A cooperative flight control method and system for a drone formation

Abstract

The application discloses a kind of unmanned aerial vehicle formation's cooperative flight control method and system, it is related to unmanned aerial vehicle technical field, the method includes: each portable ground station will each unmanned aerial vehicle real-time position information transmission to management control center and is placed position risk determination;Based on the position adjustment of each unmanned aerial vehicle to placement position risk determination result, after adjustment, will start flight instruction transmission to each portable ground station control each unmanned aerial vehicle and carry out flight;In the process of flight, each portable ground station will each unmanned aerial vehicle real-time state information transmission to management control center and is carried out route rationality review;Real-time position early warning analysis is carried out using circular safety domain based on real-time state information;Based on real-time state information, return route conflict estimation is carried out, and adjustment instruction is sent to portable ground station;Based on adjustment instruction, the adjustment control of unmanned aerial vehicle is carried out.The application forms from risk perception, intelligent decision to accurate control closed loop, guarantees the safety of unmanned aerial vehicle cooperative flight.

Description

A method and system for cooperative flight control of unmanned aerial vehicle (UAV) formations Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a method and system for cooperative flight control of UAV formations. Background Technology

[0002] The development of drone swarm flight and collision warning technologies is driven by both the need for multi-drone collaborative operations and low-altitude safety management. With the increasing complexity of swarm operation scenarios and the rising density of aircraft in the airspace, drone flight management software systems are undergoing a critical transformation from traditional single-drone control to intelligent collaborative decision-making. Furthermore, technological advancements in this field are propelling drone swarms towards autonomy and intelligence, laying the software foundation for emerging scenarios such as urban air traffic.

[0003] However, coordinated flight of multiple drones also presents significant operational risks and management challenges. For example, potential risks during ground deployment are often overlooked, relying on manual experience for setup and lacking systematic automated risk assessment and position adjustment guidance. Collision warning, route review, and return-to-home conflict estimation functions often operate independently, resulting in fragmented information and hindering coordinated global decision-making and unified control. Furthermore, when facing dynamically changing environments and mission states, existing methods often fall short in computational efficiency, warning accuracy, and the timeliness of control commands, failing to meet the safety requirements of drone swarm flight. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art. This invention provides a method and system for cooperative flight control of UAV formations, forming a complete closed loop from risk perception and intelligent decision-making to precise control, which enables the effective implementation of the safety strategy of the entire system and ensures the safety of UAV cooperative flight.

[0005] To address the aforementioned technical problems, this invention provides a cooperative flight control method for unmanned aerial vehicle (UAV) formations, the method comprising:

[0006] Each portable ground station transmits the real-time location information of its corresponding UAV to the management and control center. The management and control center then uses the real-time location information to determine the placement risk and obtains the placement risk determination result.

[0007] Based on the risk assessment results of the placement location, the positions of each UAV are adjusted. After the positions of each UAV are adjusted, the management and control center transmits the flight start command to each portable ground station. Each portable ground station controls the corresponding UAV to fly based on the flight start command.

[0008] During the flight of each UAV, each portable ground station transmits the real-time status information of each UAV to the management and control center. The management and control center reviews the rationality of the flight path based on the real-time status information and obtains the results of the flight path rationality review.

[0009] Based on the real-time status information, a circular safety domain is used to perform real-time location early warning analysis to obtain the real-time location early warning analysis results.

[0010] Based on the real-time status information, a return route conflict estimate is performed to obtain the return route conflict estimate result. Based on the route rationality review result, the real-time location early warning analysis result, and the return route conflict estimate result, an adjustment instruction is generated and sent to the corresponding portable ground station.

[0011] The portable ground station adjusts and controls each UAV based on the adjustment command.

[0012] Optionally, the step of determining the placement risk based on the real-time location information and obtaining the placement risk determination result includes:

[0013] Based on the real-time location information and the starting point of each UAV's flight path, a waypoint conflict analysis is performed to obtain the waypoint conflict analysis results.

[0014] Based on the real-time location information and the size information of each UAV, a take-off and landing safety analysis is performed to obtain the take-off and landing safety analysis results. Based on the path point conflict analysis results and the take-off and landing safety analysis results, a placement position risk assessment is performed to obtain the placement position risk assessment results.

[0015] Optionally, the step of performing route rationality review based on the real-time status information to obtain the route rationality review result includes:

[0016] Based on the real-time status information, route cross-detection is performed to obtain route cross-detection results;

[0017] Based on the real-time status information, route too close detection is performed to obtain route too close detection results, and the route rationality review results are determined based on the route cross detection results and route too close detection results.

[0018] Optionally, the step of performing route cross-detection based on the real-time status information to obtain route cross-detection results includes:

[0019] The current two-dimensional line segment of the flight path for each UAV is determined based on the real-time status information.

[0020] Cross-detection is performed on the two-dimensional line segments of the current flight path of each UAV to obtain the flight path cross-detection results.

[0021] Optionally, the step of performing route too close detection based on the real-time status information to obtain route too close detection results includes:

[0022] The current three-dimensional line segment of the flight path of each UAV is determined based on the real-time status information;

[0023] Calculate the minimum distance between the current three-dimensional line segments of each UAV's flight path;

[0024] Determine the safety zone parameter threshold, compare the minimum distance with the safety zone parameter threshold to obtain the comparison result, and perform flight path too close detection based on the comparison result to obtain the flight path too close detection result.

[0025] Optionally, the step of performing real-time location early warning analysis using a circular safety domain based on the real-time status information to obtain real-time location early warning analysis results includes:

[0026] Based on the size information of each drone, set different levels of circular radius parameters for each drone, and set different levels of altitude range parameters for each drone;

[0027] Based on the circular radius parameter and altitude range parameter, different levels of circular safety domains are determined for each UAV.

[0028] Based on the real-time status information, the current location information of each UAV is determined, and based on the current location information, the circular safety domain is used to perform real-time location early warning analysis to obtain the real-time location early warning analysis results.

[0029] Optionally, the step of estimating the return route conflict based on the real-time status information to obtain the return route conflict estimation result includes:

[0030] The current location information of each UAV is determined based on the real-time status information, and the current return route is determined based on the current location information;

[0031] The current return route is divided into several return route segments, and the intersection points of the segments are detected based on these segments to obtain the intersection point detection results.

[0032] Based on several return route segments, circular safety domains are used to detect route position conflicts, and the results of route position conflict detection are obtained. Then, based on the results of the segment intersection detection and the results of route position conflict detection, the return route conflict is estimated, and the return route conflict estimation result is obtained.

[0033] Optionally, generating adjustment instructions based on the route rationality review results, real-time location early warning analysis results, and return route conflict estimation results includes:

[0034] Based on the results of the route rationality review, the real-time location early warning analysis, and the return route conflict estimation, the safe distance for each UAV is determined.

[0035] Based on the results of the route rationality review, the real-time position early warning analysis, and the return route conflict estimation, the target forward speed and target turning rate of each UAV are determined, and adjustment instructions are generated based on the safe holding distance, target forward speed, and target turning rate.

[0036] Optionally, the method further includes:

[0037] During the flight of each UAV, anomaly detection is performed on each UAV based on the real-time status information, anomaly detection results are obtained, and it is determined whether the UAV needs to be handled abnormally based on the anomaly detection results.

[0038] In addition, the present invention also provides a cooperative flight control system for unmanned aerial vehicle (UAV) formations, the system comprising:

[0039] Location risk assessment module: This module is used by each portable ground station to transmit the real-time location information of each corresponding UAV to the management and control center. The management and control center then assesses the placement risk based on the real-time location information and obtains the placement risk assessment result.

[0040] Flight command determination module: used to adjust the position of each UAV based on the placement risk assessment result. After the position of each UAV is adjusted, the management and control center will transmit the flight start command to each portable ground station. Each portable ground station controls the corresponding UAV to fly based on the flight start command.

[0041] Flight route review module: During the flight of each UAV, each portable ground station transmits the real-time status information of each UAV to the management and control center. The management and control center reviews the rationality of the flight route based on the real-time status information and obtains the flight route rationality review result.

[0042] Location warning module: used to perform real-time location warning analysis based on the real-time status information using a circular safety domain, and obtain real-time location warning analysis results;

[0043] Adjustment instruction generation module: used to estimate the return route conflict based on the real-time status information, obtain the return route conflict estimation result, and generate adjustment instructions based on the route rationality review result, real-time location early warning analysis result and return route conflict estimation result, and send the adjustment instructions to the corresponding portable ground station;

[0044] UAV adjustment module: used by the portable ground station to adjust and control each UAV based on the adjustment command.

[0045] In this embodiment of the invention, each portable ground station transmits the real-time location information of its corresponding UAV to the management and control center. Based on the real-time location information, a risk assessment of the placement position is performed, and the position of each UAV is adjusted based on the risk assessment results. This ensures that each UAV is in a safe state at the moment of takeoff, providing good starting conditions for subsequent close formation flights. During the flight of each UAV, each portable ground station transmits the real-time status information of each UAV to the management and control center. Based on the real-time status information, a route rationality review is performed, realizing dynamic route optimization and risk prevention. Real-time position early warning analysis is performed using a circular safety domain based on the real-time status information, more accurately detecting impending intrusion threats between UAVs. Return route conflict estimation is performed based on the real-time status information. Adjustment instructions are generated based on the route rationality review results, real-time position early warning analysis results, and return route conflict estimation results. This avoids the one-sidedness of decision-making based on a single indicator, prevents UAV collisions, and generates optimal adjustment instructions that take into account both overall efficiency and immediate safety. The portable ground station adjusts and controls each UAV based on adjustment commands, forming a complete closed loop from risk perception and intelligent decision-making to precise control. This enables the effective implementation of the system's safety strategy and ensures the safety of UAV collaborative flight. Attached Figure Description

[0046] 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.

[0047] Figure 1 is a flowchart illustrating the cooperative flight control method for UAV formations in an embodiment of the present invention;

[0048] Figure 2 is a flowchart illustrating a cooperative flight control method for unmanned aerial vehicle (UAV) formations according to another embodiment of the present invention.

[0049] Figure 3 is a schematic diagram of the structural composition of the cooperative flight control system for UAV formation in an embodiment of the present invention;

[0050] Figure 4 is a communication diagram of the management and control center, portable ground station and UAV in an embodiment of the present invention. Detailed Implementation

[0051] 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.

[0052] Example 1

[0053] Please refer to Figure 1, which is a flowchart illustrating the cooperative flight control method for UAV formations in an embodiment of the present invention. The method includes:

[0054] S11: Each portable ground station transmits the real-time location information of its corresponding UAV to the management and control center. The management and control center determines the placement risk based on the real-time location information and obtains the placement risk determination result.

[0055] In the specific implementation of this invention, each portable ground station transmits the real-time location information of its corresponding UAVs to the management and control center. Based on the real-time location information and the starting point of each UAV's flight path, a waypoint conflict analysis is performed to obtain the waypoint conflict analysis results. Based on the real-time location information and the size information of each UAV, a take-off and landing safety analysis is performed to obtain the take-off and landing safety analysis results. Based on the waypoint conflict analysis results and the take-off and landing safety analysis results, a risk assessment of the placement position is made, replacing the placement mode that relies on manual experience. Through the intelligent judgment of the management and control center, a safe and optimized layout plan can be quickly provided, reducing the professional threshold for operators and shortening the formation take-off preparation time.

[0056] S12: Based on the risk assessment results of the placement location, the position of each UAV is adjusted. After the position of each UAV is adjusted, the management and control center transmits the start flight command to each portable ground station. Each portable ground station controls the corresponding UAV to fly based on the start flight command.

[0057] In the specific implementation of this invention, the positions of each UAV are adjusted based on the risk assessment results of the placement position. After the positions of each UAV are adjusted, the management and control center transmits the start flight command to each portable ground station. Each portable ground station controls the corresponding UAV to fly based on the start flight command. The management and control center sends the start flight command uniformly, which avoids the chaos of take-off sequence caused by the asynchronous operation of each UAV by manual operation, and ensures that the formation enters the flight state in an orderly and coordinated manner.

[0058] S13: During the flight of each UAV, each portable ground station transmits the real-time status information of each UAV to the management and control center. The management and control center reviews the rationality of the flight path based on the real-time status information and obtains the result of the flight path rationality review.

[0059] In the specific implementation of this invention, during the flight of each UAV, each portable ground station transmits the real-time status information of each UAV to the management and control center. Based on the real-time status information, cross-route detection is performed to obtain the cross-route detection result; based on the real-time status information, close-route detection is performed to obtain the close-route detection result; and based on the cross-route detection result and the close-route detection result, the rationality review result of the route is determined, thereby realizing dynamic optimization and risk prevention of the route and improving the robustness and adaptability of the overall UAV mission planning.

[0060] S14: Based on the real-time status information, perform real-time location early warning analysis using a circular safety domain to obtain real-time location early warning analysis results;

[0061] In the specific implementation of this invention, different levels of circular radius parameters and different levels of altitude range parameters are set for each UAV based on its size information; different levels of circular safety domains are determined for each UAV based on the circular radius parameters and altitude range parameters; the current position information of each UAV is determined based on the real-time status information, and real-time position warning analysis is performed using the circular safety domains based on the current position information to obtain real-time position warning analysis results. This can quickly and accurately detect intrusion threats that are about to occur between UAVs, providing key decision-making basis for timely avoidance.

[0062] S15: Based on the real-time status information, perform return route conflict estimation, obtain return route conflict estimation results, and generate adjustment instructions based on the route rationality review results, real-time location early warning analysis results, and return route conflict estimation results, and send the adjustment instructions to the corresponding portable ground station;

[0063] In the specific implementation of this invention, the current position information of each UAV is determined based on the real-time status information, and the current return route is determined based on the current position information. The current return route is divided into several return route segments, and the intersection points of the segments are detected to obtain the intersection point detection results. Based on the several return route segments, a circular safety domain is used to detect flight path position conflicts to obtain flight path position conflict detection results. Based on the intersection point detection results and the flight path position conflict detection results, a return route conflict estimation is performed to obtain a return route conflict estimation result. An adjustment command is generated based on the flight path rationality review results, the real-time position warning analysis results, and the return route conflict estimation results. The adjustment command is sent to the corresponding portable ground station. The analysis results of flight path rationality, real-time position warning, and return route conflict estimation are comprehensively evaluated. This integrated decision-making mechanism can avoid the one-sidedness of single-indicator decision-making and generate the optimal adjustment command that takes into account both global efficiency and immediate safety.

[0064] S16: The portable ground station adjusts and controls each UAV based on the adjustment command.

[0065] In the specific implementation of this invention, the portable ground station adjusts and controls the safe distance, flight speed and turning rate of each UAV based on the adjustment command, which greatly improves the safety and reliability of formation flight.

[0066] In this embodiment of the invention, each portable ground station transmits the real-time location information of its corresponding UAV to the management and control center. Based on the real-time location information, a risk assessment of the placement position is performed, and the position of each UAV is adjusted based on the risk assessment results. This ensures that each UAV is in a safe state at the moment of takeoff, providing good starting conditions for subsequent close formation flights. During the flight of each UAV, each portable ground station transmits the real-time status information of each UAV to the management and control center. Based on the real-time status information, a route rationality review is performed, realizing dynamic route optimization and risk prevention. Real-time position early warning analysis is performed using a circular safety domain based on the real-time status information, more accurately detecting impending intrusion threats between UAVs. Return route conflict estimation is performed based on the real-time status information. Adjustment instructions are generated based on the route rationality review results, real-time position early warning analysis results, and return route conflict estimation results. This avoids the one-sidedness of decision-making based on a single indicator, prevents UAV collisions, and generates optimal adjustment instructions that take into account both overall efficiency and immediate safety. The portable ground station adjusts and controls each UAV based on adjustment commands, forming a complete closed loop from risk perception and intelligent decision-making to precise control. This enables the effective implementation of the system's safety strategy and ensures the safety of UAV collaborative flight.

[0067] Example 2

[0068] Please refer to Figure 2, which is a flowchart illustrating a cooperative flight control method for UAV formations according to another embodiment of the present invention. The method includes:

[0069] S201: Each portable ground station transmits the real-time location information of its corresponding UAV to the management and control center. The management and control center determines the placement risk based on the real-time location information and obtains the placement risk determination result.

[0070] In the specific implementation of this invention, the step of determining the placement risk based on the real-time location information and obtaining the placement risk determination result includes: performing a waypoint conflict analysis based on the real-time location information and the starting point of each UAV's flight path, and obtaining a waypoint conflict analysis result; performing a take-off and landing safety analysis based on the real-time location information and the size information of each UAV, and obtaining a take-off and landing safety analysis result; and determining the placement risk based on the waypoint conflict analysis result and the take-off and landing safety analysis result, and obtaining the placement risk determination result.

[0071] Specifically, each UAV collects its own real-time location information and transmits it to the corresponding portable ground station. Each portable ground station then transmits the real-time location information of each UAV to the management and control center, as shown in Figure 4. Each portable ground station controls its own UAV and interacts with the management and control center, transmitting the real-time status of each UAV to the management and control center. The management and control center is responsible for formation control and formation adjustment calculations, and then each portable ground station sends instructions to the corresponding UAV for execution.

[0072] Based on the real-time location information and the starting points of each UAV's flight path, a waypoint conflict analysis is performed to obtain the results. This analysis examines whether there are any conflicts at waypoints along the route from each UAV's real-time location to the starting point. By connecting the real-time locations of each UAV to the starting point, corresponding line segments are obtained. Analyzing whether these line segments intersect reveals any waypoint conflicts. This waypoint conflict analysis helps prevent safety hazards caused by UAVs passing near the starting points of other UAVs during their flight from takeoff to the starting point.

[0073] Based on the real-time location information and the size information of each UAV, a take-off and landing safety analysis is performed to obtain the take-off and landing safety analysis results. That is, at this real-time location, the analysis considers the size of each UAV to determine whether a collision will occur during take-off and landing. Based on the path point conflict analysis results and the take-off and landing safety analysis results, a placement risk assessment is performed. This involves comprehensively judging the conflict path points of each UAV and the take-off and landing collisions between UAVs to determine whether there is an unreasonable placement of the UAVs, thus obtaining the placement risk assessment results.

[0074] S202: Based on the risk assessment results of the placement location, the position of each UAV is adjusted. After the position of each UAV is adjusted, the management and control center transmits the start flight command to each portable ground station. Each portable ground station controls the corresponding UAV to fly based on the start flight command.

[0075] In the specific implementation of this invention, when a drone's placement is unreasonable, to ensure the mission continues, the pilot needs to remotely fly the drone to a suitable position before switching to autonomous flight. This requires the cooperation of ground station operators. If autonomous flight is initiated from an unsuitable position, a one-click hover function is needed to keep the drone stationary and avoid the risk of collision. After adjusting the positions of each drone, the management and control center transmits the flight start command to each portable ground station. Each portable ground station controls its corresponding drone based on the flight start command. Formation flight must start at a unified time, controlled by the management and control center. Once all drones have reached the starting point of the flight path and are in normal condition, commands are sent to each portable ground station. Each portable ground station then sends its corresponding command to its corresponding drone. Upon receiving the command, the portable ground station needs to respond to the management and control center to ensure normal operation. The portable ground station also needs to control the execution of the commands (automatic retransmission / manual cancellation if not executed). The flight start command includes the flight path of each drone, which is pre-planned by the mission planner.

[0076] S203: During the flight of each UAV, each portable ground station transmits the real-time status information of each UAV to the management and control center. The management and control center performs cross-route detection based on the real-time status information and obtains the cross-route detection results.

[0077] In the specific implementation of this invention, the step of performing flight path cross-detection based on the real-time status information to obtain flight path cross-detection results includes: determining the current flight path two-dimensional line segment of each UAV based on the real-time status information; performing cross-detection on the current flight path two-dimensional line segment of each UAV to obtain flight path cross-detection results.

[0078] Specifically, during the flight of each UAV, each portable ground station transmits the real-time status information of each UAV to the management and control center. Based on the real-time status information, the current two-dimensional line segment of each UAV's flight path is determined. The current position of the UAV is determined according to the real-time status information. Based on the current position, the current two-dimensional line segment of each UAV's flight path is determined. This two-dimensional line segment is a line segment composed of every two waypoints (including latitude and longitude).

[0079] Cross-detection is performed on the two-dimensional line segments of the current flight path of each UAV to obtain the flight path cross-detection results. That is, it is to detect whether there are intersection points in the two-dimensional line segments. If there are at least one flight path that intersects, the flight path is considered to have an intersection.

[0080] S204: Based on the real-time status information, perform route too close detection, obtain route too close detection results, and determine the route rationality review results based on the route cross detection results and route too close detection results;

[0081] In a specific implementation of the present invention, the step of detecting flight paths too close based on the real-time status information and obtaining flight path too close detection results includes: determining the current three-dimensional line segment of each UAV's flight path based on the real-time status information; calculating the minimum distance between the current three-dimensional line segments of each UAV's flight path; determining a safe zone parameter threshold; comparing the minimum distance with the safe zone parameter threshold to obtain a comparison result; and performing flight path too close detection based on the comparison result to obtain flight path too close detection results.

[0082] Specifically, based on the real-time status information, the current three-dimensional line segment of each UAV's flight path is determined. The current position of each UAV is determined from the real-time status information, and the three-dimensional line segment of its current flight path is determined based on the current position. The three-dimensional line segment is a line segment composed of every two waypoints (including latitude, longitude, and altitude). The minimum distance between the three-dimensional line segments of the current flight paths of each UAV is calculated, and the distance between each coordinate point in the three-dimensional line segment of the current flight path between UAVs is calculated. The minimum distance is then selected.

[0083] A safety zone parameter threshold is determined, which can be set by relevant personnel according to the size of the UAV. The minimum distance is compared with the safety zone parameter threshold to obtain the comparison result. Based on the comparison result, a flight path too close detection is performed to obtain the flight path too close detection result, i.e., whether the minimum distance is less than or equal to the safety zone parameter threshold. If the minimum distance is less than or equal to the safety zone parameter threshold, the UAV flight path is determined to be too close. Based on the flight path intersection detection result and the flight path too close detection result, the flight path rationality review result is determined. It comprehensively considers whether there is flight path intersection or flight path too close between UAVs. If either of these conditions exists, the current flight path of the UAV is determined to be unreasonable and needs to be adjusted.

[0084] S205: Based on the real-time status information, perform real-time location early warning analysis using a circular safety domain to obtain real-time location early warning analysis results;

[0085] In a specific implementation of this invention, the step of performing real-time position warning analysis using a circular safety domain based on the real-time status information to obtain real-time position warning analysis results includes: setting different levels of circular radius parameters and different levels of altitude range parameters for each UAV based on the size information of each UAV; determining different levels of circular safety domains for each UAV based on the circular radius parameters and altitude range parameters; determining the current position information of each UAV based on the real-time status information, and performing real-time position warning analysis using the circular safety domain based on the current position information to obtain real-time position warning analysis results.

[0086] Specifically, based on the size information of each UAV, different levels of circular radius parameters and different levels of altitude range parameters are set for each UAV. Based on the circular radius parameters and altitude range parameters, different levels of circular safety domains are determined for each UAV. Taking each UAV as the origin, a circle with a certain radius is formed, and within a certain altitude range, the spatial region formed, which is a cylinder centered on the UAV's position, is called the circular safety domain. The specific parameters of the different levels of circular safety domains are shown in the table below:

[0087]

[0088] Based on the real-time status information, the current position information of each UAV is determined, and based on the current position information, the circular safety domain is used to perform real-time position warning analysis to obtain the real-time position warning analysis result, that is, to analyze whether the current position of a UAV has entered the circular safety domain of other UAVs. If the current position of a UAV has entered the circular safety domain of other UAVs, it is determined that the real-time position of that UAV is at risk, and a warning needs to be issued and adjustments made.

[0089] S206: Based on the real-time status information, perform return route conflict estimation, obtain return route conflict estimation results, and generate adjustment instructions based on the route rationality review results, real-time location early warning analysis results, and return route conflict estimation results, and send the adjustment instructions to the corresponding portable ground station;

[0090] In a specific implementation of this invention, the step of estimating return route conflicts based on the real-time status information to obtain return route conflict estimation results includes: determining the current position information of each UAV based on the real-time status information, and determining the current return route based on the current position information; dividing the current return route into several return route segments, and performing segment intersection point detection based on the several return route segments to obtain segment intersection point detection results; performing flight path position conflict detection using a circular safety domain based on the several return route segments to obtain flight path position conflict detection results, and estimating return route conflicts based on the segment intersection point detection results and flight path position conflict detection results to obtain return route conflict estimation results.

[0091] Specifically, since each aircraft may return at any time during its flight, it is necessary to estimate in real time whether its return route at the current position will conflict with the routes of other aircraft, thus leading to a collision risk. Based on the real-time status information, the current position information of each UAV is determined, and based on this current position information, the current return route is determined. The current return route is determined according to the current position information and the UAV's return destination. There are two types of return destinations: one is returning to the takeoff point (i.e., emergency return / one-click return), and the other is returning to the alternate landing point. Both are straight-line returns at a fixed speed.

[0092] The current return route is divided into several return route segments, and the intersection points of the segments are detected based on these segments to obtain the intersection point detection results, that is, to detect whether there are intersection points between the return route segments.

[0093] Based on several return-to-home route segments, circular safety domains are used to detect route position conflicts, obtaining the conflict detection results and analyzing whether any return-to-home route segments enter the UAV's circular safety domain. Based on the segment intersection detection results and the route position conflict detection results, return-to-home route conflict estimation is performed, obtaining the estimated return-to-home route conflict result. This analysis considers the intersections and position conflicts between the return-to-home routes of each UAV at the current position.

[0094] Furthermore, the step of generating adjustment instructions based on the flight path rationality review results, real-time position warning analysis results, and return route conflict estimation results includes: determining the safe maintaining distance of each UAV based on the flight path rationality review results, real-time position warning analysis results, and return route conflict estimation results; determining the target forward speed and target turning rate of each UAV based on the flight path rationality review results, real-time position warning analysis results, and return route conflict estimation results; and generating adjustment instructions based on the safe maintaining distance, target forward speed, and target turning rate.

[0095] Specifically, based on the results of the route rationality review, the real-time position warning analysis, and the return route conflict estimation, the safe distance between each UAV is determined. According to the intersection and overly close positions of the route segments at the current position in the route rationality review results, the positions of UAVs entering the circular safety zone in the real-time position warning analysis results, and the conflict positions that exist for returning at the current position in the return route conflict estimation results, the safe distance that should be maintained between each UAV is matched in the database, which is the safe distance.

[0096] Based on the results of the flight path rationality review, real-time position warning analysis, and return route conflict estimation, the target forward speed and target turning rate of each UAV are determined. According to the intersection points and overly close positions of flight path segments at the current position in the flight path rationality review results, the positions of UAVs entering the circular safety zone in the real-time position warning analysis results, and the conflict positions for returning at the current position in the return route conflict estimation results, the forward speed and turning rate that should be adjusted between each UAV are matched in the database, which are the target forward speed and target turning rate. Adjustment commands are generated based on the safe maintaining distance, target forward speed, and target turning rate, and these commands are sent to the corresponding portable ground station. This integrated decision-making mechanism, which comprehensively evaluates the results of flight path rationality, real-time position warning, and return route conflict estimation, avoids the one-sidedness of single-indicator decisions and generates optimal adjustment commands that balance overall efficiency and immediate safety. The management and control center performs complex calculations and decisions, while the portable ground station is responsible for precise control of its own unit. This architecture ensures the unity and global optimality of the collaborative strategy, reduces dependence on the onboard computing power of individual UAVs, and improves the system's response speed.

[0097] S207: The portable ground station adjusts and controls each UAV based on the adjustment command;

[0098] In the specific implementation of this invention, the portable ground station adjusts and controls each UAV based on the adjustment command, that is, adjusts the safe keeping distance, forward flight speed and turning rate of each UAV according to the adjustment command. At the same time, the portable ground station can obtain real-time information of other UAVs in the formation from the management and control center and send it to the UAVs in real time through the data link. After the flight is completed, the UAVs remain hovering and then land in sequence.

[0099] S208: During the flight of each UAV, anomaly detection is performed on each UAV based on the real-time status information, anomaly detection results are obtained, and it is determined whether anomaly handling is required based on the anomaly detection results.

[0100] In the specific implementation of this invention, during the flight of each UAV, anomaly detection is performed on each UAV based on the real-time status information to obtain anomaly detection results. The real-time status information can be compared with a preset status information baseline. If the real-time status information exceeds the preset status information baseline, the UAV is in an abnormal state. Based on the anomaly detection results, it is determined whether the UAV needs to be handled abnormally. If no abnormal state is detected, no abnormal handling is required. When an abnormal state is detected, the UAV needs to be handled abnormally. First, the UAV needs to be separated from the formation through appropriate operations, and then operated as a single UAV. The portable ground station needs to have a switch for automatically executing the management and control center, so that in the event of an anomaly, all instructions issued by the management and control center to maintain formation are blocked, thereby transferring control to the portable ground station.

[0101] In this embodiment of the invention, each portable ground station transmits the real-time location information of its corresponding UAV to the management and control center. Based on the real-time location information, a risk assessment of the placement position is performed, and the position of each UAV is adjusted based on the risk assessment results. This ensures that each UAV is in a safe state at the moment of takeoff, providing good starting conditions for subsequent close formation flights. During the flight of each UAV, each portable ground station transmits the real-time status information of each UAV to the management and control center. Based on the real-time status information, a route rationality review is performed, realizing dynamic route optimization and risk prevention. Real-time position early warning analysis is performed using a circular safety domain based on the real-time status information, more accurately detecting impending intrusion threats between UAVs. Return route conflict estimation is performed based on the real-time status information. Adjustment instructions are generated based on the route rationality review results, real-time position early warning analysis results, and return route conflict estimation results. This avoids the one-sidedness of decision-making based on a single indicator, prevents UAV collisions, and generates optimal adjustment instructions that take into account both overall efficiency and immediate safety. The portable ground station adjusts and controls each UAV based on adjustment commands, forming a complete closed loop from risk perception and intelligent decision-making to precise control. This enables the effective implementation of the system's safety strategy and ensures the safety of UAV collaborative flight.

[0102] Example 3

[0103] Please refer to Figure 3, which is a schematic diagram of the structural composition of the cooperative flight control system for UAV formations in an embodiment of the present invention. The system includes:

[0104] Location risk assessment module 31: It is used by each portable ground station to transmit the real-time location information of each corresponding UAV to the management and control center. The management and control center performs placement location risk assessment based on the real-time location information and obtains the placement location risk assessment result.

[0105] Flight command determination module 32: used to adjust the position of each UAV based on the placement risk assessment result. After the position of each UAV is adjusted, the management and control center will transmit the flight start command to each portable ground station. Each portable ground station controls the corresponding UAV to fly based on the flight start command.

[0106] Flight route review module 33: During the flight of each UAV, each portable ground station transmits the real-time status information of each UAV to the management and control center, and the management and control center reviews the flight route rationality based on the real-time status information to obtain the flight route rationality review result.

[0107] Location warning module 34: used to perform real-time location warning analysis based on the real-time status information using a circular safety domain, and obtain real-time location warning analysis results;

[0108] Adjustment instruction generation module 35: is used to perform return route conflict estimation based on the real-time status information, obtain return route conflict estimation results, and generate adjustment instructions based on the route rationality review results, real-time location early warning analysis results and return route conflict estimation results, and send the adjustment instructions to the corresponding portable ground station;

[0109] UAV adjustment module 36: used by the portable ground station to adjust and control each UAV based on the adjustment command.

[0110] In the specific implementation of this invention, the specific implementation methods of the system items can be referred to the implementation methods of the above-mentioned method items, and will not be repeated here.

[0111] In this embodiment of the invention, each portable ground station transmits the real-time location information of its corresponding UAV to the management and control center. Based on the real-time location information, a risk assessment of the placement position is performed, and the position of each UAV is adjusted based on the risk assessment results. This ensures that each UAV is in a safe state at the moment of takeoff, providing good starting conditions for subsequent close formation flights. During the flight of each UAV, each portable ground station transmits the real-time status information of each UAV to the management and control center. Based on the real-time status information, a route rationality review is performed, realizing dynamic route optimization and risk prevention. Real-time position early warning analysis is performed using a circular safety domain based on the real-time status information, more accurately detecting impending intrusion threats between UAVs. Return route conflict estimation is performed based on the real-time status information. Adjustment instructions are generated based on the route rationality review results, real-time position early warning analysis results, and return route conflict estimation results. This avoids the one-sidedness of decision-making based on a single indicator, prevents UAV collisions, and generates optimal adjustment instructions that take into account both overall efficiency and immediate safety. The portable ground station adjusts and controls each UAV based on adjustment commands, forming a complete closed loop from risk perception and intelligent decision-making to precise control. This enables the effective implementation of the system's safety strategy and ensures the safety of UAV collaborative flight.

[0112] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, which may include: read-only memory (ROM), random access memory (RAM), magnetic disk or optical disk, etc.

[0113] Furthermore, the above provides a detailed description of the cooperative flight control method and system for UAV formations provided by the embodiments of the present invention. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A method for cooperative flight control of unmanned aerial vehicle (UAV) formations, characterized in that, The method includes: each portable ground station transmitting the real-time location information of its corresponding UAV to a management and control center; the management and control center determining the placement risk based on the real-time location information and obtaining a placement risk determination result; adjusting the position of each UAV based on the placement risk determination result; after adjusting the position of each UAV, the management and control center transmitting a flight start command to each portable ground station; each portable ground station controlling its corresponding UAV to fly based on the flight start command; during the flight of each UAV, each portable ground station transmitting the real-time status information of each UAV to the management and control center. The management and control center performs a route rationality review based on the real-time status information to obtain the route rationality review result; performs real-time position early warning analysis using a circular safety domain based on the real-time status information to obtain the real-time position early warning analysis result; performs return route conflict estimation based on the real-time status information to obtain the return route conflict estimation result, and generates an adjustment command based on the route rationality review result, the real-time position early warning analysis result, and the return route conflict estimation result, and sends the adjustment command to the corresponding portable ground station; the portable ground station adjusts and controls each UAV based on the adjustment command; wherein, the The real-time position warning analysis based on the real-time status information and using a circular safety domain to obtain real-time position warning analysis results includes: setting different levels of circular radius parameters and different levels of altitude range parameters for each UAV based on the size information of each UAV; determining different levels of circular safety domains for each UAV based on the circular radius parameters and altitude range parameters; determining the current position information of each UAV based on the real-time status information, and performing real-time position warning analysis based on the current position information and using the circular safety domain to obtain real-time position warning analysis results; the return route conflict estimation based on the real-time status information to obtain return route conflict estimation results includes: determining the current position information of each UAV based on the real-time status information, and determining the current return route based on the current position information; dividing the current return route into several return route segments, and performing segment intersection point detection based on the several return route segments to obtain segment intersection point detection results; performing flight path position conflict detection based on the several return route segments using a circular safety domain to obtain flight path position conflict detection results, and performing return route conflict estimation based on the segment intersection point detection results and flight path position conflict detection results to obtain return route conflict estimation results.

2. The cooperative flight control method for UAV formations according to claim 1, characterized in that, The step of determining the placement risk based on the real-time location information and obtaining the placement risk determination result includes: performing a waypoint conflict analysis based on the real-time location information and the starting point of each UAV's flight path, and obtaining a waypoint conflict analysis result; performing a take-off and landing safety analysis based on the real-time location information and the size information of each UAV, and obtaining a take-off and landing safety analysis result; and determining the placement risk based on the waypoint conflict analysis result and the take-off and landing safety analysis result, and obtaining the placement risk determination result.

3. The cooperative flight control method for UAV formations according to claim 1, characterized in that, The step of reviewing the rationality of flight routes based on the real-time status information and obtaining the result of the route rationality review includes: performing route cross-detection based on the real-time status information and obtaining the route cross-detection result; performing route too close detection based on the real-time status information and obtaining the route too close detection result; and determining the route rationality review result based on the route cross-detection result and the route too close detection result.

4. The cooperative flight control method for UAV formations according to claim 3, characterized in that, The step of performing flight path cross-detection based on the real-time status information to obtain flight path cross-detection results includes: determining the current flight path two-dimensional line segment of each UAV based on the real-time status information; performing cross-detection on the current flight path two-dimensional line segment of each UAV to obtain flight path cross-detection results.

5. The cooperative flight control method for UAV formations according to claim 3, characterized in that, The step of detecting excessively close flight paths based on the real-time status information and obtaining the detection result includes: determining the current three-dimensional line segment of each UAV's flight path based on the real-time status information; calculating the minimum distance between the current three-dimensional line segments of each UAV's flight path; determining a safe zone parameter threshold; comparing the minimum distance with the safe zone parameter threshold to obtain a comparison result; and performing excessively close flight path detection based on the comparison result to obtain the detection result.

6. The cooperative flight control method for UAV formations according to claim 1, characterized in that, The step of generating adjustment instructions based on the flight path rationality review results, real-time position warning analysis results, and return route conflict estimation results includes: determining the safe maintaining distance of each UAV based on the flight path rationality review results, real-time position warning analysis results, and return route conflict estimation results; determining the target forward speed and target turning rate of each UAV based on the flight path rationality review results, real-time position warning analysis results, and return route conflict estimation results; and generating adjustment instructions based on the safe maintaining distance, target forward speed, and target turning rate.

7. The cooperative flight control method for UAV formations according to claim 1, characterized in that, The method further includes: during the flight of each UAV, performing anomaly detection on each UAV based on the real-time status information, obtaining anomaly detection results, and determining whether anomaly handling is required for the UAV based on the anomaly detection results.

8. A cooperative flight control system for unmanned aerial vehicle (UAV) formations, characterized in that, The system includes: a position risk assessment module, used by each portable ground station to transmit the real-time position information of its corresponding UAVs to the management and control center, which then assesses the placement risk based on the real-time position information and obtains the placement risk assessment result; a flight command determination module, used to adjust the position of each UAV based on the placement risk assessment result, and after adjusting the position of each UAV, the management and control center transmits a flight start command to each portable ground station, which then controls its corresponding UAV to fly based on the flight start command; and a flight path review module, used by each portable ground station to review the flight path of each UAV during flight. The real-time status information of the drone is transmitted to the management and control center, which performs a route rationality review based on the real-time status information and obtains the route rationality review result; The position warning module is used to perform real-time position warning analysis using a circular safety domain based on the real-time status information and obtain the real-time position warning analysis result; The adjustment command generation module is used to perform return route conflict estimation based on the real-time status information, obtain the return route conflict estimation result, and generate an adjustment command based on the route rationality review result, the real-time position warning analysis result, and the return route conflict estimation result, and send the adjustment command to the corresponding portable ground station; The UAV adjustment module is used for the... The portable ground station adjusts and controls each UAV based on the adjustment commands; wherein, the real-time position warning analysis based on the real-time status information using a circular safety domain to obtain the real-time position warning analysis result includes: setting different levels of circular radius parameters and different levels of altitude range parameters for each UAV based on the size information of each UAV; determining different levels of circular safety domains for each UAV based on the circular radius parameters and altitude range parameters; determining the current position information of each UAV based on the real-time status information, and performing real-time position warning analysis using the circular safety domain based on the current position information to obtain the real-time position warning analysis result; The return route conflict estimation is performed based on the real-time status information to obtain the return route conflict estimation result, including: determining the current position information of each UAV based on the real-time status information, and determining the current return route based on the current position information; dividing the current return route into several return route segments, and performing segment intersection point detection based on the several return route segments to obtain segment intersection point detection results; performing flight path position conflict detection based on the several return route segments using a circular safety domain to obtain flight path position conflict detection results, and performing return route conflict estimation based on the segment intersection point detection results and flight path position conflict detection results to obtain the return route conflict estimation result.

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