A distributed cluster scheduling control method for a flight display device

Abstract

The application discloses a kind of distributed cluster scheduling control methods for flight display device, it is related to flight scheduling technical field, for solving the problem that flight display node deviates from diffusion is difficult to identify and control resource allocation is unreasonable, leading to the stability of formation to decline, by constructing the deviation change trend determination mechanism based on position deviation coefficient and velocity deviation coefficient, the identification of flight display node deviation diffusion state is realized, in deviation diffusion state, introduce attitude deflection angle and instruction execution feedback information, the division of node execution lagging bias level is carried out, further combined with the spatial site distribution characteristics generation formation traction weight, and the hierarchical mapping and neighborhood correction of control instruction are carried out, the priority control of key deviation node and the inhibition intervention of stable node are realized, to improve the pertinence and real-time of formation control, enhance the overall stability and collaborative consistency of distributed flight display system.

Description

Technical Field

[0001] This invention relates to the field of flight scheduling technology, and more specifically, to a distributed cluster scheduling and control method for flight display devices. Background Technology

[0002] With the increasing application of flight display equipment in formation performances, target formation positions are usually set through a mission scheduling system, and distributed collaborative control is achieved by combining position and speed monitoring to maintain the stability of the formation structure. During operation, each flight display node is affected by environmental disturbances and execution differences, exhibiting multi-dimensional dynamic characteristics such as position offset, speed change and attitude fluctuation.

[0003] The existing technology has the following shortcomings: Currently, existing technologies rely heavily on single state variables for decision-making in scheduling and control, lacking the ability to analyze the trend of the coupling relationship between position deviation and velocity change. This can easily lead to lag in the identification of deviation propagation states. Furthermore, the lack of a hierarchical processing mechanism for the correlation between attitude changes and command execution feedback makes it difficult to implement differentiated control for different sources of deviation. Moreover, the lack of dynamic adjustment based on the spatial distribution characteristics of nodes during the allocation of control resources can easily result in the coexistence of insufficient control of critical deviation nodes and excessive intervention of stable nodes, which in turn leads to a decrease in formation stability and coordination consistency. Therefore, a distributed cluster scheduling and control method for flight display devices is proposed.

[0004] The information disclosed in the background section is only intended to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0005] To overcome the aforementioned deficiencies in the prior art, embodiments of the present invention provide a distributed cluster scheduling and control method for flight display devices. This method employs a deviation trend determination mechanism based on position deviation and speed change, and introduces attitude deflection information and command execution feedback under deviation diffusion conditions for hierarchical analysis. Simultaneously, it combines spatial position distribution characteristics to construct formation traction weights and implements hierarchical mapping and neighborhood collaborative correction of control commands to achieve priority control of key deviation nodes and suppression intervention of stable nodes, thereby solving the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a distributed cluster scheduling and control method for flight display devices, comprising the following steps: Step S1: Access the task scheduling table to obtain the target formation position of the current scheduled task, retrieve the real-time spatial position of the flight display node corresponding to the target formation position, calculate the position deviation coefficient based on the real-time spatial position, and collect the movement speed data of the flight display node. Step S2: Evaluate the deviation trend of the flight display node by combining the position deviation coefficient and movement rate data, and use the deviation trend to determine whether to call the attitude deflection angle and command execution feedback information of the flight display node; Step S3: Analyze the attitude drift of the flight display node using the attitude deflection angle, evaluate the execution hysteresis level of the flight display node in combination with the command execution feedback information, and filter and mark the flight display nodes based on the execution hysteresis level; Step S4: Collect spatial location distribution data of marked flight display nodes, use the spatial location distribution data to set formation traction weights, and perform control and classification processing on marked flight display nodes according to the formation traction weights.

[0007] In a preferred embodiment, in step S1, the target formation position includes the relative coordinates of each flight display node with respect to a preset reference flight display node; The relative coordinates of each flight display node of the current scheduled task are obtained by accessing the task scheduling table through the distributed scheduling communication interface. The real-time spatial coordinates of each flight display node at the target formation position are obtained by multi-source positioning sensors. The relative real-time spatial coordinates of each flight display node are obtained by performing a difference operation between the real-time spatial coordinates of each flight display node and the real-time spatial coordinates of the preset reference flight display node. The position deviation coefficient is calculated by combining the relative coordinates of each flight display node with its relative real-time spatial position coordinates; The movement rate data of the flight display nodes, including the speed deviation coefficient of each flight display node.

[0008] In a preferred embodiment, in step S1, the target speed of each flight display node is obtained through the distributed scheduling communication interface; The actual speed of each flight display node is obtained through an airspeed sensor; The absolute value of the difference between the actual speed of each flight display node and the corresponding target speed is taken, and then divided by the corresponding target speed to obtain the speed deviation coefficient of each flight display node.

[0009] In a preferred embodiment, in step S2, the position deviation coefficient and velocity deviation coefficient of each flight display node are standardized to obtain the position factor and velocity factor. The deviation change index of each flight display node is calculated by combining the position factor and the velocity factor; If the deviation change index of each flight display node is greater than or equal to the preset deviation change index threshold, the deviation change trend of the flight display node is determined to be in a state of diffusion and development, and the attitude deflection angle and command execution feedback information of the flight display node are invoked. Conversely, if the deviation trend of the flight display node is determined to be a convergent and stable state, the attitude deflection angle and command execution feedback information of the flight display node will not be invoked.

[0010] In a preferred embodiment, in step S3, the angular velocity and acceleration of each flight display node are collected by the inertial measurement unit mounted on the flight display node; The angular velocity and acceleration of each flight display node are processed by attitude calculation to obtain the roll angle, pitch angle and yaw angle of each flight display node; The roll angle, pitch angle and yaw angle of each flight display node are differentially calculated with the preset reference attitude angle to obtain the three-axis attitude deflection of each flight display node. The attitude deflection of each flight display node is synthesized using Euclidean norm to obtain the attitude deflection angle of each flight display node. If the attitude deflection angle of each flight display node is greater than or equal to the preset attitude deflection angle threshold, the attitude drift state of the flight display node is determined to be a significant drift state. Conversely, the attitude drift state of the flight display node is determined to be stable and under control.

[0011] In a preferred embodiment, in step S3, the instruction execution feedback information includes the instruction response delay time of each flight display node; The time when the scheduling control command was issued is obtained through the time recording unit and used as the command sending time of each flight display node; The time when each flight display node returns the execution confirmation signal is obtained through the time recording unit, and this time is used as the response time of each flight display node. Subtracting the command transmission time from the response time of each flight display node yields the command response delay time of each flight display node.

[0012] In a preferred embodiment, in step S3, if the command response delay time is greater than or equal to a preset command response delay time threshold, and the attitude drift state of the flight display node is a significant drift state, then the execution hysteresis level of the flight display node is determined to be a high hysteresis strong deviation level, and the flight display node is marked. If the command response delay time is greater than or equal to the preset command response delay time threshold, and the attitude drift situation is stable and controlled, then the execution hysteresis level of the flight display node is determined to be high hysteresis and low deviation level. If the command response delay time is less than the preset command response delay time threshold, and the attitude drift state is a significant drift state, then the execution hysteresis level of the flight display node is determined to be a low hysteresis strong deviation level, and the flight display node is marked. If the command response delay time is less than the preset command response delay time threshold, and the attitude drift situation is stable and controlled, then the execution hysteresis level of the flight display node is determined to be the low hysteresis low deviation level.

[0013] In a preferred embodiment, in step S4, the spatial location distribution data of the marked flight display nodes are included, including the spatial offset distance and neighborhood density of each marked flight display node. The coordinates of the overall distribution center are calculated based on the real-time spatial position coordinates of the unmarked flight display nodes, and the position offset of each marked flight display node is obtained by performing a difference operation between the real-time spatial position coordinates of each marked flight display node and the coordinates of the overall distribution center. The spatial offset distance of the marked flight display node is calculated based on the position offset. The distance between the marked flight display node and other flight display nodes is calculated with the marked flight display node as the center, and the distance is compared with a preset distance threshold to determine whether other flight display nodes belong to the neighborhood range of the marked flight display node; The number of other flight display nodes within the neighborhood of the marked flight display node is counted, and the neighborhood density of the marked flight display node is calculated. The formation traction weight is calculated by combining the spatial deviation distance of the marked flight display nodes and the neighborhood density.

[0014] In a preferred embodiment, in step S4, a control and classification process is performed on each marked flight display node according to the formation traction weight of each marked flight display node; Specifically, the formation traction weight of each marked flight display node is matched with a preset weight mapping range to generate the corresponding control command amplitude; Obtain the spatial deviation distance of other flight display nodes within the neighborhood of each marked flight display node, and correct the control command amplitude to obtain the corrected control command amplitude; The corrected control command amplitude is compared with the preset first control command amplitude threshold and the preset second control command amplitude threshold to determine the corresponding control execution priority; The corresponding regulatory action type is assigned based on the control execution priority.

[0015] The technical effects and advantages of this invention are as follows: This invention enables early identification of the deviation and diffusion state of flight display nodes by constructing a deviation trend determination mechanism. Combined with attitude change and command execution feedback for hierarchical analysis, it can accurately distinguish different sources of deviation. On this basis, it introduces spatial position distribution characteristics to generate formation traction weights and performs hierarchical regulation and neighborhood collaborative correction of control commands. This allows key deviation nodes to receive priority regulation while stable nodes receive less intervention, thereby improving the targeting and response efficiency of regulation, while enhancing the overall stability and collaborative consistency of distributed formations. Attached Figure Description

[0016] Figure 1 This is a flowchart illustrating the implementation of a distributed cluster scheduling and control method for flight display devices according to the present invention.

[0017] Figure 2 This is a schematic diagram illustrating the steps of a distributed cluster scheduling and control method for flight display devices according to the present invention. Detailed Implementation

[0018] 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.

[0019] This invention achieves dynamic identification of deviations from the development trend by jointly analyzing the multi-dimensional operating status of flight display nodes, and constructs a hierarchical judgment mechanism based on attitude change and command response process. On this basis, it differentiates the allocation of control intensity by combining the spatial distribution relationship of nodes and introduces neighborhood collaborative correction, thereby improving the pertinence and execution efficiency of scheduling control and enhancing the stability of formation operation.

[0020] Example 1 Please see Figures 1 to 2 A distributed cluster scheduling and control method for flight display devices, the specific operation process of which is as follows: Step S1: Access the task scheduling table to obtain the target formation position of the current scheduled task, retrieve the real-time spatial position of the flight display node corresponding to the target formation position, calculate the position deviation coefficient based on the real-time spatial position, and collect the movement speed data of the flight display node. Step S2: Evaluate the deviation trend of the flight display node by combining the position deviation coefficient and movement rate data, and use the deviation trend to determine whether to call the attitude deflection angle and command execution feedback information of the flight display node; Step S3: Analyze the attitude drift of the flight display node using the attitude deflection angle, evaluate the execution hysteresis level of the flight display node in combination with the command execution feedback information, and filter and mark the flight display nodes based on the execution hysteresis level; Step S4: Collect spatial location distribution data of marked flight display nodes, use the spatial location distribution data to set formation traction weights, and perform control and classification processing on marked flight display nodes according to the formation traction weights.

[0021] The specific implementation is as follows: In step S1, the distributed cluster formation of the flight display device is a multi-node collaborative system that spatially arranges the target formation positions according to the task scheduling table. In actual operation, the real-time spatial position of each node may deviate from the target position, and the movement speed may also deviate from the target speed. In the formation scheduling control process, the task scheduling table is first accessed to obtain the target formation position of the current scheduling task, and the real-time spatial position and movement speed data of the corresponding flight display node are retrieved to calculate the position deviation coefficient and speed deviation coefficient. The target formation position refers to the set of formation positions with structural constraints in the flight display formation, which is constructed by using a preset reference flight display node as a coordinate reference and representing the spatial position of each flight display node in the target formation structure as a relative coordinate with respect to the reference flight display node. This includes the relative coordinates of each flight display node. The relative coordinates of each flight display node of the current scheduled task are obtained by accessing the task scheduling table through the distributed scheduling communication interface. The real-time spatial coordinates of each flight display node at the target formation position are obtained by multi-source positioning sensors. The relative real-time spatial coordinates of each flight display node are obtained by performing a difference operation between the real-time spatial coordinates of each flight display node and the real-time spatial coordinates of the preset reference flight display node. The position deviation coefficient is calculated by combining the relative coordinates of each flight display node with its relative real-time spatial position coordinates. The calculation formula is as follows: ,in, , and They are the first The three orthogonal coordinate axis components in the relative real-time spatial position coordinates of each flight display node. , and They are the first The three orthogonal coordinate axis components in the relative coordinates of each flight display node. For the first Position deviation coefficient of each flight display node; The position deviation coefficient reflects the degree of spatial offset of the flight display node under the constraint of the target formation position and its relative deviation level in the formation structure. The larger the position deviation coefficient, the more significant the spatial difference between the flight display node and the target formation position, and the higher the degree of deviation in the formation structure. The smaller the position deviation coefficient, the higher the spatial consistency between the flight display node and the target formation position, and the lower the degree of deviation in the formation structure. The movement rate data of the flight display node refers to the parameter data used to characterize how fast the position of the flight display node changes in space, reflecting the motion state of the node, including the speed deviation coefficient of each flight display node; The target speed of each flight display node is obtained through the distributed scheduling communication interface; The actual speed of each flight display node is obtained through an airspeed sensor; The absolute value of the difference between the actual speed of each flight display node and the corresponding target speed is taken, and then divided by the corresponding target speed to obtain the speed deviation coefficient of each flight display node.

[0022] It should be explained that the preset reference flight display node can be set according to the formation operation stability, mission scheduling requirements, and node status distribution; the distributed scheduling communication interface refers to a standardized communication channel or protocol interface in a distributed control system that enables the exchange of mission commands, status data, and feedback information between each node and the scheduling center or nodes, and is used to access the mission scheduling table to obtain the relative coordinates of each flight display node in the current scheduling mission; the multi-source positioning sensor refers to a positioning acquisition device composed of various types of positioning sensing units, used to obtain the real-time spatial position coordinates of each flight display node at the target formation position; the airspeed sensor refers to a sensing device that measures the speed of the flight display node relative to the surrounding air medium, and obtains the actual speed of each flight display node.

[0023] By acquiring the target formation position and real-time spatial location, the position deviation coefficient and velocity deviation coefficient are calculated to quantify the spatial and velocity deviation status of each node, providing accurate basic data for subsequent deviation trend judgment.

[0024] In step S2, the flight display device may experience a situation where the deviation gradually converges and stabilizes during formation operation, or it may experience a situation where the deviation continues to spread and intensifies. The deviation value at a single moment cannot distinguish between the two situations. During the formation scheduling and control process, the deviation change trend of each flight display node is evaluated by comprehensively considering the position deviation coefficient and movement speed data, and the attitude deflection angle and command execution feedback information are determined based on the deviation change trend. The position deviation coefficient and velocity deviation coefficient of each flight display node are standardized to obtain the position factor and velocity factor. The deviation change index of each flight display node is calculated by combining the position factor and the velocity factor. The calculation formula is as follows: ,in, For position factors, For velocity factor, and To preset the weighting coefficients, The deviation change index for each flight display node; It should be noted that the preset weighting coefficients can be set according to the contribution weight requirements of the position deviation coefficient and velocity deviation coefficient to the deviation change index, the formation control accuracy requirements, and the system dynamic response sensitivity requirements.

[0025] The deviation change index reflects the combined degree of change in the position and velocity of a flight display node within a preset observation period, as well as its relative deviation development level within the overall formation. A larger deviation change index indicates that both the position and velocity deviations of the flight display node are significant, its deviation development trend is in a state of diffusion, and its deviation level is relatively high within the formation. Conversely, a smaller deviation change index indicates that both the position and velocity deviations of the flight display node are low, its deviation development trend is in a state of convergence and stability, and its deviation level is relatively low within the formation. The deviation change index of each flight display node is compared with the preset deviation change index threshold for judgment: If the deviation change index of each flight display node is greater than or equal to the preset deviation change index threshold, then the deviation change trend of the flight display node is determined to be in a state of diffusion and development. If the deviation change index of each flight display node is less than the preset deviation change index threshold, then the deviation change trend of the flight display node is determined to be in a convergent and stable state. Judgment is made based on the deviation trend of each flight display node: If the deviation trend of each flight display node is in a state of diffusion and development, then the attitude deflection angle and command execution feedback information of the flight display node are called. If the deviation trend of each flight display node is in a convergent and stable state, then it is determined that the attitude deflection angle and command execution feedback information of the flight display node will not be invoked.

[0026] It should be explained that the standardization processing methods include, but are not limited to, standard linear transformation based on interval scaling, Z-Score standardization based on statistics, or normalization based on nonlinear mapping functions. The application methods of standardization processing will not be elaborated here. The preset deviation change index threshold can be set according to the formation control accuracy requirements, flight display node operation stability requirements, and system dynamic response performance requirements.

[0027] By comprehensively assessing the trend of deviation changes using location and velocity data, we can distinguish whether the deviation is in a convergence or diffusion state, avoid ineffective intervention in stable nodes, and improve the pertinence and timeliness of regulation.

[0028] In step S3, the continuous spread of the position deviation of the flight display node may be due to the node's own attitude instability or the lag in the execution response to the scheduling command. The position and speed information alone cannot locate the above-mentioned deviation factors. In the formation scheduling control process, the attitude deflection angle is used to analyze the attitude drift situation, and the execution lag level is evaluated in combination with the command execution feedback information. Based on the execution lag level, the flight display nodes are screened and marked. The angular velocity and acceleration of each flight display node are collected by the inertial measurement unit mounted on the flight display node. The angular velocity and acceleration of each flight display node are processed by attitude calculation to obtain the roll angle, pitch angle and yaw angle of each flight display node; The roll angle, pitch angle and yaw angle of each flight display node are differentially calculated with the preset reference attitude angle to obtain the three-axis attitude deflection of each flight display node. The attitude deflection of each flight display node is synthesized using Euclidean norm to obtain the attitude deflection angle of each flight display node. The attitude deflection angle of each flight display node is compared with the preset attitude deflection angle threshold for determination: If the attitude deflection angle of each flight display node is greater than or equal to the preset attitude deflection angle threshold, then the attitude drift state of the flight display node is determined to be a significant drift state. If the attitude deflection angle of each flight display node is less than the preset attitude deflection angle threshold, the attitude drift state of the flight display node is determined to be stable and controlled. It should be noted that the inertial measurement unit (IMU) refers to a sensor array that measures the motion state of each flight display node, collecting its angular velocity and acceleration. Attitude calculation processing refers to solving the spatial attitude of each flight display node using Euler angle calculation methods based on the angular velocity and acceleration data output by the IMU, obtaining the roll, pitch, and yaw angles. The preset reference attitude angle can be set according to the formation standard attitude requirements, the initial alignment state of the flight display nodes, and the constraints of the mission formation structure. Euclidean norm synthesis refers to a method that quantizes multiple components by squaring, summing, and taking the square root, thereby obtaining a scalar result that can characterize the overall amplitude. The preset attitude deflection angle threshold can be set according to the attitude control accuracy requirements of the flight display formation, the system stability tolerance range, and the intensity of dynamic disturbances during mission execution.

[0029] Command execution feedback information refers to the feedback data obtained by the flight display node after receiving the scheduling and control command, which collects and processes the execution status, response process and execution result of the command. It is used to characterize the command execution capability and execution deviation of the flight display node, including the command response delay time of each flight display node. The time when the scheduling control command was issued is obtained through the time recording unit and used as the command sending time of each flight display node; The time when each flight display node returns the execution confirmation signal is obtained through the time recording unit, and this time is used as the response time of each flight display node. Subtract the command sending time from the response time of each flight display node to obtain the command response delay time of each flight display node; The command response delay time of each flight display node is compared with a preset command response delay time threshold, and the judgment is made in combination with the attitude drift status of each flight display node: If the command response delay time of each flight display node is greater than or equal to the preset command response delay time threshold, and the attitude drift state of the flight display node is a significant drift state, then the execution hysteresis level of the flight display node is determined to be a high hysteresis strong deviation level. If the command response delay time of each flight display node is greater than or equal to the preset command response delay time threshold, and the attitude drift state of the flight display node is stable and controlled, then the execution hysteresis level of the flight display node is determined to be high hysteresis low deviation level. If the command response delay time of each flight display node is less than the preset command response delay time threshold, and the attitude drift state of the flight display node is a significant drift state, then the execution hysteresis level of the flight display node is determined to be a low hysteresis strong deviation level. If the command response delay time of each flight display node is less than the preset command response delay time threshold, and the attitude drift state of the flight display node is stable and controlled, then the execution hysteresis level of the flight display node is determined to be low hysteresis and low deviation level. If the execution hysteresis level of each flight display node is a high hysteresis strong deviation level or a low hysteresis strong deviation level, then the flight display node is marked. If the execution hysteresis level of each flight display node is high hysteresis low deviation level or low hysteresis low deviation level, then the flight display node will not be marked.

[0030] It should be explained that the time recording unit refers to the time measurement and synchronization module that collects, records and outputs the time of occurrence of key events in the system. It is used to obtain the timestamps of processes such as the issuance of scheduling instructions and the confirmation of node responses. The preset instruction response delay time threshold can be set according to the transmission delay characteristics of the communication link of the flight display node, the real-time requirements of system scheduling and the accuracy requirements of formation control response.

[0031] By analyzing attitude drift and command execution feedback, the underlying causes of amplified deviations can be identified, and nodes with high hysteresis or strong deviations can be screened out to improve the accuracy of abnormal node identification.

[0032] In step S4, each marked flight display node may be located in the edge area and have a large deviation distance in the formation space, or it may be located in the core area and have a high neighborhood density. The degree of influence on the surrounding nodes varies significantly under different distribution states. During the formation scheduling and control process, spatial position distribution data of the marked nodes are collected, formation traction weight is set using the spatial position distribution data, and control and hierarchical processing is performed according to the formation traction weight. Spatial location distribution data of marked flight display nodes refers to the set of data used to characterize the spatial distribution and structural features of marked flight display nodes, including the spatial offset distance and neighborhood density of each marked flight display node; The real-time spatial position coordinates of each unmarked flight display node are accumulated along the three coordinate axes, and then divided by the number of each flight display node to obtain the coordinate values ​​of the overall distribution center of each flight display node along each coordinate axis. These coordinates are then integrated into the coordinates of the overall distribution center of each flight display node. The position offset of each marker flight display node in each coordinate axis direction is obtained by performing a difference operation between the real-time spatial position coordinates of each marker flight display node and the coordinates of the overall distribution center of each flight display node in the corresponding coordinate axis direction. The spatial offset distance of the marked flight display node is obtained by squaring the positional offset of the marked flight display node in each coordinate axis direction, summing the results, and then taking the square root of the summation. Repeat the above steps to obtain the spatial offset distance of each marked flight display node; Using the marked flight display node as the center point, the distance between the marked flight display node and other flight display nodes is obtained by calculating the Euclidean distance. The distance between the marked flight display node and other flight display nodes is compared with a preset distance threshold to determine the distance: If the distance between the marked flight display node and other flight display nodes is greater than a preset distance threshold, then it is determined that the other flight display nodes do not belong to the neighborhood of the marked flight display node; If the distance between the marked flight display node and other flight display nodes is less than or equal to a preset distance threshold, then the other flight display nodes are determined to be within the neighborhood of the marked flight display node. The number of other flight display nodes within the neighborhood of the marked flight display node is counted, and the result is divided by the number of flight display nodes for the current scheduling task to obtain the neighborhood density of the marked flight display node; Repeat the above steps to obtain the neighborhood density of each marked flight display node; It should be noted that the Euclidean distance calculation method refers to a mathematical method in multidimensional space that calculates the coordinate difference between two points in each coordinate axis direction, and then squares and sums the squares of each difference before taking the square root to obtain the straight-line distance between the two points. The preset distance threshold can be set according to the formation spacing requirements of the flight display formation, the communication coverage of the nodes, and the stability constraints of the formation structure.

[0033] The spatial offset distance and neighborhood density of each marked flight display node are standardized to obtain the spatial factor and density factor. The formation traction weight of each marked flight display node is calculated by combining the spatial factor and the density factor. The calculation formula is as follows: ,in, For spatial factors, Density factor Assign formation traction weights to each marked flight display node; It should be noted that the formation traction weight reflects the comprehensive traction capability of the marked flight display node under the constraint of spatial position distribution and its relative influence level in the formation structure. The larger the formation traction weight, the more significant the combined effect of the spatial deviation and neighborhood density of the marked flight display node, and the higher its traction effect in formation control. The smaller the formation traction weight, the weaker the combined effect of the spatial deviation and neighborhood density of the marked flight display node, and the relatively lower its traction effect in formation control. The control and classification process is performed on each marked flight display node according to the formation traction weight of each marked flight display node; The specific processing procedure is as follows: The formation traction weight of each marked flight display node is matched with the preset weight mapping range to obtain the control command amplitude of each marked flight display node; During control execution, the spatial deviation distance of other flight display nodes within the neighborhood of each marked flight display node is obtained, and the average deviation of the neighborhood is calculated. The spatial deviation of the current marked flight display node is calculated by difference with the average deviation of the neighborhood to obtain the neighborhood correction amount. The neighborhood correction amount is then added to the corresponding control command amplitude to obtain the corrected control command amplitude of each marked flight display node. The corrected control command amplitude of each marked flight display node is compared with the preset first control command amplitude threshold and the preset second control command amplitude threshold for judgment: The preset first control command amplitude threshold is greater than the preset second control command amplitude threshold; If the corrected control command amplitude of each marked flight display node is greater than or equal to the preset first control command amplitude threshold, then the control execution priority of that marked flight display node is determined to be the first priority. If the corrected control command amplitude of each marked flight display node is less than the preset first control command amplitude threshold and greater than or equal to the preset second control command amplitude threshold, then the control execution priority of the marked flight display node is determined to be the second priority. If the corrected control command amplitude of each marked flight display node is less than the preset second control command amplitude threshold, then the control execution priority of that marked flight display node is determined to be the third priority. The control action type of each marker flight display node is assigned based on the control execution priority of each marker flight display node. The first priority corresponds to fast convergence correction control, the second priority corresponds to cooperative correction control, and the third priority corresponds to maintaining stability control. It should be explained that the control command amplitude refers to the command intensity parameter generated based on the formation traction weight and its corresponding mapping relationship, which is used to regulate the motion state of the flight display node. It is used to characterize the magnitude of the effect of the control command on the position correction or attitude adjustment of the flight display node. The preset first control command amplitude threshold and the preset second control command amplitude threshold can be set according to the formation control response accuracy requirements, the node regulation intensity classification requirements, and the system dynamic stability requirements.

[0034] By setting formation traction weights and implementing hierarchical control processing, control resources are allocated differently based on the spatial distribution characteristics of marked nodes, thereby optimizing the overall stability and control efficiency of the formation.

[0035] Finally, it should be noted that in this paper, relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations.

[0036] Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0037] In this document, the singular forms “a,” “an,” and “the” may also include the plural forms unless the context clearly indicates otherwise. It should also be understood that terms such as “comprising / including” or “having” specify the presence of the stated features, integrals, steps, operations, components, parts, or combinations thereof, but do not preclude the possibility of the presence or addition of one or more other features, integrals, steps, operations, components, parts, or combinations thereof. Meanwhile, the term “and / or” as used in this specification includes any and all combinations of the associated listed items.

[0038] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The various embodiments can be combined as needed, and the same or similar parts can be referred to each other.

[0039] The above description of the disclosed embodiments will enable those skilled in the art to make or use various modifications to these embodiments. It will be readily apparent to those skilled in the art that the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A distributed cluster scheduling and control method for flight display devices, characterized in that: Includes the following steps: Step S1: Access the task scheduling table to obtain the target formation position of the current scheduled task, retrieve the real-time spatial position of the flight display node corresponding to the target formation position, calculate the position deviation coefficient based on the real-time spatial position, and collect the movement speed data of the flight display node. Step S2: Evaluate the deviation trend of the flight display node by combining the position deviation coefficient and movement rate data, and use the deviation trend to determine whether to call the attitude deflection angle and command execution feedback information of the flight display node; Step S3: Analyze the attitude drift of the flight display node using the attitude deflection angle, evaluate the execution hysteresis level of the flight display node in combination with the command execution feedback information, and filter and mark the flight display nodes based on the execution hysteresis level; Step S4: Collect spatial location distribution data of marked flight display nodes, use the spatial location distribution data to set formation traction weights, and perform control and classification processing on marked flight display nodes according to the formation traction weights.

2. The distributed cluster scheduling and control method for flight display devices according to claim 1, characterized in that: In step S1, the target formation position includes the relative coordinates of each flight display node with respect to a preset reference flight display node; The relative coordinates of each flight display node of the current scheduled task are obtained by accessing the task scheduling table through the distributed scheduling communication interface. The real-time spatial coordinates of each flight display node at the target formation position are obtained by multi-source positioning sensors. The relative real-time spatial coordinates of each flight display node are obtained by performing a difference operation between the real-time spatial coordinates of each flight display node and the real-time spatial coordinates of the preset reference flight display node. The position deviation coefficient is calculated by combining the relative coordinates of each flight display node with its relative real-time spatial position coordinates; The movement rate data of the flight display nodes, including the speed deviation coefficient of each flight display node.

3. The distributed cluster scheduling and control method for flight display devices according to claim 1, characterized in that: In step S1, the target speed of each flight display node is obtained through the distributed scheduling communication interface; The actual speed of each flight display node is obtained through an airspeed sensor; The absolute value of the difference between the actual speed of each flight display node and the corresponding target speed is taken, and then divided by the corresponding target speed to obtain the speed deviation coefficient of each flight display node.

4. The distributed cluster scheduling and control method for flight display devices according to claim 3, characterized in that: In step S2, the position deviation coefficient and velocity deviation coefficient of each flight display node are standardized to obtain the position factor and velocity factor; The deviation change index of each flight display node is calculated by combining the position factor and the velocity factor; If the deviation change index of each flight display node is greater than or equal to the preset deviation change index threshold, the deviation change trend of the flight display node is determined to be in a state of diffusion and development, and the attitude deflection angle and command execution feedback information of the flight display node are invoked. Conversely, if the deviation trend of the flight display node is determined to be a convergent and stable state, the attitude deflection angle and command execution feedback information of the flight display node will not be invoked.

5. A distributed cluster scheduling and control method for flight display devices according to claim 1, characterized in that: In step S3, the angular velocity and acceleration of each flight display node are collected by the inertial measurement unit mounted on the flight display node; The angular velocity and acceleration of each flight display node are processed by attitude calculation to obtain the roll angle, pitch angle and yaw angle of each flight display node; The roll angle, pitch angle and yaw angle of each flight display node are differentially calculated with the preset reference attitude angle to obtain the three-axis attitude deflection of each flight display node. The attitude deflection of each flight display node is synthesized using Euclidean norm to obtain the attitude deflection angle of each flight display node. If the attitude deflection angle of each flight display node is greater than or equal to the preset attitude deflection angle threshold, the attitude drift state of the flight display node is determined to be a significant drift state. Conversely, the attitude drift state of the flight display node is determined to be stable and under control.

6. A distributed cluster scheduling and control method for flight display devices according to claim 5, characterized in that: In step S3, the instruction execution feedback information includes the instruction response delay time of each flight display node; The time when the scheduling control command was issued is obtained through the time recording unit and used as the command sending time of each flight display node; The time when each flight display node returns the execution confirmation signal is obtained through the time recording unit, and this time is used as the response time of each flight display node. Subtracting the command transmission time from the response time of each flight display node yields the command response delay time of each flight display node.

7. A distributed cluster scheduling and control method for flight display devices according to claim 6, characterized in that: In step S3, if the command response delay time is greater than or equal to the preset command response delay time threshold, and the attitude drift state of the flight display node is a significant drift state, then the execution hysteresis level of the flight display node is determined to be a high hysteresis strong deviation level, and the flight display node is marked. If the command response delay time is greater than or equal to the preset command response delay time threshold, and the attitude drift situation is stable and controlled, then the execution hysteresis level of the flight display node is determined to be high hysteresis and low deviation level. If the command response delay time is less than the preset command response delay time threshold, and the attitude drift state is a significant drift state, then the execution hysteresis level of the flight display node is determined to be a low hysteresis strong deviation level, and the flight display node is marked. If the command response delay time is less than the preset command response delay time threshold, and the attitude drift situation is stable and controlled, then the execution hysteresis level of the flight display node is determined to be the low hysteresis low deviation level.

8. A distributed cluster scheduling and control method for flight display devices according to claim 7, characterized in that: In step S4, the spatial location distribution data of the marked flight display nodes are collected, including the spatial offset distance and neighborhood density of each marked flight display node. The coordinates of the overall distribution center are calculated based on the real-time spatial position coordinates of the unmarked flight display nodes, and the position offset of each marked flight display node is obtained by performing a difference operation between the real-time spatial position coordinates of each marked flight display node and the coordinates of the overall distribution center. The spatial offset distance of the marked flight display node is calculated based on the position offset. The distance between the marked flight display node and other flight display nodes is calculated with the marked flight display node as the center, and the distance is compared with a preset distance threshold to determine whether other flight display nodes belong to the neighborhood range of the marked flight display node; The number of other flight display nodes within the neighborhood of the marked flight display node is counted, and the neighborhood density of the marked flight display node is calculated. The formation traction weight is calculated by combining the spatial deviation distance of the marked flight display nodes and the neighborhood density.

9. A distributed cluster scheduling and control method for flight display devices according to claim 8, characterized in that: In step S4, a control and classification process is performed on each marked flight display node according to the formation traction weight of each marked flight display node; Specifically, the formation traction weight of each marked flight display node is matched with a preset weight mapping range to generate the corresponding control command amplitude; Obtain the spatial deviation distance of other flight display nodes within the neighborhood of each marked flight display node, and correct the control command amplitude to obtain the corrected control command amplitude; The corrected control command amplitude is compared with the preset first control command amplitude threshold and the preset second control command amplitude threshold to determine the corresponding control execution priority; The corresponding regulatory action type is assigned based on the control execution priority.

Images