Rapid Response Flight Control System for Anti-jamming Unmanned Aerial Vehicles Based on Dynamic Reconfiguration

Abstract

This invention discloses a dynamic reconfiguration-based anti-jamming UAV rapid response flight control system, comprising a dynamic reconfiguration module, an interference detection module, a rapid response control module, a redundancy design module, and a real-time communication link. The dynamic reconfiguration module adjusts control strategies or parameters in real time; the interference detection module monitors and identifies interference in real time and is connected to the dynamic reconfiguration module; the rapid response control module works in conjunction with the dynamic reconfiguration module; the redundancy design module provides hardware or software backup for key components and is connected to the dynamic reconfiguration module; and the real-time communication link provides high-reliability, low-latency data transmission and is connected to the dynamic reconfiguration module. Through the collaborative work of the dynamic reconfiguration mechanism and the multi-dimensional anti-jamming modules, high reliability and robust control performance are achieved, enabling the UAV to achieve adaptive control in interference environments.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicles (UAVs), and more particularly to a fast-response flight control system for anti-jamming UAVs based on dynamic reconfiguration. Background Technology

[0002] When faced with electromagnetic interference, existing UAV flight control systems often fail due to a lack of dynamic reconfiguration capabilities, or fail to adjust their flight status in a timely manner due to response delays. Most traditional UAV flight control systems are designed based on linear or near-linear control theories, using control laws with fixed parameters and rigid system architectures. Their limitations are becoming increasingly apparent. Furthermore, they do not integrate dynamic reconfiguration, anti-interference, and fast response into the flight control system, thus failing to meet the stable control requirements in complex environments.

[0003] Therefore, how to improve the anti-interference capability of UAVs in complex electromagnetic interference environments, while ensuring the rapid response and stability of the flight control system, and avoiding flight loss of control or delay due to interference, is a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0004] The present invention aims to at least partially solve one of the technical problems in the related art.

[0005] Therefore, the purpose of this invention is to propose a fast-response flight control system for anti-interference UAVs based on dynamic reconstruction. Through the collaborative work of the dynamic reconstruction mechanism and multi-dimensional anti-interference modules, it achieves high reliability and robust control performance, while enabling the UAV to achieve adaptive control in interference environments.

[0006] To achieve the above objectives, this invention proposes a fast-response flight control system for anti-jamming unmanned aerial vehicles based on dynamic reconfiguration, comprising a dynamic reconfiguration module, an interference detection module, a fast-response control module, a redundancy design module, and a real-time communication link. The dynamic reconfiguration module is used to adjust control strategies or parameters in real time; the interference detection module is used to monitor and identify interference in real time, and is connected to the dynamic reconfiguration module; the fast-response control module is used for low-latency command execution, and cooperates with the dynamic reconfiguration module; the redundancy design module is used for hardware or software backup of key components, and is connected to the dynamic reconfiguration module; the real-time communication link is used for high-reliability, low-latency data transmission, and is connected to the dynamic reconfiguration module.

[0007] In addition, the anti-jamming UAV fast response flight control system based on dynamic reconfiguration proposed above according to the present invention may also have the following additional technical features:

[0008] Specifically, the dynamic reconfiguration module is configured on a specific hardware platform, which includes an ARM processor or an FPGA.

[0009] Specifically, the interference detection module has an embedded machine learning interference prediction model, which is configured on the specific hardware platform and processes data from at least two sensors based on a multi-sensor fusion algorithm to output a prediction result of the interference type and intensity. The prediction result is transmitted to the dynamic reconstruction module.

[0010] Specifically, the multi-sensor fusion algorithm is a Kalman filter algorithm, which is configured on the specific hardware platform and used to perform real-time fusion and noise reduction of data from the inertial measurement unit and GPS sensor.

[0011] Specifically, the redundancy design module includes hardware redundancy and software redundancy. The hardware redundancy is a dual IMU inertial measurement unit. The output data of the dual IMU inertial measurement unit is cross-validated and then input to the dynamic reconfiguration module. The software redundancy is at least two fast response control algorithms with different architectures deployed on the specific hardware platform. When the main algorithm fails, the dynamic reconfiguration module switches to the backup algorithm.

[0012] Specifically, the real-time communication link adopts multi-link converged communication technology. The real-time communication link is connected to the ground station visualization interface, which is used to transmit the UAV's status data to the ground station in real time and receive control commands from the ground station. The ground station visualization interface displays the UAV's real-time flight status and interference information.

[0013] Compared with the prior art, the technical solution provided by the present invention has the following beneficial effects:

[0014] 1. By combining a dynamic reconstruction mechanism with a machine learning interference prediction model, it can adaptively identify and respond to various electromagnetic interferences, shortening the anti-interference response time and achieving a significant improvement over existing technologies.

[0015] 2. The fast response control algorithm, combined with redundant design, significantly reduces command execution latency. At the same time, through dual IMU cross-validation and algorithm redundancy, the attitude control error of the system in the interference environment is reduced, and the flight trajectory stability is improved.

[0016] 3. The redundant design of hardware and software eliminates the risk of single point of failure, and the multi-link converged communication reduces the probability of communication interruption, meeting the mission requirements of long-endurance UAVs in complex environments.

[0017] 4. The modular design supports deployment on different platforms, and the stealth coating and communication link optimization can be adapted to various application scenarios such as military and civilian use, which has good engineering promotion value.

[0018] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0019] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0020] Figure 1 This is a flowchart of the anti-interference UAV rapid response flight control system based on dynamic reconstruction of the present invention;

[0021] As shown in the figure: 1. Dynamic reconfiguration module; 2. Interference detection module; 3. Fast response control module; 4. Redundancy design module; 5. Real-time communication link; 6. Specific hardware platform. Detailed Implementation

[0022] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the invention, and should not be construed as limiting the invention. Rather, embodiments of the invention include all variations, modifications, and equivalents falling within the spirit and scope of the appended claims.

[0023] The following description, in conjunction with the accompanying drawings, describes an embodiment of the anti-jamming unmanned aerial vehicle (UAV) rapid response flight control system based on dynamic reconstruction.

[0024] like Figure 1 As shown, the anti-interference UAV rapid response flight control system based on dynamic reconfiguration according to an embodiment of the present invention may include a dynamic reconfiguration module 1, an interference detection module 2, a rapid response control module 3, a redundancy design module 4, and a real-time communication link 5.

[0025] The dynamic reconfiguration module 1 is used to adjust the control strategy or parameters in real time. The dynamic reconfiguration mechanism is the core control unit of the system, deployed on the ARM processor hardware platform. This mechanism dynamically adjusts the control strategy parameters by receiving the prediction results from the interference detection module 2 in real time. For example, when strong electromagnetic interference is detected, the reconfiguration mechanism will switch to the anti-saturation PID control algorithm and reduce the integral gain from the default value of 0.5 to 0.2 to suppress control signal overflow.

[0026] Its working principle is based on a state machine model, which includes three operating modes: normal mode, interference response mode and fault recovery mode. The sampling periods for normal mode and interference response mode are 10ms and 5ms, respectively.

[0027] The control strategy or parameters are adjusted in real time through a dynamic reconfiguration mechanism. Combined with the interference detection module 2, interference is monitored and identified in real time. The fast response control algorithm enables low-latency command execution. At the same time, redundant design provides hardware or software backup for key components. The real-time communication link 5 ensures high-reliability and low-latency data transmission, thereby effectively improving the stability and response speed of the control system in the interference environment.

[0028] Interference detection module 2 is used to monitor and identify interference in real time. Interference detection module 2 is connected to dynamic reconstruction module 1. Interference detection module 2 adopts a machine learning model based on support vector machine. The training dataset contains a variety of interference samples, which greatly improves the accuracy of the model. Interference detection module 2 is connected to a triaxial accelerometer and a magnetic field sensor through an SPI interface. When the acceleration amplitude exceeds the preset value or the magnetic field strength changes abruptly, an early warning signal is triggered and the interference intensity level is output to dynamic reconstruction module 1.

[0029] The model can be replaced with a convolutional neural network to adapt to complex time-varying interference scenarios.

[0030] The fast response control module 3 is used for low-latency instruction execution. The fast response algorithm adopts the model predictive control framework and is solved in real time through OpenMP parallel optimization on the ARM platform. The constraints include motor output torque limit and attitude angle limit.

[0031] When used in conjunction with the dynamic reconstruction module 1, the algorithm parameters can be adjusted online.

[0032] Redundancy design module 4 is used for hardware or software backup of critical components. Module 4 is connected to dynamic reconfiguration module 1. Hardware redundancy adopts a dual IMU scheme, independently acquiring data through I2C1 and I2C2 interfaces. When the attitude angle deviation between the two sensors exceeds 5°, the dynamic reconfiguration mechanism initiates a voting mechanism to switch the valid data source.

[0033] Both PID and LQR algorithms are redundantly deployed in software and stored in a separate memory partition of the ARM processor. In the event of a failure in the main algorithm, the reconstruction mechanism switches to the LQR algorithm within 50μs, and the control parameters are automatically loaded through a preset mapping table.

[0034] Real-time communication link 5 is used for high-reliability, low-latency data transmission. Real-time communication link 5 is connected to dynamic reconfiguration module 1 and adopts WiFi and 4G dual-link fusion technology. The priority scheduling strategy is: when the WiFi signal strength is >-70dBm, the UDP protocol is used; otherwise, it switches to the 4G TCP protocol. The communication module is connected to the dynamic reconfiguration mechanism through the UART interface. The data packet contains a 16-bit CRC check.

[0035] The ground station interface is developed based on Qt and displays three-dimensional attitude curves and interference heat maps in real time.

[0036] In one embodiment of the present invention, the dynamic reconfiguration module 1 is configured on a specific hardware platform 6, which includes an ARM processor or an FPGA.

[0037] In one embodiment of the present invention, the interference detection module 2 is embedded with a machine learning interference prediction model. The machine learning interference prediction model is configured on a specific hardware platform 6 and processes data from at least two sensors based on a multi-sensor fusion algorithm to output prediction results of interference type and intensity. The prediction results are transmitted to the dynamic reconstruction module 1.

[0038] In one embodiment of the present invention, the multi-sensor fusion algorithm is a Kalman filter algorithm, which is configured on a specific hardware platform 6 and is used to perform real-time fusion and noise reduction on data from the inertial measurement unit and GPS sensor.

[0039] In one embodiment of the present invention, the redundancy design module includes hardware redundancy and software redundancy.

[0040] The hardware redundancy consists of dual IMU inertial measurement units, whose output data is cross-validated before being input to the dynamic reconfiguration module 1. The software redundancy consists of at least two fast-response control algorithms with different architectures deployed on a specific hardware platform 6. When the primary algorithm fails, the dynamic reconfiguration module 1 switches to the backup algorithm.

[0041] In one embodiment of the present invention, the real-time communication link 5 adopts multi-link converged communication technology. The real-time communication link 5 is connected to the ground station visualization interface to transmit the UAV's status data to the ground station in real time and receive control commands from the ground station. The ground station visualization interface displays the UAV's real-time flight status and interference information.

[0042] In summary, the anti-jamming UAV rapid response flight control system based on dynamic reconfiguration of this invention, through a dynamic reconfiguration mechanism combined with a machine learning interference prediction model, can adaptively identify and respond to various electromagnetic interferences, shortening the anti-jamming response time, which is a significant improvement over existing technologies. The rapid response control algorithm, combined with redundant design, greatly reduces command execution latency. At the same time, through dual IMU cross-validation and algorithm redundancy, the attitude control error of the system in interference environments is reduced, while flight trajectory stability is improved. The hardware and software redundancy design eliminates the risk of single-point failure, and the multi-link fusion communication reduces the probability of communication interruption, meeting the mission requirements of long-endurance UAVs in complex environments. The modular design supports deployment on different platforms, and the stealth coating and communication link optimization can be adapted to various application scenarios such as military and civilian applications, demonstrating good engineering promotion value.

[0043] In the description of this specification, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0044] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0045] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A fast-response flight control system for anti-interference unmanned aerial vehicles based on dynamic reconfiguration, characterized in that, It includes a dynamic reconfiguration module (1), an interference detection module (2), a fast response control module (3), a redundancy design module (4), and a real-time communication link (5), among which, The dynamic reconfiguration module (1) is used to adjust the control strategy or parameters in real time; Interference detection module (2) is used to monitor and identify interference in real time. The interference detection module (2) is connected to the dynamic reconstruction module (1). A fast response control module (3) is used for low-latency instruction execution, and the fast response control module (3) cooperates with the dynamic reconfiguration module (1); Redundancy design module (4) is used for hardware or software backup of critical components, and the redundancy design module (4) is connected to the dynamic reconfiguration module (1); A real-time communication link (5) is used for high-reliability, low-latency data transmission, and the real-time communication link (5) is connected to the dynamic reconstruction module (1).

2. The anti-interference UAV fast response flight control system based on dynamic reconfiguration according to claim 1, characterized in that, The dynamic reconfiguration module (1) is configured on a specific hardware platform (6), which includes an ARM processor or an FPGA.

3. The anti-interference UAV fast response flight control system based on dynamic reconfiguration according to claim 1, characterized in that, The interference detection module (2) has an embedded machine learning interference prediction model. The machine learning interference prediction model is configured on the specific hardware platform (6) and processes data from at least two sensors based on a multi-sensor fusion algorithm to output prediction results of interference type and intensity. The prediction results are transmitted to the dynamic reconstruction module (1).

4. The anti-interference UAV fast response flight control system based on dynamic reconfiguration according to claim 3, characterized in that, The multi-sensor fusion algorithm is a Kalman filter algorithm, which is configured on the specific hardware platform (6) and is used to perform real-time fusion and noise reduction of data from the inertial measurement unit and GPS sensor.

5. The anti-interference UAV fast response flight control system based on dynamic reconfiguration according to claim 1, characterized in that, The redundancy design module includes hardware redundancy and software redundancy, wherein... The hardware redundancy is a dual IMU inertial measurement unit, and the output data of the dual IMU inertial measurement unit is cross-validated and then input to the dynamic reconstruction module (1). The software redundancy is at least two fast response control algorithms with different architectures deployed on the specific hardware platform (6). When the main algorithm fails, the dynamic reconfiguration module (1) switches to the backup algorithm.

6. The anti-interference UAV fast response flight control system based on dynamic reconfiguration according to claim 1, characterized in that, The real-time communication link (5) adopts multi-link converged communication technology. The real-time communication link (5) is connected to the ground station visualization interface, which is used to transmit the status data of the UAV to the ground station in real time and receive control commands from the ground station. The ground station visualization interface displays the real-time flight status and interference information of the UAV.

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