A cooperative planning control method for a wide-area reconnaissance task of a UAV cluster

Abstract

This invention belongs to the technical field of unmanned aerial vehicle (UAV) swarm systems, specifically relating to a collaborative planning and control method for wide-area reconnaissance missions of UAV swarms. When performing collaborative reconnaissance missions, UAV or loitering pod swarms, to meet the mission requirement of rapidly establishing a situational awareness of a designated area, require adjacent swarm member nodes to maintain lateral distance and cruise side-by-side, achieving wide-area reconnaissance of the target area through the stitching of the limited perception field of view of a single node. This method plans the wide-area reconnaissance mission routes of each UAV node by directional translation of the baseline desired flight path and establishes a transitional flight path between general dense formations and reconnaissance mission formations. Based on the relative translational relationship of the mission routes of each node, each slave UAV performs directional processing of the leader's position information to conduct forward control of the side-by-side cruise of multiple nodes through leader-slave collaboration. This method performs distributed computing among each swarm member, enabling efficient dynamic transition and maintenance of wide-area reconnaissance mission formations.

Description

Technical Field

[0001] This invention belongs to the technical field of unmanned aerial vehicle (UAV) swarm systems, specifically relating to a collaborative planning and control method for wide-area reconnaissance missions of UAV swarms. Background Technology

[0002] The swarm organization of UAV or loitering drone systems is a crucial means to improve mission execution efficiency, with the coupling of planning and control providing the fundamental guarantee for mission-oriented collaboration among swarm nodes. For missions requiring rapid generation of regional situational awareness in swarm-based wide-area reconnaissance, relying solely on the limited speed coordination range of the UAV platform to achieve large lateral distance side-by-side cruising formations often results in poor synchronization during formation transitions and low formation transformation efficiency. Therefore, it is necessary to introduce other efficient transition strategies for reconnaissance mission formations, building upon the traditional speed coordination adjustments mentioned above, and design a long-range dynamic maintenance mechanism after the completion of this sparse mission formation transformation to effectively support the rapid implementation of swarm-based wide-area reconnaissance missions. Summary of the Invention

[0003] (a) Technical problems to be solved

[0004] The technical problem to be solved by this invention is: how to achieve the cooperative formation transition in a wide-area reconnaissance mission of a UAV swarm, and how to maintain the leader-follower cooperative formation when executing the planned mission route.

[0005] (II) Technical Solution

[0006] To address the aforementioned technical problems, this invention provides a collaborative planning and control method for wide-area reconnaissance missions involving UAV swarms. This method combines temporal adjustment of swarm speed coordination with spatial adjustment of flight path coordination strategies, ensuring the synchronization and speed of multi-node transitions in wide-area reconnaissance mission formations. Simultaneously, using the leader's state (corrected for spatial differences in mission flight paths between nodes) as collaborative information, a forward control mechanism for slave nodes is designed to guarantee formation maintenance for long-range missions involving multiple reconnaissance round trips. The principle block diagram of this collaborative planning and control method for wide-area reconnaissance missions involving UAV swarms is shown below. Figure 1 As shown; the method includes the following steps:

[0007] Step 1: Define the coordinate system;

[0008] Step 2: Define inputs and outputs;

[0009] Step 3: Establish a mathematical model.

[0010] In step 1, the coordinate system is defined as follows:

[0011] Define the local North-Sky-East coordinate system: also known as the navigation coordinate system or ground coordinate system. The origin is fixed at any point on the ground. The X-axis points to the geographic North Pole of the ellipsoid model, the Z-axis points to the geographic East of the ellipsoid model, and the Y-axis is perpendicular to the other two axes and forms a right-handed system.

[0012] In step 2, the definition of input and output includes: input information and output information.

[0013] In step 2, the input information is as follows:

[0014] Reference desired waypoint: Position in inertial coordinate system (X) hld ,Y hld Z hld ), Number of waypoints N hld = Expected speed V along the route qw The position of the reference desired waypoint in the inertial coordinate system is (X... hld ,Y hld Z hld ), is based on the start and end of the main mission segment at n start n end Numbered waypoints, traversing the area to be scouted to guide online route planning; number of waypoints N hld , that is, X hld Y hld Z hld The array length is N. hld ;

[0015] Squad member list: Number of members N, member list [id1 id2…id] N ];

[0016] Current node flight status: node ID (id), position in inertial coordinate system (x, y, z), current waypoint ID (iHD), turn mode (mode), airspeed (V) a Ground speed V g The turning mode is 1 in straight, level flight and 2 in circular turning.

[0017] Leader node flight status: Node ID L Position in inertial coordinate system (x) L ,y L ,z L ), Current waypoint number iHD L Turning mode L Ground speed V gL .

[0018] In step 2, the output information is as follows:

[0019] Desired waypoint after online route planning: position in inertial coordinate system Number of waypoints Among them, the expected waypoint after online route planning is the position in the inertial coordinate system. Based on the reconnaissance mission route start and end points Numbered waypoints, reconnaissance transit routes begin and end at and Waypoint number; number of waypoints Right now The array length is

[0020] Leader-slave forward coordination distance deviation: L error Forward cooperative velocity expectation: V coop .

[0021] In step 4, the mathematical models include: a wide-area reconnaissance mission route planning model, a wide-area reconnaissance transition route planning model, a leader position orientation processing and forward deviation calculation model, and a forward coordination speed expectation calculation model.

[0022] The specific wide-area reconnaissance mission route planning model is as follows:

[0023] The calculation steps for route planning to conduct wide-area reconnaissance covering the entire region, where the routes of each node mission have directional translation relationships, are as follows;

[0024] (1) Determine the start and end waypoint numbers of the wide-area reconnaissance main mission segment of the baseline expected route as n. start n end The main mission flight segment must traverse the area to be reconnaissance and form a vertical, non-closed structure with multiple long and short sides, such as... Figure 2 As shown, this involves multiple reconnaissance maneuvers to guide the lateral extension of the long side and the transition of the short side formation.

[0025] (2) The translation distance of the current node's wide-area reconnaissance mission route is calculated as follows:

[0026] L dis =(id-id) L )·L (1)

[0027] In the formula, L is the lateral translation feature distance of the mission route between adjacent numbered nodes;

[0028] (3) The current node's wide-area reconnaissance mission route translation direction is calculated as follows:

[0029]

[0030] That is, perpendicular to the course of the first leg of the main wide-area reconnaissance mission;

[0031] (4) Plan the wide-area reconnaissance mission routes for each UAV node, and calculate the directional translation as follows:

[0032]

[0033] In the formula, Three transition waypoints will be reserved before and after the reconnaissance mission waypoint, to be planned subsequently. Each cluster member node performs distributed computing, and the multi-node differentiated wide-area reconnaissance mission route obtained through online planning is as follows: Figure 3 As shown.

[0034] The wide-area reconnaissance transition route planning model is as follows:

[0035] Online planning of wide-area reconnaissance transition routes based on the current node's directional translation distance and maximum translation distance is carried out. The calculation steps are as follows:

[0036] (1) The theoretical maximum translation distance of all nodes is calculated as follows:

[0037] L max =max(|id1-id) L |·L,|id1-id N |·L) (4)

[0038] In the formula, id1, id N These are the node numbers of the largest and smallest nodes in the formation, respectively. The operator max(·,·) means to find the maximum value.

[0039] (2) Calculate the transition distance L of the wide-area reconnaissance transition route at the current node. tran as follows:

[0040]

[0041] In the formula, g is the acceleration due to gravity, φ is the preset tilting and turning roll angle, and R zw This refers to the inherent turning radius distance for inclined turns;

[0042] (3) Plan the initial transition route for wide-area reconnaissance at the current node, calculated as follows:

[0043]

[0044] The process variables in the formula are calculated as follows:

[0045] L 12 =L tran ,L 23 =2·R zw ,

[0046]

[0047] ψ 45 =arctan2{-

Z hld (n start +1)-Z hld (n start )

[0048] b) Plan the transition route for the end of wide-area reconnaissance at the current node, calculated as follows:

[0049]

[0050] The process variables in the formula are calculated as follows:

[0051] L 12 =L tran ,L 23 =2·R zw ,

[0052]

[0053] ψ 45 =arctan2{-[Z hld (n end -1)-Z hld (n end )],X hld (n end -1)-X hld (n end )}

[0054] Each cluster member node performs distributed computing, and the initial transition route obtained through online planning has the same form as the final transition route, such as... Figure 4 As shown, the journey distance of each node's transition route can be kept consistent.

[0055] The model for leader position orientation processing and forward deviation calculation is as follows:

[0056] (1) When both the current node and the leader node are on the wide-area reconnaissance mission route, i.e. and And id! = id L At that time, the current slave node performs orientation processing on the acquired leader position based on the distance and direction of its own route planning and directional translation, as follows:

[0057]

[0058] In the formula, The orientation-processed northeast-east plane position of the lead aircraft, such as Figure 5 As shown; otherwise, the aircraft's planar position is not processed, i.e.

[0059]

[0060] (2) Based on the relative positional relationship between the leader and follower aircraft and the level flight / turning flight mode, the forward distance deviation between the leader and follower aircraft is calculated as follows, which serves as the basis for subsequent calculation of the expected coordinated speed:

[0061]

[0062] In the formula, L set The preset maximum forward distance deviation between the leader and slave is used as the benchmark. Forward distance deviations with non-zero values ​​need to be further constrained to ±L. set Within the range.

[0063] The calculation of the expected forward cooperative speed is as follows:

[0064] For each cluster member node in the wide-area reconnaissance transition or mission route, based on the aforementioned leader-slave forward distance deviation, the expected forward coordination speed for wide-area reconnaissance is calculated as follows:

[0065]

[0066] In the formula, K P K D The proportional and differential control coefficients are greater than zero, and the time consistency of each node in completing the wide-area reconnaissance transition route is expected to be achieved with a fixed ground speed.

[0067] The aforementioned forward cooperative speed expectation, combined with the UAV's conventional speed control and route tracking control, enables forward position coordination and lateral position tracking among the cluster member nodes, thereby completing wide-area reconnaissance missions targeting designated areas.

[0068] (III) Beneficial Effects

[0069] This invention provides a collaborative planning and control method for wide-area reconnaissance missions of UAV swarms. When performing collaborative reconnaissance missions, UAV or loitering pod system swarms, to meet the mission requirement of rapidly establishing a situational awareness of a designated area, require adjacent swarm member nodes to maintain lateral distance and cruise side-by-side. This achieves wide-area reconnaissance of the target area by stitching together the limited perception field of view of a single node. This method plans the wide-area reconnaissance mission routes of each UAV node by directional translation of the baseline desired flight path and establishes a transitional flight path between general dense formations and reconnaissance mission formations. Based on the relative translational relationship of the mission routes of each node, each slave UAV performs directional processing of the leader's position information to conduct forward control of the side-by-side cruise of multiple nodes through leader-slave collaboration. This method performs distributed computing among swarm members, efficiently realizing the dynamic transition and maintenance of wide-area reconnaissance mission formations, and has clear application prospects in collaborative missions.

[0070] Compared with existing technologies, this invention addresses the collaborative wide-area reconnaissance mission requirements of UAV and loitering rovers swarms. It handles the formation constraints of large lateral distances between nodes in side-by-side reconnaissance patrols, and achieves efficient formation transitions for wide-area reconnaissance missions and formation control for long-range reconnaissance missions after formation changes through a collaborative planning and control method that adjusts flight paths over a large spatial range and speed control over the time dimension. This algorithm enables loitering rovers carrying reconnaissance payloads to conduct collaborative reconnaissance and localization of active signal sources such as radar, and can also meet the requirements of other missions such as area search and scanning detection when carrying optoelectronic payloads, demonstrating broad application prospects. Attached Figure Description

[0071] Figure 1 This is a block diagram illustrating the collaborative planning and control principle for wide-area reconnaissance missions involving UAV swarms.

[0072] Figure 2 This is a schematic diagram of the main mission segment for wide-area reconnaissance based on the expected flight path.

[0073] Figure 3 This is a schematic diagram of online route planning for a cluster-based wide-area reconnaissance mission.

[0074] Figure 4 A schematic diagram of online planning for transitional flight routes for cluster wide-area reconnaissance.

[0075] Figure 5 This is a schematic diagram of forward control for a cluster wide-area reconnaissance mission route segment. Detailed Implementation

[0076] To make the objectives, contents, and advantages of the present invention clearer, the specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples.

[0077] To address the aforementioned technical problems, this invention provides a collaborative planning and control method for wide-area reconnaissance missions involving UAV swarms. This method combines temporal adjustment of swarm speed coordination with spatial adjustment of flight path coordination strategies, ensuring the synchronization and speed of multi-node transitions in wide-area reconnaissance mission formations. Simultaneously, using the leader's state (corrected for spatial differences in mission flight paths between nodes) as collaborative information, a forward control mechanism for slave nodes is designed to guarantee formation maintenance for long-range missions involving multiple reconnaissance round trips. The principle block diagram of this collaborative planning and control method for wide-area reconnaissance missions involving UAV swarms is shown below. Figure 1 As shown; the method includes the following steps:

[0078] Step 1: Define the coordinate system;

[0079] Step 2: Define inputs and outputs;

[0080] Step 3: Establish a mathematical model.

[0081] In step 1, the coordinate system is defined as follows:

[0082] Define the local North-Sky-East coordinate system: also known as the navigation coordinate system or ground coordinate system. The origin is fixed at any point on the ground. The X-axis points to the geographic North Pole of the ellipsoid model, the Z-axis points to the geographic East of the ellipsoid model, and the Y-axis is perpendicular to the other two axes and forms a right-handed system.

[0083] In step 2, the definition of input and output includes: input information and output information.

[0084] In step 2, the input information is as follows:

[0085] Reference desired waypoint: Position in inertial coordinate system (X) hld ,Y hld Z hld ), Number of waypoints N hld = Expected speed V along the route qw The position of the reference desired waypoint in the inertial coordinate system is (X... hld ,Y hld Z hld ), is based on the start and end of the main mission segment at n start n end Numbered waypoints, traversing the area to be scouted to guide online route planning; number of waypoints N hld , that is, X hld Y hld Z hld The array length is N. hld ;

[0086] Squad member list: Number of members N, member list [id1 id2…id] N ];

[0087] Current node flight status: node ID (id), position in inertial coordinate system (x, y, z), current waypoint ID (iHD), turn mode (mode), airspeed (V) a Ground speed V g The turning mode is 1 in straight, level flight and 2 in circular turning.

[0088] Leader node flight status: Node ID L Position in inertial coordinate system (x) L ,y L ,z L ), Current waypoint number iHD L Turning mode L Ground speed V gL .

[0089] In step 2, the output information is as follows:

[0090] Desired waypoint after online route planning: position in inertial coordinate system Number of waypoints Among them, the expected waypoint after online route planning is the position in the inertial coordinate system. Based on the reconnaissance mission route start and end points Numbered waypoints, reconnaissance transit routes begin and end at and Waypoint number; number of waypoints Right now The array length is

[0091] Leader-slave forward coordination distance deviation: L error Forward cooperative velocity expectation: V coop .

[0092] In step 4, the mathematical models include: a wide-area reconnaissance mission route planning model, a wide-area reconnaissance transition route planning model, a leader position orientation processing and forward deviation calculation model, and a forward coordination speed expectation calculation model.

[0093] The specific wide-area reconnaissance mission route planning model is as follows:

[0094] The calculation steps for route planning to conduct wide-area reconnaissance covering the entire region, where the routes of each node mission have directional translation relationships, are as follows;

[0095] (1) Determine the start and end waypoint numbers of the wide-area reconnaissance main mission segment of the baseline expected route as n. start n endThe main mission flight segment must traverse the area to be reconnaissance and form a vertical, non-closed structure with multiple long and short sides, such as... Figure 2 As shown, this involves multiple reconnaissance maneuvers to guide the lateral extension of the long side and the transition of the short side formation.

[0096] (2) The translation distance of the current node's wide-area reconnaissance mission route is calculated as follows:

[0097] L dis =(id-id) L )·L (1)

[0098] In the formula, L is the lateral translation feature distance of the mission route between adjacent numbered nodes;

[0099] (3) The current node's wide-area reconnaissance mission route translation direction is calculated as follows:

[0100]

[0101] That is, perpendicular to the course of the first leg of the main wide-area reconnaissance mission;

[0102] (4) Plan the wide-area reconnaissance mission routes for each UAV node, and calculate the directional translation as follows:

[0103]

[0104] In the formula, Three transition waypoints will be reserved before and after the reconnaissance mission waypoint, to be planned subsequently. Each cluster member node performs distributed computing, and the multi-node differentiated wide-area reconnaissance mission route obtained through online planning is as follows: Figure 3 As shown.

[0105] The wide-area reconnaissance transition route planning model is as follows:

[0106] Online planning of wide-area reconnaissance transition routes based on the current node's directional translation distance and maximum translation distance is carried out. The calculation steps are as follows:

[0107] (1) The theoretical maximum translation distance of all nodes is calculated as follows:

[0108] L max =max(|id1-id) L |·L,|id1-id N |·L) (4)

[0109] In the formula, id1, id N These are the node numbers of the largest and smallest nodes in the formation, respectively. The operator max(·,·) means to find the maximum value.

[0110] (2) Calculate the transition distance L of the wide-area reconnaissance transition route at the current node.tran as follows:

[0111]

[0112] In the formula, g is the acceleration due to gravity, φ is the preset tilting and turning roll angle, and R zw This refers to the inherent turning radius distance for inclined turns;

[0113] (3) Plan the initial transition route for wide-area reconnaissance at the current node, calculated as follows:

[0114]

[0115] The process variables in the formula are calculated as follows:

[0116] L 12 =L tran ,L 23 =2·R zw ,

[0117]

[0118] ψ 45 =arctan2{-

Z hld (n start +1)-Z hld (n start )

[0119] c) Plan the transition route for the end of wide-area reconnaissance at the current node, calculated as follows:

[0120]

[0121] The process variables in the formula are calculated as follows:

[0122] L 12 =L tran ,L 23 =2·R zw ,

[0123]

[0124] ψ 45 =arctan2{-[Z hld (n end -1)-Z hld (n end )],X hld (n end -1)-X hld (n end)}

[0125] Each cluster member node performs distributed computing, and the initial transition route obtained through online planning has the same form as the final transition route, such as... Figure 4 As shown, the journey distance of each node's transition route can be kept consistent.

[0126] The model for leader position orientation processing and forward deviation calculation is as follows:

[0127] (1) When both the current node and the leader node are on the wide-area reconnaissance mission route, i.e. and And id! = id L At that time, the current slave node performs orientation processing on the acquired leader position based on the distance and direction of its own route planning and directional translation, as follows:

[0128]

[0129] In the formula, The orientation-processed northeast-east plane position of the lead aircraft, such as Figure 5 As shown; otherwise, the aircraft's planar position is not processed, i.e.

[0130]

[0131] (2) Based on the relative positional relationship between the leader and follower aircraft and the level flight / turning flight mode, the forward distance deviation between the leader and follower aircraft is calculated as follows, which serves as the basis for subsequent calculation of the expected coordinated speed:

[0132]

[0133] In the formula, L set The preset maximum forward distance deviation between the leader and slave is used as the benchmark. Forward distance deviations with non-zero values ​​need to be further constrained to ±L. set Within the range.

[0134] The calculation of the expected forward cooperative speed is as follows:

[0135] For each cluster member node in the wide-area reconnaissance transition or mission route, based on the aforementioned leader-slave forward distance deviation, the expected forward coordination speed for wide-area reconnaissance is calculated as follows:

[0136]

[0137] In the formula, K P K D The proportional and differential control coefficients are greater than zero, and the time consistency of each node in completing the wide-area reconnaissance transition route is expected to be achieved with a fixed ground speed.

[0138] The aforementioned forward cooperative speed expectation, combined with the UAV's conventional speed control and route tracking control, enables forward position coordination and lateral position tracking among the cluster member nodes, thereby completing wide-area reconnaissance missions targeting designated areas.

[0139] Example 1

[0140] This embodiment provides an implementation of collaborative planning and control for wide-area reconnaissance missions of UAV swarms. In the specific implementation process, the following steps are followed.

[0141] 1: Start by obtaining the flight status of the current node and the lead node;

[0142] 2: Monitor the updates of the baseline expected route for wide-area reconnaissance missions in real time. If the route is updated, determine the start and end points of the main wide-area reconnaissance mission segment and perform online planning operations for subsequent wide-area reconnaissance routes; otherwise, maintain the previous expected route information.

[0143] 3: Based on the relative size of the current node number and the leader node number, determine the directional translation distance of the wide-area reconnaissance mission route and perform online route planning;

[0144] 4. Based on the mission route orientation and translation distance and the theoretical maximum translation distance, conduct online planning of the transition route for wide-area reconnaissance;

[0145] 5: Integrate the above-mentioned wide-area reconnaissance mission and transition route online planning results, and carry out subsequent formation coordinated control after entering the wide-area reconnaissance mission;

[0146] 6: The lead aircraft node directly performs conventional route tracking and control, while the slave aircraft node calculates the lead aircraft's position orientation offset based on the directional translation distance of the online planned wide-area reconnaissance mission route;

[0147] 7: The slave node performs orientation processing of the leader's position information and calculates the forward distance deviation between the leader and slave aircraft in the wide-area reconnaissance mission route segment;

[0148] 8: The slave node converts the aforementioned forward distance deviation into expected flight speed, guiding the implementation of leader-slave cooperative formation control.

[0149] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A cooperative planning and control method for wide-area reconnaissance missions of unmanned aerial vehicle (UAV) swarms, characterized in that, The method combines temporal adjustment of cluster speed coordination with spatial adjustment of flight path coordination strategies to ensure the synchronization and speed of multi-node transitions in wide-area reconnaissance mission formations. Simultaneously, using the leader aircraft's status (corrected for spatial differences in mission flight paths between nodes) as coordination information, a forward control mechanism for slave aircraft nodes is designed to ensure the formation is maintained for long-range missions involving multiple reconnaissance round trips. The method includes the following steps: Step 1: Define the coordinate system; Step 2: Define inputs and outputs; Step 3: Establish a mathematical model.

2. The cooperative planning and control method for wide-area reconnaissance missions of unmanned aerial vehicle (UAV) swarms as described in claim 1, characterized in that, In step 1, the coordinate system is defined as follows: Define the local North-Sky-East coordinate system: also known as the navigation coordinate system or ground coordinate system. The origin is fixed at any point on the ground. The X-axis points to the geographic North Pole of the ellipsoid model, the Z-axis points to the geographic East of the ellipsoid model, and the Y-axis is perpendicular to the other two axes and forms a right-handed system.

3. The cooperative planning and control method for wide-area reconnaissance missions of unmanned aerial vehicle (UAV) swarms as described in claim 2, characterized in that, In step 2, the input and output are defined as: input information and output information.

4. The collaborative planning and control method for wide-area reconnaissance missions of unmanned aerial vehicle (UAV) swarms as described in claim 3, characterized in that, In step 2, the input information is as follows: Reference desired waypoint: Position in inertial coordinate system (X) hld ,Y hld Z hld ), Number of waypoints N hld = Expected speed V along the route qw ; Wherein, the position of the reference desired waypoint in the inertial coordinate system is (X... hld ,Y hld Z hld ), is based on the start and end of the main mission segment at n start n end Numbered waypoints, traversing the area to be scouted to guide online route planning; number of waypoints N hld , that is, X hld Y hld Z hld The array length is N. hld ; Squad member list: Number of members N, member list [id1 id2…id] N ]; Current node flight status: node ID (id), position in inertial coordinate system (x, y, z), current waypoint ID (iHD), turn mode (mode), airspeed (V) a Ground speed V g The turning mode is 1 in straight, level flight and 2 in circular turning. Leader node flight status: Node ID L Position in inertial coordinate system (x) L ,y L ,z L ), Current waypoint number iHD L Turning mode L Ground speed V gL .

5. The cooperative planning and control method for wide-area reconnaissance missions of unmanned aerial vehicle (UAV) swarms as described in claim 4, characterized in that, In step 2, the output information is as follows: Desired waypoint after online route planning: position in inertial coordinate system Number of waypoints Among them, the expected waypoint after online route planning is the position in the inertial coordinate system. Based on the reconnaissance mission route start and end points Numbered waypoints, reconnaissance transit routes begin and end at and Waypoint number; number of waypoints Right now The array length is Leader-slave forward coordination distance deviation: L error Forward cooperative velocity expectation: V coop .

6. The cooperative planning and control method for wide-area reconnaissance missions of unmanned aerial vehicle (UAV) swarms as described in claim 5, characterized in that, In step 4, the mathematical models involve: a wide-area reconnaissance mission route planning model, a wide-area reconnaissance transition route planning model, a leader position orientation processing and forward deviation calculation model, and a forward coordination speed expectation calculation model.

7. The cooperative planning and control method for wide-area reconnaissance missions of unmanned aerial vehicle (UAV) swarms as described in claim 6, characterized in that, The specific route planning model for the wide-area reconnaissance mission is as follows: The calculation steps for route planning to conduct wide-area reconnaissance covering the entire region, where the routes of each node mission have directional translation relationships, are as follows; (1) Determine the start and end waypoint numbers of the wide-area reconnaissance main mission segment of the baseline expected route as n. start n end The main mission segment must traverse the area to be reconnoitered and take the form of multiple long and short vertical non-closed segments to guide multiple reconnaissance operations with lateral distance on the long side and formation transition on the short side. (2) The translation distance of the current node's wide-area reconnaissance mission route is calculated as follows: L dis =(id-id L )·L (1) In the formula, L is the lateral translation feature distance of the mission route between adjacent numbered nodes; (3) The current node's wide-area reconnaissance mission route translation direction is calculated as follows: That is, perpendicular to the course of the first leg of the main wide-area reconnaissance mission; (4) Plan the wide-area reconnaissance mission routes for each UAV node, and calculate the directional translation as follows: In the formula, Three transition waypoints will be reserved before and after the reconnaissance mission waypoint, to be planned subsequently. Distributed computing is performed on each cluster member node.

8. The cooperative planning and control method for wide-area reconnaissance missions of unmanned aerial vehicle (UAV) swarms as described in claim 7, characterized in that, The wide-area reconnaissance transition route planning model is as follows: Online planning of wide-area reconnaissance transition routes based on the current node's directional translation distance and maximum translation distance is carried out. The calculation steps are as follows: (1) The theoretical maximum translation distance of all nodes is calculated as follows: L max =max(|id1-id L |·L,|id1-id N |·L) (4) In the formula, id1, id N These are the node numbers of the largest and smallest nodes in the formation, respectively. The operator max(·,·) means to find the maximum value. (2) Calculate the transition distance L of the wide-area reconnaissance transition route at the current node. tran as follows: In the formula, g is the acceleration due to gravity, φ is the preset tilting and turning roll angle, and R zw This refers to the inherent turning radius distance for inclined turns; (3) Plan the initial transition route for wide-area reconnaissance at the current node, calculated as follows: The process variables in the formula are calculated as follows: L 12 =L tran ,L 23 =2·R zw , ψ 45 =arctan2{-[Z hld ( n start +1)-Z hld ( n start )],X hld ( n start +1)-X hld ( n start )} a) Plan the transition route for the end of wide-area reconnaissance at the current node, calculated as follows: The process variables in the formula are calculated as follows: L 12 =L tran ,L 23 =2·R zw , ψ 45 =arctan2{-[Z hld ( n end -1)-Z hld ( n end )],X hld ( n end −1)-X hld ( n end )} Each cluster member node performs distributed computing, and the initial transition route and the final transition route obtained through online planning have the same form, which can keep the transition route of each node consistent in terms of distance.

9. The cooperative planning and control method for wide-area reconnaissance missions of unmanned aerial vehicle (UAV) swarms as described in claim 8, characterized in that, The model for leader position orientation processing and forward deviation calculation is as follows: (1) When both the current node and the leader node are on the wide-area reconnaissance mission route, i.e. and And id! = id L At that time, the current slave node performs orientation processing on the acquired leader position based on the distance and direction of its own route planning and directional translation, as follows: In the formula, This refers to the oriented aircraft's northeast-level position; otherwise, the oriented aircraft's position remains unprocessed. (2) Based on the relative positional relationship between the leader and follower aircraft and the level flight / turning flight mode, the forward distance deviation between the leader and follower aircraft is calculated as follows, which serves as the basis for subsequent calculation of the expected coordinated speed: In the formula, L set The preset maximum forward distance deviation between the leader and slave is used as the benchmark. Forward distance deviations with non-zero values ​​need to be further constrained to ±L. set Within the range.

10. The cooperative planning and control method for wide-area reconnaissance missions of unmanned aerial vehicle (UAV) swarms as described in claim 9, characterized in that, The specific calculation of the forward cooperative velocity expectation is as follows: For each cluster member node in the wide-area reconnaissance transition or mission route, based on the aforementioned leader-slave forward distance deviation, the expected forward coordination speed for wide-area reconnaissance is calculated as follows: In the formula, K P K D The proportional and differential control coefficients are greater than zero, and the time consistency of each node in completing the wide-area reconnaissance transition route is expected to be achieved with a fixed ground speed. The aforementioned forward cooperative speed expectation, combined with the UAV's conventional speed control and route tracking control, enables forward position coordination and lateral position tracking among the cluster member nodes, thereby completing wide-area reconnaissance missions targeting designated areas.

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