-tasks, and according to the resource constraints of each heterogeneous aircraft, uses an allocation algorithm to assign sub-tasks to aircraft that can execute the task, ensuring that each sub-task can obtain the necessary resources and thus complete the task smoothly. This, in turn, guarantees the smooth execution of flight missions by heterogeneous aircraft and improves the coordination of heterogeneous aircraft.
[0057] In some embodiments, the collaborative control module is used for: Based on the sub-tasks to be performed by each heterogeneous aircraft and the formation, the control law of each heterogeneous aircraft is determined. Based on the control laws of each heterogeneous aircraft, control is performed on each heterogeneous aircraft. The control law is expressed as follows: in, Indicates the first Control inputs for heterogeneous aircraft; and These represent the proportional control gain and the derivative control gain, respectively. This represents the forward heading angle of the i-th heterogeneous aircraft; Indicates the first The rear heading angle of a heterogeneous aircraft; Indicates the first The forward flight speed of a heterogeneous aircraft; Indicates the first The rear flight speed of a heterogeneous aircraft.
[0058] Specifically, the control law refers to a series of mathematical algorithms and control strategies designed according to the dynamics model of the aircraft, sensor measurement data, and preset flight mission requirements to achieve stable flight, precise control, and specific flight mission objectives of the aircraft. These control laws drive the actuators (such as engines, rudders, vector nozzles, etc.) of the aircraft by calculating and outputting control commands, thereby adjusting the flight parameters such as the attitude, speed, and position of the aircraft to ensure that the aircraft flies according to the predetermined trajectory and performance requirements.
[0059] The forward orientation angle refers to the angle at which the head or flight direction of the aircraft points to a certain position in front of the target during the guidance and control process of the aircraft.
[0060] The rear orientation angle refers to the angle of the tail or rear end of the aircraft relative to a certain reference direction (such as the north direction) during flight.
[0061] The forward flight speed refers to the speed component of the speed vector of the aircraft relative to the forward direction of the target or a reference point during flight.
[0062] The rear flight speed refers to the speed component contributed by the rear power system (such as rear propellers, rear engines, etc.) of the aircraft in a specific flight state.
[0063] In the embodiments of the present application, the cooperative control module can determine the control law of each heterogeneous aircraft based on the sub-tasks to be performed by each heterogeneous aircraft and the formation shape, and control each heterogeneous aircraft based on the control law of each heterogeneous aircraft.
[0064] The control law is represented as: wherein, represents the control input of the i-th heterogeneous aircraft; represents the control input of the i-th heterogeneous aircraft; and represent the proportional control gain and the differential control gain, respectively; represents the forward orientation angle of the i-th heterogeneous aircraft; represents the rear orientation angle of the i-th heterogeneous aircraft; represents the forward flight speed of the i-th heterogeneous aircraft; represents the rear flight speed of the i-th heterogeneous aircraft.
[0065] The heterogeneous aircraft adaptive formation fusion management system provided by the embodiment of the present application determines the control law of each heterogeneous aircraft based on the sub-tasks to be performed by each heterogeneous aircraft and the formation shape, so that the aircraft flies according to the formulated trajectory and performance requirements, to ensure the smooth completion of the sub-tasks and improve the stability of the heterogeneous aircraft formation and the reliability of the task execution.
[0066] Figure 2 is a structure schematic view of the heterogeneous aircraft adaptive formation fusion management system provided by the present application, as Figure 2 indicated, the system further comprises an adaptive adjustment module 160, a communication module 170 and a ground control center module 180.
[0067] In some embodiments, the system further comprises: The adaptive adjustment module 160 is configured to adjust the control law of each heterogeneous aircraft based on the task adjustment information, the environmental change information and the state change information of each heterogeneous aircraft.
[0068] Specifically, when the state of an aircraft changes, for example, a fault occurs, the power or fuel is insufficient, the change can be detected in time and the control law of each heterogeneous aircraft is adjusted, including re-planning the formation shape and adjusting the task allocation, to ensure the continuous execution of the formation task. When the flight environment changes, such as strong wind, heavy rain and other adverse weather, the flight parameters of the aircraft and the formation shape are adjusted according to the new environmental information, to ensure flight safety. When the task target changes, the adaptive adjustment module re-performs task decomposition and allocation, and optimizes the coordination strategy of the formation.
[0069] The heterogeneous aircraft adaptive formation fusion management system provided by the embodiment of the present application monitors the aircraft state, environment and task change in real time during flight, adjusts the formation shape, task allocation and control strategy according to the change, ensures the adaptability of the formation and the smooth completion of the task, and improves the stability and reliability of the task execution.
[0070] In some embodiments, the system further comprises: The communication module 170 is connected with each heterogeneous aircraft and the ground control center module, and is configured to transmit data between each heterogeneous aircraft and the ground control center module, and encrypt the data.
[0071] Specifically, the communication module is connected with each heterogeneous aircraft and the ground control center module, to realize the communication between each aircraft and between the aircraft and the ground control center.
[0072] In the embodiment of the present application, wireless communication technologies such as wireless local area network, satellite communication, data transmission radio and the like are adopted to realize the real-time transmission and interaction of data. Meanwhile, the communication module also performs encryption processing on the transmitted data.
[0073] The heterogeneous aircraft adaptive formation fusion management system provided by the embodiment of the application ensures the security of information by encrypting the communication between each heterogeneous aircraft and the ground control center, enables the data communication to have anti-interference capability, and can guarantee the communication reliability in a complex electromagnetic environment.
[0074] In some embodiments, the system further comprises: The ground control center module 180 is configured to display the state information, formation shape and task execution of each heterogeneous aircraft in real time, adjust the formation of each heterogeneous aircraft based on the remote control instruction, and record and analyze the flight data of each heterogeneous aircraft.
[0075] Specifically, the remote control instruction refers to an instruction sent by the operator to the aircraft through the ground control center, and is used to instruct the aircraft to perform a specific task.
[0076] In the embodiment of the application, the operator can view the state information, formation shape and task execution of each aircraft in real time through the ground control center, and can also send instructions to adjust and control the formation, such as modifying the task target, re-planning the formation, issuing an emergency obstacle avoidance command, etc. The ground control center also has data storage and analysis functions, and records and analyzes the flight data.
[0077] The heterogeneous aircraft adaptive formation fusion management system provided by the embodiment of the application can improve the flexibility of the formation management of the heterogeneous aircraft by real-time monitoring and management of the formation, and the operator can also intervene by sending instructions through the ground control center, so that the execution of the flight task is more flexible. In addition, the flight data is recorded and analyzed, which provides a basis for subsequent formation management and optimization.
[0078] The heterogeneous aircraft adaptive formation fusion management method provided by the application will be described below. The heterogeneous aircraft adaptive formation fusion management method described below can be mutually referred to the heterogeneous aircraft adaptive formation fusion management system described above.
[0079] Figure 3 is a flowchart of the heterogeneous aircraft adaptive formation fusion management system provided by the application, as Figure 3 shown, the method comprises steps 310, 320, 330, 340 and 350.
[0080] Step 310: Collecting the basic information, state information and environmental information of each heterogeneous aircraft.
[0081] Step 320: Fusion processing the basic information, the state information and the environmental information.
[0082] Step 330: Obtain mission requirement information, and determine the formation based on the mission requirement information, performance information and environmental information of each heterogeneous aircraft.
[0083] Step 340: Based on the task requirement information and the performance information of each heterogeneous aircraft, determine the sub-tasks to be performed by each heterogeneous aircraft.
[0084] Step 350: Control each heterogeneous aircraft based on the sub-tasks to be performed by each heterogeneous aircraft and the formation.
[0085] The heterogeneous aircraft adaptive formation fusion management method provided in this invention collects basic information, status information, and environmental information of each heterogeneous aircraft; performs fusion processing on the basic information, status information, and environmental information; obtains mission requirement information; determines the formation based on the mission requirement information and the performance and environmental information of each heterogeneous aircraft; determines the sub-tasks to be performed by each heterogeneous aircraft based on the mission requirement information and the performance information of each heterogeneous aircraft; and controls each heterogeneous aircraft based on the sub-tasks to be performed by each heterogeneous aircraft and the formation. Because it fuses data from different sources and of different types, and assigns flight missions to appropriate aircraft based on this data, it facilitates the management of heterogeneous aircraft, improves the adaptability and flexibility of management, and enhances the coordination, stability, and mission execution efficiency of the heterogeneous aircraft formation.
[0086] Figure 4 This is a schematic diagram of the structure of the electronic device provided by the present invention, such as... Figure 4 As shown, the electronic device may include: a processor 410, a communications interface 420, a memory 430, and a communications bus 440, wherein the processor 410, the communications interface 420, and the memory 430 communicate with each other via the communications bus 440. The processor 410 can call logical commands stored in the memory 430 to execute the methods described in the above embodiments, for example: The system collects basic information, status information, and environmental information of each heterogeneous aircraft; it then fuses and processes the basic information, status information, and environmental information; it obtains mission requirement information; based on the mission requirement information and the performance and environmental information of each heterogeneous aircraft, it determines the formation; based on the mission requirement information and the performance information of each heterogeneous aircraft, it determines the sub-tasks to be performed by each heterogeneous aircraft; and based on the sub-tasks to be performed by each heterogeneous aircraft and the formation, it controls each heterogeneous aircraft.
[0087] In addition, the logic commands in the memory described above can be realized in the form of a software function unit and sold or used as a separate product, and can be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or part of the technical solutions can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a plurality of commands to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the method described in various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.
[0088] The processor in the electronic device provided by the embodiments of the present application can call the logic instructions in the memory to realize the above-mentioned method, and the specific implementation manners are consistent with the above-mentioned method implementation manners, and the same beneficial effects can be achieved, which will not be described here.
[0089] The embodiments of the present application also provide a computer-readable storage medium, which stores a computer program. The computer program is executed by a processor to realize the method provided by the above-mentioned embodiments.
[0090] The specific implementation manners are consistent with the above-mentioned method implementation manners, and the same beneficial effects can be achieved, which will not be described here.
[0091] The embodiments of the present application provide a computer program product, which includes a computer program. The computer program is executed by a processor to realize the above-mentioned method.
[0092] The system embodiments described above are only schematic, wherein the units described as separate components can or can not be physically separated, and the components displayed as units can or can not be physical units, that is, they can be located in one place, or distributed on multiple network units. Part or all of the modules can be selected according to actual needs to achieve the purpose of the present embodiment. Those skilled in the art can understand and implement it without creative labor.
[0093] Those skilled in the art can clearly understand the technical solutions of the various embodiments from the above description of the embodiments, and the various embodiments can be implemented by means of software with the necessary general hardware platforms, and of course, can also be implemented by hardware. Based on such understanding, the above technical solutions, essentially or in other words, the part of the prior art that makes a contribution, can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, and the like, and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.
[0094] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, rather than limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for some technical features therein; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.
Claims
1. A heterogeneous aircraft adaptive formation fusion management system, characterized in that, It includes an aircraft information acquisition module, a data fusion and processing module, a formation planning module, a task allocation module, and a collaborative control module; The aircraft information acquisition module is used to collect basic information, status information and environmental information of each heterogeneous aircraft. The data fusion processing module is used to fuse the basic information, the status information, and the environmental information. The formation planning module is used to acquire mission requirement information and determine the formation based on the mission requirement information, performance information and environmental information of each heterogeneous aircraft. The task allocation module is used to determine the sub-tasks to be performed by each heterogeneous aircraft based on the task requirement information and the performance information of each heterogeneous aircraft. The collaborative control module is used to control each heterogeneous aircraft based on the sub-tasks to be performed by each heterogeneous aircraft and the formation.
2. The heterogeneous aircraft adaptive formation fusion management system according to claim 1, characterized in that, The data fusion processing module is used for: A multi-source data fusion algorithm is used to estimate the state information of each heterogeneous aircraft; The method of estimating the state information of each heterogeneous aircraft using a multi-source data fusion algorithm includes: in, This indicates that the heterogeneous aircraft are in the first... The posterior state estimate at time t; This indicates that the heterogeneous aircraft are in the first... State estimate at time 1; Represents the state transition function; Indicates the first Time-based control input; Indicates process noise; Indicates the first The observed value at time; Represents the observation function; Indicates observation noise; Indicates Kalman gain; This indicates that the heterogeneous aircraft are in the first... The prior state estimate at time t; the state estimate is an estimate of the state information of each heterogeneous aircraft; the control input is determined based on the flight control parameters of each heterogeneous aircraft.
3. The heterogeneous aircraft adaptive formation fusion management system according to claim 1, characterized in that, Based on the mission requirement information and the performance information of each heterogeneous aircraft, the sub-tasks to be performed by each heterogeneous aircraft are determined, including: Based on the task requirement information, determine the quantity and cost of each subtask; Based on the performance information of each heterogeneous aircraft, the resource constraints of each heterogeneous aircraft are determined. Based on the number and cost of each sub-task, as well as the resource constraints of each heterogeneous aircraft, a task allocation algorithm is used to determine the sub-tasks to be performed by each heterogeneous aircraft. The objective function of the task allocation algorithm is: in, Indicates the first The heterogeneous spacecraft performed the first The cost of each sub-task; Indicates the first Does the heterogeneous spacecraft execute the...? Sub-tasks; Indicates execution. Indicates that the action will not be taken; Indicates the number of heterogeneous aircraft; Indicates the number of subtasks; Indicates the first The heterogeneous spacecraft performed the first Resources required for each sub-task Indicates the first Resource constraints of heterogeneous aircraft.
4. The heterogeneous aircraft adaptive formation fusion management system according to claim 1, characterized in that, The collaborative control module is used for: Based on the sub-tasks to be performed by each heterogeneous aircraft and the formation, the control law of each heterogeneous aircraft is determined. Based on the control laws of each heterogeneous aircraft, control is performed on each heterogeneous aircraft. The control law is expressed as follows: in, Indicates the first Control inputs for heterogeneous aircraft; and These represent the proportional control gain and the derivative control gain, respectively. This represents the forward heading angle of the i-th heterogeneous aircraft; This represents the rear heading angle of the i-th heterogeneous aircraft; This represents the initial flight speed of the i-th heterogeneous aircraft; This represents the rear flight speed of the i-th heterogeneous aircraft.
5. The heterogeneous aircraft adaptive formation fusion management system according to claim 1, characterized in that, The system also includes: The adaptive adjustment module is used to adjust the control laws of each heterogeneous aircraft based on mission adjustment information, environmental change information, and state change information of each heterogeneous aircraft.
6. The heterogeneous aircraft adaptive formation fusion management system according to claim 1, characterized in that, The system also includes: The communication module connects to each heterogeneous aircraft and the ground control center module, and is used to transmit data between each heterogeneous aircraft and the ground control center module, and to encrypt the data.
7. The heterogeneous aircraft adaptive formation fusion management system according to claim 1, characterized in that, The system also includes: The ground control center module is used to display the status information, formation, and mission execution status of each heterogeneous aircraft in real time; adjust the formation of each heterogeneous aircraft based on remote control commands; and record and analyze the flight data of each heterogeneous aircraft.
8. A method for adaptive formation fusion management of heterogeneous aircraft, characterized in that, The method applied to the heterogeneous aircraft adaptive formation fusion management system according to any one of claims 1 to 7, the method comprising: Collect basic information, status information, and environmental information of each heterogeneous aircraft; The basic information, the status information, and the environmental information are fused together. Obtain mission requirement information, and determine the formation based on the mission requirement information, performance information and environmental information of each heterogeneous aircraft; Based on the mission requirements information and the performance information of each heterogeneous aircraft, the sub-tasks to be performed by each heterogeneous aircraft are determined. Based on the sub-tasks to be performed by each heterogeneous aircraft and the formation, the heterogeneous aircraft are controlled.
9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the heterogeneous aircraft adaptive formation fusion management method as described in claim 8.
10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the heterogeneous aircraft adaptive formation fusion management method as described in claim 8.