An unmanned aerial vehicle ground station take-off abnormal position filling method based on an ORCA algorithm

Abstract

The application discloses a kind of ORCA algorithm-based unmanned plane ground station take-off abnormality supplement position method, belong to unmanned plane formation performance control field, comprising: step 1, after unmanned plane formation performance take-off predetermined length, detect whether there is take-off abnormality unmanned plane, is then step 2 is executed, otherwise step 5 is executed;Step 2, for take-off abnormality unmanned plane allocation supplement position unmanned plane, and calculate its take-off time and use based on ORCA algorithm to calculate supplement position path route;Step 3, the supplement position path route obtained in step 2 is spliced with the performance dance of unmanned plane formation to obtain final supplement position path route, and is uploaded to supplement position unmanned plane;Step 4, according to the take-off time of step 2, issue timed take-off task to supplement position unmanned plane, so that supplement position unmanned plane executes timed take-off task and supplements position according to final supplement position path route;Step 5, end this time supplement position.The method can supplement position unmanned plane formation performance in time accurately to the unmanned plane of take-off abnormality, guarantee performance process integrity.

Description

Technical Field

[0001] This invention relates to the field of drone formation performance control technology, and in particular to a method for drone ground station takeoff anomaly compensation based on the ORCA algorithm. Background Technology

[0002] In drone formation performances, if some drones fail to take off for various reasons, the performance pattern will be incomplete, affecting the takeoff rate. Therefore, when this happens, it is necessary to develop a strategy to quickly replace the drones that have taken off abnormally, and to have the replacement drones catch up with the drone group and complete the subsequent normal performance process in place of the original drones.

[0003] In view of this, the present invention is hereby proposed. Summary of the Invention

[0004] The purpose of this invention is to provide a method for replacing drones with abnormal takeoffs from a drone ground station based on the ORCA algorithm. This method can quickly replace drones with abnormal takeoffs in a drone formation during a performance, ensuring that the drone formation can complete the normal performance process, thereby solving the aforementioned technical problems in the prior art.

[0005] The objective of this invention is achieved through the following technical solution: A method for fault location recovery for UAV ground station takeoff anomalies based on the ORCA algorithm, capable of recovering UAVs experiencing takeoff anomalies during the takeoff phase, including: Step 1: After the drone formation performance has started and the scheduled takeoff time has elapsed, check to determine if there are any drones with abnormal takeoff. If so, proceed to Step 2; otherwise, proceed to Step 5. Step 2: Assign a replacement drone to the drone with takeoff anomaly, and calculate the takeoff time of the replacement drone and the replacement path using the ORCA algorithm. Step 3: Combine the replacement path obtained in Step 2 with the performance steps of the drone formation to obtain the final replacement path, and upload it to the replacement drone. Step 4: Based on the takeoff time obtained in Step 2, issue a timed takeoff mission to the replacement drone, so that the replacement drone can perform the timed takeoff mission and replace the drone with the abnormal takeoff according to the final replacement path. Step 5: End this fill-in phase.

[0006] Compared with existing technologies, the ORCA algorithm-based UAV ground station takeoff anomaly compensation method provided by this invention has the following advantages: After identifying a drone with takeoff anomalies, a replacement drone is assigned to it. The takeoff time of the replacement drone is calculated, and the replacement path is calculated using an ORCA-based algorithm. This information is then combined with the drone formation's performance steps and a timed takeoff task is issued to the replacement drone. This allows for timely and accurate replacement of the drone with the abnormal takeoff. This method can be controlled by ground station software to replace drones with abnormal takeoffs, and the waypoints of the replacement drone during the replacement process will not conflict with other normal drones, thus completing the substitute performance task. Attached Figure Description

[0007] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. 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.

[0008] Figure 1 The flowchart illustrates the method for fault compensation during takeoff of a UAV ground station based on the ORCA algorithm, as provided in this embodiment of the invention.

[0009] Figure 2 This is a schematic diagram of the UAV avoidance planning for the replacement UAV in the UAV ground station takeoff anomaly replacement method based on the ORCA algorithm provided in the embodiments of the present invention. Detailed Implementation

[0010] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the specific content of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments, which do not constitute a limitation of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present invention.

[0011] First, the following explanations are provided for the terms that may be used in this article: The term "and / or" means that either or both can be achieved simultaneously. For example, X and / or Y means that it includes both "X" or "Y" as well as the three cases of "X and Y".

[0012] The terms "comprising," "including," "containing," "having," or other similar semantic descriptions should be interpreted as non-exclusive inclusion. For example, including a technical feature element (such as raw material, component, ingredient, carrier, dosage form, material, size, part, component, mechanism, device, step, process, method, reaction conditions, processing conditions, parameter, algorithm, signal, data, product or article of manufacture, etc.) should be interpreted as including not only the expressly listed technical feature element, but also other technical feature elements that are not expressly listed and are well-known in the art.

[0013] The term "composed of" excludes any technical features not expressly listed. When used in a claim, it closes the claim to exclude all technical features other than those expressly listed, except for associated conventional impurities. If the term appears only in a clause of a claim, it limits the claim to the elements expressly listed in that clause; elements recited in other clauses are not excluded from the overall claim.

[0014] Unless otherwise explicitly specified or limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this document according to the specific circumstances.

[0015] The terms “center,” “longitudinal,” “lateral,” “length,” “width,” “thickness,” “upper,” “lower,” “front,” “back,” “left,” “right,” “vertical,” “horizontal,” “top,” “bottom,” “inner,” “outer,” “clockwise,” and “counterclockwise” indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience and simplification of description and do not imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this document.

[0016] The solution provided by this invention will be described in detail below. Contents not described in detail in the embodiments of this invention are prior art known to those skilled in the art. Where specific conditions are not specified in the embodiments of this invention, they shall be performed according to conventional conditions in the art or conditions recommended by the manufacturer. Reagents or instruments used in the embodiments of this invention whose manufacturers are not specified are all conventional products that can be purchased commercially.

[0017] like Figure 1As shown, this invention provides a method for fault-finding during takeoff anomalies at UAV ground stations based on the ORCA algorithm, which can compensate for UAVs experiencing takeoff anomalies during the takeoff phase, including:

[0018] Step 1: After the drone formation performance has started and the scheduled takeoff time has elapsed, check to determine if there are any drones with abnormal takeoff. If so, proceed to Step 2; otherwise, proceed to Step 5. Step 2: Assign a replacement drone to the drone with takeoff anomaly, and calculate the takeoff time of the replacement drone and the replacement path using the ORCA algorithm. Step 3: Combine the replacement path obtained in Step 2 with the performance steps of the drone formation to obtain the final replacement path, and upload it to the replacement drone. Step 4: Based on the takeoff time obtained in Step 2, issue a timed takeoff mission to the replacement drone, so that the replacement drone can perform the timed takeoff mission and replace the drone with the abnormal takeoff according to the final replacement path. Step 5: End this fill-in phase.

[0019] Preferably, in step 1 of the above method, the detection and determination of whether there is an abnormal takeoff drone is performed in the following manner: If a drone is detected to be online and stationary, and its current altitude is below the set altitude, then the drone is confirmed to be a drone with takeoff abnormality. See Figure 2 Preferably, in step 2 of the above method, the takeoff time of the replacement UAV and the replacement path route calculated based on the ORCA algorithm are as follows: Step 21: Calculate the takeoff time of the replacement drone; Step 22: Plan the path for the backup drone to take off vertically to a fixed safe altitude; Step 23: At the safe altitude planned in Step 22, the initial replacement path is calculated by performing frame-by-frame tracking calculation on the replacement drone based on the target point of the drone with takeoff abnormality to obtain the replacement path route. Step 24: After performing a waypoint safety check on the initial replacement path obtained in step 23, the replacement path of the replacement UAV is obtained.

[0020] Preferably, in step 21 of the above method, the takeoff time of the replacement drone is calculated in the following manner, including: The takeoff time of the replacement drone is equal to the takeoff time of the normal drone, the total takeoff time, the delay and waiting judgment time, the reserved time for path planning, the reserved time for route uploading, and the pre-flight preparation time of the replacement drone.

[0021] Preferably, in step 22 of the above method, the path for the supplementary UAV to take off vertically to a fixed safe altitude is planned in the following manner: Starting from the takeoff time of the replacement drone, given the total takeoff time, the path of the replacement drone is vertically planned to a safe altitude within the total takeoff time.

[0022] Preferably, in step 23 of the above method, the replacement path is calculated by performing frame-by-frame tracking calculation on the replacement drone based on the target location of the drone with takeoff abnormality at the safe altitude planned in step 22, including: When planning the path of the replacement drone to a safe altitude, under the condition that the waypoints and directions of the normal drone do not change during the performance dance of the normal drone, the ORCA algorithm is used to simulate and calculate the position and replacement path of a single replacement drone frame by frame. When calculating the replacement path, the replacement drone bears all the avoidance coefficients until the overall replacement path of the replacement drone is obtained.

[0023] Preferably, in step 23 of the above method, the position and path of a single replacement UAV are simulated and calculated frame by frame using the ORCA algorithm in the following manner: Step 231, calculate the target tracking velocity vector of the supplementary UAV: Based on the current position P of the replacement drone cur The target position P is the dance waypoint position of the next frame at the current simulation moment of the replaced abnormal takeoff UAV. des Calculate the unit vector e from the current position to the target position. ; Based on the unit vector e and the maximum replenishment flight speed V of the replenishment drone max The target tracking velocity vector of the replacement UAV is determined to be V. bw = e×V max ; Step 232, calculate the target velocity vector of normal drones around the replacement drone: The current position of a normal drone is taken from the waypoint position of the current simulation time frame, and the target position is taken from the waypoint position of the next frame of the current simulation time. The average target velocity vector of the normal UAV is obtained by using the current position of the normal UAV and the target position. Step 233: Perform a two-step simulation calculation on the replacement drone within one frame using the ORCA algorithm: Based on the current position and target velocity vector of all UAVs in a frame calculated in steps 231 and 232, only the supplementary UAV is subjected to two ORCA simulation calculations. When the normal UAV participates in the simulation calculation, the ORCA simulation calculation steps are skipped, and the position data of the supplementary UAV in one step is directly calculated by the mean interpolation method. Step 234, store the waypoint calculation results for a single frame: The result of the last calculation in step 233 after two steps is used as the new waypoint for the replacement UAV and stored in the waypoint sequence. Step 235, Checking the conditions for the completion of the replacement drone's replacement: The distance between the last supplementary path point in the supplementary waypoint sequence obtained in step 234 and the target supplementary point is judged. When the preset supplementary distance accuracy is reached, the supplementary path calculation is confirmed to be completed and the supplementary simulation calculation is stopped.

[0024] Step 236, execute the next frame calculation cycle step: If the interpolation distance accuracy has not yet been achieved, return to step 231 to continue the interpolation path planning calculation for the next frame.

[0025] Preferably, in step 24 of the above method, the waypoint safety check is performed on the initial replacement path calculated in step 23 in the following manner, including: Extract the current frame waypoint and next frame waypoint data of all UAVs frame by frame from the initial fill path; The mean interpolation is used to obtain the midpoint data between the current frame and the next frame; Calculate the minimum distance between the current frame of the interpolated drone and other drones, including the intermediate interpolation position. Determine if the minimum distance is lower than the safe envelope distance. If it is, the safety check fails and the replacement is abandoned. If not, the safety check succeeds and the replacement is successful.

[0026] Preferably, in step 3 of the above method, the replacement path calculated in step 2 is combined with the performance steps of the drone formation to obtain the final replacement path, which is then uploaded to the replacement drone, including: Based on the replacement path and route calculated in step 2, and the successful replacement time determined by the replacement path and route, the successful replacement time refers to the moment when the end point of the replacement path and route coincides with the original performance path point in time and space. Taking the successful replacement time point as a reference, the subsequent performance dance waypoints of the drone with the abnormal takeoff to be replaced are merged with the replacement path to obtain the final replacement path and route. The complete dance waypoint data corresponding to the final replacement path and route is updated and uploaded to the replacement drone.

[0027] Preferably, in step 4 of the above method, a timed takeoff task is issued to the replacement drone according to the final replacement path obtained in step 3, so that the replacement drone performs the timed takeoff task to replace the drone with the abnormal takeoff, including: Step 41, Preparation for takeoff of the replacement drone: Based on the takeoff time of the replacement drone calculated in step 2, the preparation work for desizing is issued to the replacement drone in advance according to the first predetermined time. Step 42, the replacement drone is positioned and takes off: Based on the takeoff time of the replacement drone calculated in step 2, a timed takeoff task is issued to the replacement drone in advance according to the second predetermined duration.

[0028] In summary, the method of the present invention realizes dynamic tracking simulation calculation of the replacement drone, frame-by-frame calculation and interpolation of dance steps, and enhanced security verification of multi-drone dance step mean interpolation, achieving timely and accurate replacement effect while ensuring safety.

[0029] To more clearly demonstrate the technical solution and its effects provided by the present invention, the following detailed description of the solution provided by the embodiments of the present invention is provided with reference to specific examples.

[0030] Example 1 like Figure 1 , Figure 2 As shown, this embodiment provides a method for fault compensation for unmanned aerial vehicle (UAV) ground station takeoff anomalies based on the ORCA algorithm, including the following steps: Step 1: After the drone formation takes off, detect and judge the drones with abnormal takeoff. If it is determined that there is a drone with abnormal takeoff, proceed to step 2; otherwise, proceed to step 5. Step 2: After assigning a replacement drone to the drone with takeoff abnormality, calculate the replacement drone's replacement flight path; Step 21: Calculate the takeoff time of the replacement drone; Step 22: Plan the path for the supplementary drone to take off vertically to a fixed safe altitude; Step 23: The target machine location is calculated frame-by-frame based on the ORCA algorithm for tracking and supplementing the path. Step 24, Safety check of the supplementary path waypoints.

[0031] Step 3: Combine the replacement path and flight path with the performance dance steps, and upload and update it to the replacement drone; Step 4: Issue a timed takeoff mission to the replacement drone, so that the replacement drone takes off according to the timed takeoff mission, and replaces the drone with abnormal takeoff according to the replacement path and route. Step 5: Complete this replacement.

[0032] In step 1 of the above method, the abnormal takeoff drone is detected in the following ways, including: After the drone formation performance begins, each drone takes off in batches. After the total takeoff time has elapsed, a 5-second delay is added before detecting drones that have not taken off. The criteria for detecting abnormally missing drones are: the drone is online and stationary, and its current altitude is below a set height. This invention only addresses drones that have not taken off during the takeoff phase, assuming they are still within Wi-Fi signal coverage. It does not address drone replacement in case of crashes or other abnormal situations during the performance.

[0033] In step 2 of the above method, the replacement flight path of the replacement UAV is calculated in the following manner, including: After detecting a drone with takeoff anomalies in step 1 above, a corresponding replacement drone is assigned to each drone with takeoff anomalies. Step 2 calculates the replacement flight path of the replacement drone in the following manner, including: Step 21: Calculate the takeoff time of the replacement drone. The takeoff time of the replacement drone = the takeoff time of the normal drone + the total takeoff time + the delay and waiting judgment time + the path planning reserved time + the route upload reserved time + the pre-flight preparation time of the replacement drone; Step 22, take off vertically to a fixed altitude: Starting from the takeoff time of the replacement drone, given the total takeoff time, the drone's path is vertically planned to a safe altitude within the total time. Step 23, Tracking-based gap filling path planning: When the replacement drone's path planning reaches a safe altitude, it begins the tracking-based replacement path calculation strategy step based on the ORCA algorithm. This step is based on the ORCA algorithm but is different; it is based on the ORCA algorithm for single-drone path planning strategy. Here, a frame-by-frame ORCA simulation calculation method is used. The normal drone's performance steps are a series of waypoints planned in advance. Therefore, for the path calculation of each frame of the dance steps, the waypoints and directions of the normal drone cannot be changed. Only the position calculation of the replacement drone can be performed. During path calculation, the replacement drone bears all the avoidance coefficients.

[0034] like Figure 1 , Figure 2 As shown, the specific process of step 23 is as follows: Step 231, calculate the target tracking velocity vector of the supplementary UAV: The current position of the replacement drone is taken as P. cur Target location P des If we take the waypoint position of the next frame in the current simulation moment of the replaced machine, then the unit vector from the current position to the target position is: The maximum repositioning flight speed of the repositioning drone is set to V. max Then the target tracking velocity vector of the replacement UAV is determined to be V. bw = e×V_max.

[0035] Step 232, calculate the target velocity vector of surrounding normal UAVs: The current position of the normal UAV is taken as the waypoint position of the current simulation time frame, and the target position is taken as the waypoint position of the next frame of the current simulation time. The average target velocity vector of the normal UAV is calculated from the target position and the current position, and the calculation method is similar to step 231.

[0036] Step 233, ORCA two-step calculation within one frame (1 second) of the replacement drone: The above calculations yield the current positions and target velocity vectors of all drones within a frame, which are then used to calculate the replacement path for the replacement drone. This step only performs two ORCA calculations on the replacement drone. Unlike the ORCA strategy where both drones share half of the avoidance responsibility, the replacement drone assumes all the avoidance responsibility coefficients during its calculation. When a normal drone participates in the simulation, the ORCA step is skipped, and the position data for each step is directly calculated using mean interpolation. This strategy accelerates the output speed of the calculation values ​​from the replacement drone, improving operational efficiency.

[0037] Step 234, store the waypoint calculation results for a single frame: The above steps involve two calculations. The result of the last calculation is used as the new waypoint for the replacement drone and stored in the replacement waypoint sequence. Step 235, Checking the conditions for the completion of the replacement drone's replacement: The distance between the last supplementary path point in the supplementary waypoint sequence and the target supplementary point is judged. When the set supplementary distance accuracy is reached, the supplementary path calculation is considered complete, and the supplementary simulation calculation is no longer performed. Step 236, execute the next frame calculation cycle step: If the conditions for achieving the required accuracy for the fill-in have not yet been met, then return to step 232 to perform the fill-in path planning calculation for the next frame.

[0038] In step 24 of the above method, the waypoints of the fill-in path are checked for safety in the following manner, including: Step 241: Extract the current frame waypoint and next frame waypoint data of all drones from the dance steps frame by frame; Step 242: Interpolate the mean value to obtain the intermediate position data between the current frame and the next frame; Step 243: Calculate the minimum distance between the current frame of the interpolated UAV and other UAVs, including the intermediate interpolation position. Step 244: If the minimum distance is lower than the safe envelope distance, the safety check fails and there is a risk of missing information.

[0039] In step 3 of the above method, the replacement path and performance steps are spliced ​​and combined in the following manner, and then uploaded and updated to the replacement drone, including: Step 31, fill in the gaps in the flight path and connect the dance steps: The above steps were used to calculate the replacement path and the time of successful replacement. Using the time of successful replacement as a reference, the waypoints of the original drone's subsequent performance steps were merged with the replacement path to obtain complete dance step waypoint data. Step 32, Upload the complete dance file: The complete waypoint data for the dance steps is updated and uploaded to the replacement drone.

[0040] In step 3 of the above method, a timed takeoff mission is issued to the replacement drone in the following manner: Step 41, Preparation for takeoff of the replacement drone: Based on the previously calculated takeoff time of the replacement drone, send the desizing and other preparation work to the replacement drone 20 seconds in advance (i.e., the first predetermined time). Step 42, the replacement drone is positioned and takes off: Based on the previously calculated takeoff time of the replacement drone, issue a timed takeoff task to the replacement drone 10 seconds in advance (i.e., the second predetermined duration).

[0041] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc.

[0042] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims. The information disclosed in the background section is intended only to enhance the understanding of the overall background technology of the present invention and should not be construed as an admission or implication in any way that such information constitutes prior art known to those skilled in the art.

Claims

1. A method for fault location compensation for unmanned aerial vehicle (UAV) ground station takeoff anomalies based on the ORCA algorithm, characterized in that, It can provide backup for drones experiencing takeoff anomalies during the takeoff phase, including: Step 1: After the drone formation performance has started and the scheduled takeoff time has elapsed, check to determine if there are any drones with abnormal takeoff. If so, proceed to Step 2; otherwise, proceed to Step 5. Step 2: Assign a replacement drone to the drone with takeoff anomaly, and calculate the takeoff time of the replacement drone and the replacement path using the ORCA algorithm. Step 3: Combine the replacement path obtained in Step 2 with the performance steps of the drone formation to obtain the final replacement path, and upload it to the replacement drone. Step 4: Based on the takeoff time obtained in Step 2, issue a timed takeoff mission to the replacement drone, so that the replacement drone can perform the timed takeoff mission and replace the drone with the abnormal takeoff according to the final replacement path. Step 5: End this fill-in phase.

2. The method for fault compensation for UAV ground station takeoff based on ORCA algorithm according to claim 1, characterized in that, In step 1, the detection and determination of whether there is an abnormal takeoff drone is performed in the following manner: If a drone is detected to be online and stationary, and its current altitude is below the set altitude, then the drone is confirmed to be a drone with takeoff abnormality.

3. The method for fault compensation for unmanned aerial vehicle (UAV) ground station takeoff anomalies based on the ORCA algorithm according to claim 1 or 2, characterized in that, In step 2, the takeoff time of the replacement drone and the replacement path based on the ORCA algorithm are calculated as follows: Step 21: Calculate the takeoff time of the replacement drone; Step 22: Plan the path for the backup drone to take off vertically to a fixed safe altitude; Step 23: At the safe altitude planned in Step 22, the initial replacement path is calculated by performing frame-by-frame tracking calculation on the replacement drone based on the target point of the drone with takeoff abnormality to obtain the replacement path route. Step 24: After performing a waypoint safety check on the initial replacement path obtained in step 23, the replacement path of the replacement UAV is obtained.

4. The method for fault compensation for unmanned aerial vehicle (UAV) ground station takeoff anomalies based on the ORCA algorithm according to claim 3, characterized in that, In step 21, the takeoff time of the replacement drone is calculated in the following manner, including: The takeoff time of the replacement drone is equal to the takeoff time of the normal drone, the total takeoff time, the delay and waiting judgment time, the reserved time for path planning, the reserved time for route uploading, and the pre-flight preparation time of the replacement drone.

5. The method for fault compensation for unmanned aerial vehicle (UAV) ground station takeoff anomalies based on the ORCA algorithm according to claim 4, characterized in that, In step 22, the path for the replacement drone to take off vertically to a fixed safe altitude is planned as follows: Starting from the takeoff time of the replacement drone, given the total takeoff time, the path of the replacement drone is vertically planned to a safe altitude within the total takeoff time.

6. The method for fault compensation for unmanned aerial vehicle (UAV) ground station takeoff anomalies based on the ORCA algorithm according to claim 5, characterized in that, In step 23, the replacement path is calculated frame-by-frame based on the ORCA algorithm at the target location of the abnormal UAV at the safe altitude planned in step 22, including: When planning the path of the replacement drone to a safe altitude, under the condition that the waypoints and directions of the normal drone do not change during the performance dance of the normal drone, the ORCA algorithm is used to simulate and calculate the position and replacement path of a single replacement drone frame by frame. When calculating the replacement path, the replacement drone bears all the avoidance coefficients until the overall replacement path of the replacement drone is obtained.

7. The method for UAV ground station takeoff anomaly compensation based on ORCA algorithm according to claim 6, characterized in that, In step 23, the position and path of a single replacement drone are simulated frame by frame using the ORCA algorithm in the following manner: Step 231: Calculate the target tracking velocity vector of the supplementary UAV; Based on the current position P of the replacement drone cur The target position P is the dance waypoint position of the next frame at the current simulation moment of the replaced abnormal takeoff UAV. des Calculate the unit vector e from the current position to the target position. ; Based on the unit vector e and the maximum replenishment flight speed V of the replenishment drone max Determine the target tracking velocity vector V of the replacement UAV. bw = e×V max ; Step 232, calculate the target velocity vector of normal drones around the replacement drone: The current position of a normal drone is taken from the waypoint position of the current simulation time frame, and the target position is taken from the waypoint position of the next frame of the current simulation time. The average target velocity vector of the normal UAV is obtained by using the current position of the normal UAV and the target position. Step 233: Perform a two-step simulation calculation on the replacement drone within one frame using the ORCA algorithm: Based on the current position and target velocity vector of all UAVs in a frame calculated in steps 231 and 232, only the supplementary UAV is subjected to two ORCA simulation calculations. When the normal UAV participates in the simulation calculation, the ORCA simulation calculation steps are skipped, and the position data of the supplementary UAV in one step is directly calculated by the mean interpolation method. Step 234, store the waypoint calculation results for a single frame: The result of the last calculation in step 233 after two steps is used as the new waypoint for the replacement UAV and stored in the waypoint sequence. Step 235, Checking the conditions for the completion of the replacement drone's replacement: The distance between the last supplementary path point in the supplementary waypoint sequence obtained in step 234 and the target supplementary point is judged. When the preset supplementary distance accuracy is reached, the supplementary path calculation is confirmed to be completed and the supplementary simulation calculation is stopped. Step 236, execute the next frame calculation cycle step: If the interpolation distance accuracy has not yet been achieved, return to step 231 to continue the interpolation path planning calculation for the next frame.

8. The method for fault compensation for unmanned aerial vehicle (UAV) ground station takeoff anomalies based on the ORCA algorithm according to claim 7, characterized in that, In step 24, the waypoint safety check is performed on the initial replacement path calculated in step 23 in the following manner: Extract the current frame waypoint and next frame waypoint data of all UAVs frame by frame from the initial fill path; The mean interpolation is used to obtain the midpoint data between the current frame and the next frame; Calculate the minimum distance between the current frame of the interpolated drone and other drones, including the intermediate interpolation position. Determine if the minimum distance is lower than the safe envelope distance. If it is, the safety check fails and the replacement is abandoned. If not, the safety check succeeds and the replacement is successful.

9. The method for UAV ground station takeoff anomaly compensation based on ORCA algorithm according to claim 1 or 2, characterized in that, In step 3, the replacement path calculated in step 2 is combined with the performance steps of the drone formation to obtain the final replacement path, which is then uploaded to the replacement drone, including: Based on the replacement path and route calculated in step 2 and the successful replacement time determined by the replacement path and route, the subsequent performance dance waypoints of the drone with takeoff abnormality to be replaced are merged with the replacement path to obtain the final replacement path and route. The complete dance waypoint data corresponding to the final replacement path and route is then updated and uploaded to the replacement drone.

10. The method for fault compensation for UAV ground station takeoff based on ORCA algorithm according to claim 9, characterized in that, In step 4, a timed takeoff mission is issued to the replacement drone based on the final replacement path obtained in step 3, so that the replacement drone can perform the timed takeoff mission to replace the drone with abnormal takeoff, including: Step 41, Preparation for takeoff of the replacement drone: Based on the takeoff time of the replacement drone calculated in step 2, the preparation work for desizing is issued to the replacement drone in advance according to the first predetermined time. Step 42, the replacement drone is positioned and takes off: Based on the takeoff time of the replacement drone calculated in step 2, a timed takeoff task is issued to the replacement drone in advance according to the second predetermined duration.

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