Unmanned aerial vehicle formation system

Abstract

The embodiment of the utility model provides an unmanned aerial vehicle formation system, and belongs to the technical field of unmanned aerial vehicles. The system comprises a UWB positioning unit which comprises a UWB antenna and is used for receiving and sending UWB signals; the at least two UWB signal channels are used for transmitting UWB signals; the UWB channel switching unit is used for switching UWB signal channels; the UWB chip is used for determining the positioning information of the unmanned aerial vehicle according to the UWB signal; the communication unit is used for receiving the formation dance step file sent by the unmanned aerial vehicle control system; the main control unit is used for analyzing the formation dance step file to obtain flight control information, and controlling the unmanned aerial vehicle to perform formation flight according to the flight control information and the positioning information; and performing packet loss rate calculation on the UWB signal to obtain a UWB signal packet loss rate, and controlling the UWB channel switching unit to switch the UWB signal channel according to the UWB signal packet loss rate. According to the embodiment of the invention, the accuracy of unmanned aerial vehicle positioning can be improved.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) technology, and more particularly to a UAV swarm system. Background Technology

[0002] Drones are often required to perform complex tasks, such as formation performances and collaborative search and rescue operations. These complex tasks place higher demands on the accuracy of drone location information.

[0003] Currently, GPS positioning is the main method used to obtain the location information of drones. However, due to the differences in the usage environment, GPS positioning may have large errors, making it difficult to meet the high-precision positioning requirements of drones.

[0004] Therefore, improving the accuracy of drone positioning has become an urgent technical problem to be solved. Utility Model Content

[0005] The main objective of this application is to propose a drone formation system that aims to improve the accuracy of drone positioning.

[0006] To achieve the above objectives, a first aspect of this application proposes a drone formation system applied to drones, the system comprising:

[0007] The UWB positioning unit includes a UWB antenna, a UWB chip, a UWB channel switching unit, and at least two UWB signal channels. The UWB antenna is used to receive and transmit UWB signals, the UWB signal channels are used to transmit the UWB signals, the UWB channel switching unit is used to switch the UWB signal channels, and the UWB chip is used to determine the positioning information of the UAV based on the UWB signals.

[0008] A communication unit is connected to the UAV control system and is used to receive formation dance steps files sent by the UAV control system.

[0009] The main control unit is connected to the UWB positioning unit and the communication unit, and is used to control the communication unit to transmit the positioning information of the UAV to the UAV control system; to parse the formation dance file to obtain flight control information, and to control the UAV to perform formation flight according to the flight control information and the positioning information;

[0010] The main control unit is also used to calculate the packet loss rate of the UWB signal, obtain the UWB signal packet loss rate, and control the UWB channel switching unit to switch the UWB signal channel according to the UWB signal packet loss rate.

[0011] In some embodiments, if the UWB signal packet loss rate is greater than a preset packet loss threshold, the main control unit controls the UWB channel switching unit to switch the UWB signal channel.

[0012] In some embodiments, the system further comprises:

[0013] An RTK positioning unit for receiving a satellite directional signal, determining positioning information of the UAV according to the satellite directional signal.

[0014] In some embodiments, the main control unit is further configured to evaluate the signal quality of the UWB signal to obtain a UWB signal quality, evaluate the signal quality of the satellite directional signal to obtain a satellite directional signal quality, and select to obtain the positioning information by using the UWB positioning unit or by using the RTK positioning unit according to the UWB signal quality and the satellite directional signal quality.

[0015] In some embodiments, when the satellite directional signal quality is lower than a preset satellite directional signal quality threshold, the main control unit controls to turn on the UWB positioning unit and turn off the RTK positioning unit.

[0016] In some embodiments, when the UWB signal quality is lower than a preset UWB signal quality threshold, the main control unit controls to turn on the RTK positioning unit and turn off the UWB positioning unit.

[0017] In some embodiments, when the UAV is in an outdoor environment, the main control unit controls to turn on the RTK positioning unit and turn off the UWB positioning unit.

[0018] When the UAV is in an indoor environment, the main control unit controls to turn on the UWB positioning unit and turn off the RTK positioning unit.

[0019] In some embodiments, the RTK positioning unit comprises a satellite directional antenna, an RTK chip, and an interference filtering circuit; the satellite directional antenna is configured to collect the satellite directional signal, the interference filtering circuit is configured to process the satellite directional signal and input the processed satellite directional signal to the RTK chip for positioning processing to obtain the positioning information of the UAV.

[0020] The satellite directional antenna, the RTK chip, and the interference filtering circuit are integrated on one circuit board.

[0021] In some embodiments, the system further comprises a sensor unit configured to obtain UAV parameters of the UAV; wherein the UAV parameters comprise a flight speed, a flight angle, and an altitude.

[0022] The master control unit is further configured to control the communication unit to transmit the unmanned aerial vehicle parameters to the unmanned aerial vehicle control system; and control the unmanned aerial vehicle to fly in formation according to the flight control information, the positioning information and the unmanned aerial vehicle parameters.

[0023] In some embodiments, the sensor unit comprises a speed sensor, a gyroscope and a barometer.

[0024] The speed sensor is configured to collect the flight speed.

[0025] The gyroscope is configured to collect the flight angle.

[0026] The barometer is configured to collect the altitude.

[0027] The unmanned aerial vehicle formation system provided in the present application, the UWB positioning unit arranged by the unmanned aerial vehicle formation system comprises a UWB channel switching unit and at least two UWB signal channels. The master control unit calculates the UWB signal packet loss rate by performing packet loss rate calculation on the UWB signal, controls the UWB channel switching unit to switch the UWB signal channel according to the UWB signal packet loss rate, thereby avoiding the interference of the UWB signal, and improving the accuracy of the unmanned aerial vehicle positioning.

[0028] In addition, the unmanned aerial vehicle formation system further comprises an RTK positioning unit, which can ensure that even if a certain positioning unit fails, the other positioning units can still provide high-precision coordinate data information, thereby increasing the reliability and robustness of the unmanned aerial vehicle positioning and improving the accuracy of the unmanned aerial vehicle positioning. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 FIG. 1 is a structural schematic diagram of the unmanned aerial vehicle formation system provided by the embodiment of the present application;

[0030] Figure 2 FIG. 2 is a structural schematic diagram of the UWB positioning unit provided by the embodiment of the present application;

[0031] Figure 3 FIG. 3 is a structural schematic diagram of the RTK positioning unit provided by the embodiment of the present application;

[0032] Figure 4 FIG. 4 is a structural schematic diagram of the unmanned aerial vehicle formation system provided by another embodiment of the present application;

[0033] Reference signs: 110-UWB positioning unit, 111-UWB antenna, 112-UWB chip, 113-UWB channel switching unit, 114-UWB signal channel, 115-first UWB channel, 116-second UWB channel, 117-UWB power divider, 120-communication unit, 130-master control unit, 140-RTK positioning unit, 141-satellite directional antenna, 142-RTK chip, 143-interference filtering circuit, 144-RTK power divider, 150-sensor unit, 151-speed sensor, 152-gyroscope, 153-barometer. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical scheme and advantages of the present application more clear, the present application is further described in detail below in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application, and are not used to limit the present application.

[0035] It should be noted that although the functional modules are divided in the device schematic diagram, and the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than the module division in the device or the order in the flowchart. The terms "first", "second", etc. in the specification and claims and the above drawings are used to distinguish similar objects, and do not necessarily describe a specific order or sequence.

[0036] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of the present application, and are not intended to limit the present application.

[0037] Firstly, several terms involved in the present application are analyzed:

[0038] UWB (Ultra-Wi deband), i.e. ultra-wideband technology, is a wireless communication technology. The definition of UWB is a technology that communicates in the case where the frequency spectrum width of the signal is very wide (usually more than 500MHz). UWB technology transmits data using nanosecond to picosecond non-sine wave narrow pulses, and the frequency spectrum width of these short pulse signals is very wide, which can cover many different frequency bands, and communicates in the ultra-wideband spectrum range. Since the energy of UWB signal is very low in the frequency spectrum range, the interference to other frequency band wireless devices during transmission is also very small. UWB technology has the advantages of low system complexity, low transmit signal power spectrum density, low sensitivity to channel fading, low interception ability, high positioning accuracy, etc., and has a wide application prospect in the fields of high-speed data transmission, indoor positioning and radar.

[0039] RTK (Real-Time Kinematic), also known as real-time dynamic carrier phase difference technology, is a high-precision positioning technology. RTK uses at least one fixed reference station to assist mobile stations (i.e., user equipment) in positioning, transmits satellite data received by the reference station to the mobile station in real time, and combines the satellite observation data of the mobile station itself to perform difference operation to eliminate or reduce errors, thereby achieving centimeter-level or even millimeter-level positioning accuracy. RTK technology is widely used in industrial measurement, construction, aerospace, military, transportation and other fields, providing fast and accurate position information for these fields, greatly improving work efficiency and accuracy.

[0040] GNSS (Global Navigation Satellite System) is the abbreviation of Global Navigation Satellite System. GNSS refers to all satellite navigation systems, including global, regional and enhanced, and is a satellite system for autonomous spatial positioning covering the globe, used for navigation and positioning measurement. Simply put, the GNSS system transmits real-time position and time information using satellite signals, and calculates the geographic position information such as latitude and longitude of the ground receiving device accordingly. GNSS signals refer to signals transmitted by GNSS satellites, containing timestamp and satellite position information. These signals are received and decoded by ground receivers, and the distance between the user and each satellite is determined by calculating the time difference of signal propagation, and finally the three-dimensional coordinates of the user are obtained.

[0041] UAV formation refers to organizing multiple UAVs according to certain rules or patterns to form an organic whole to cooperatively complete specific tasks or performances. In this process, each UAV is part of the formation, and through communication, navigation and control technology, the UAVs in the formation achieve close cooperation and consistency of overall action. UAV formation is widely used in military reconnaissance, civilian aerial photography, entertainment performance and other fields.

[0042] In the UAV application scenario, complex tasks such as formation performance and cooperative search and rescue often need to be performed, and these complex tasks require higher accuracy of UAV position information.

[0043] Currently, GPS positioning method is mainly used to obtain the position information of the UAV. Due to the difference of the use environment, the GPS positioning method may have a large error, which is difficult to meet the demand of the UAV for high-precision positioning.

[0044] Therefore, the embodiments of the present application provide a UAV formation system to improve the accuracy of UAV positioning.

[0045] The UAV formation system provided by the embodiments of the present application is specifically explained by the following embodiments.

[0046] Figure 1 is a structural schematic diagram of a UAV formation system provided by an embodiment of the present application, the UAV formation system is applied to a UAV, and the UAV formation system comprises:

[0047] a UBW positioning unit 110, a communication unit 120, and a master control unit 130,

[0048] The UBW positioning unit 110 comprises a UBW antenna 111, a UWB chip 112, a UWB channel switching unit 113, and at least two UWB signal channels 114, the UBW antenna 111 is used for receiving and sending UWB signals, the UWB signal channels 114 are used for transmitting UWB signals, the UWB channel switching unit 113 is used for switching the UWB signal channels 114, and the UWB chip 112 is used for determining the positioning information of the UAV according to the UWB signals;

[0049] The communication unit 120 is in communication connection with a UAV control system, and is used for receiving a formation dance file sent by the UAV control system;

[0050] The master control unit 130 is connected with the UBW positioning unit 110 and the communication unit 120, and is used for controlling the communication unit 120 to transmit the positioning information of the UAV to the UAV control system; the formation dance file is analyzed to obtain flight control information, and the UAV is controlled to fly in formation according to the flight control information and the positioning information;

[0051] The master control unit 130 is also used for calculating the packet loss rate of the UWB signals to obtain the UWB signal packet loss rate, and controlling the UWB channel switching unit 113 to switch the UWB signal channels 114 according to the UWB signal packet loss rate.

[0052] It should be noted that the UAV control system is a terminal for controlling the UAV formation, such as a PC, a general control console, etc., and can display the UAV related parameters and user interaction related information in real time.

[0053] The UAV formation system and the UAV control system are in communication connection through a repeater, the repeater is built-in with a UWB module + WI FI function, the repeater is used for calibrating base station data, sending the base station calibration data and the formation dance file to the UAV formation system, and sending the UAV related parameters to the UAV control system.

[0054] In some embodiments, if the UWB signal packet loss rate is greater than a preset packet loss threshold, the master control unit 130 controls the UWB channel switching unit 113 to switch the UWB signal channels 114.

[0055] In one embodiment, the preset packet loss threshold needs to be set in combination with the actual scene, for example, set to 10%, 15%, etc.

[0056] For example, when the UWB signal packet loss rate is greater than 10%, the UWB channel switching unit 113 switches the UWB signal channel 114 from one UWB signal channel 114 (7.5 GHz) to another UWB signal channel 114 (8.5 GHz) to avoid the interference source signal frequency band.

[0057] In another embodiment, if there are multiple UWB signal channels 114, a suitable channel frequency band can be selected from the multiple UWB signal channels according to a preset algorithm or strategy for communication.

[0058] It should be noted that after switching the channel frequency band, the system will try to reestablish the communication connection and continue to monitor the quality of the new channel to ensure the stability of the communication.

[0059] In some embodiments, referring to Figure 2 , Figure 2 is a structural schematic diagram of a UWB positioning unit provided by the embodiments of the present application, wherein the UWB positioning unit 110 further includes a UWB antenna, a UWB chip 112, a UWB channel switching unit 113, a first UWB channel 115, a second UWB channel 116, and a UWB power divider 117.

[0060] The UWB power divider 117 is used to divide the UWB signal received by the UWB antenna 111 into two paths and distribute them to the first UWB channel 115 and the second UWB channel 116. The UWB channel switching unit 113 transmits the UWB signal processed by the first UWB channel 115 or the second UWB channel 116 to the UWB chip 112 for processing, thereby determining the positioning information of the unmanned aerial vehicle.

[0061] Specifically, if the current UWB positioning unit 110 uses the first UWB channel 115, the UWB channel switching unit 113 is connected with the first UWB channel 115 and not connected with the second UWB channel 116; if the current UWB positioning unit 110 uses the second UWB channel 116, the UWB channel switching unit 113 is connected with the second UWB channel 116 and not connected with the first UWB channel 115, thereby realizing the switching of the UWB channel.

[0062] It can be understood that, since different UWB signal channels 114 correspond to different frequency bands, the frequency band requirements of different regions can be set according to the frequency band requirements of different regions, thereby meeting the flight regulations of unmanned aerial vehicles in different regions and improving the applicability of the unmanned aerial vehicle formation system.

[0063] In some embodiments, the UAV formation system further comprises an RTK positioning unit 140 configured to receive satellite directional signals and determine positioning information of the UAV based on the satellite directional signals.

[0064] In some embodiments, the satellite directional signals are GNSS signals.

[0065] By providing the UBW positioning unit 110 and the RTK positioning unit 140 in the UAV formation system, even if one positioning unit fails, the other positioning unit can still provide high-precision coordinate data information, thereby increasing the reliability and robustness of UAV positioning and improving the accuracy of UAV positioning.

[0066] In one embodiment, indoor and outdoor formations can be achieved according to business needs. Indoor formation mainly uses the UBW positioning unit 110, and outdoor formation mainly uses the RTK positioning unit 140.

[0067] When the UAV is in an outdoor environment, the RTK positioning unit 140 is used preferentially, and the main control unit 130 controls the RTK positioning unit 140 to be turned on and the UBW positioning unit 110 to be turned off.

[0068] When the UAV is in an indoor environment or a satellite signal blocked area, the main control unit 130 controls the UBW positioning unit 110 to be turned on and the RTK positioning unit 140 to be turned off.

[0069] In some embodiments, in order to realize automatic switching of the UBW positioning unit 110 and the RTK positioning unit 140, the main control unit 130 evaluates the signal quality of the UWB signal to obtain the UWB signal quality, and evaluates the signal quality of the satellite directional signal to obtain the satellite directional signal quality.

[0070] Accordingly, the UBW positioning unit 110 or the RTK positioning unit 140 is selected to obtain positioning information according to the UWB signal quality and the satellite directional signal quality.

[0071] Specifically, when the satellite directional signal quality is lower than a preset satellite directional signal quality threshold, the main control unit 130 controls the UBW positioning unit 110 to be turned on and the RTK positioning unit 140 to be turned off, realizing switching from the RTK positioning unit 140 to the UBW positioning unit 110. During the switching process, the system reinitializes the positioning parameters and performs position calculation using the UWB base station.

[0072] When the UWB signal quality is lower than a preset UWB signal quality threshold, the main control unit 130 controls the RTK positioning unit 140 to be turned on and the UBW positioning unit 110 to be turned off, realizing switching from the UBW positioning unit 110 to the RTK positioning unit 140.

[0073] It should be noted that during the switching process, the system will ensure the smooth transition and continuity of the position, and the signal switching algorithm (such as Kalman filter and its extended algorithm, space-time correlation algorithm, coordinate conversion algorithm, etc.) can be preset on the master unit 130 to fuse and correct the position data of the two positioning technologies to provide stable and continuous positioning results.

[0074] It should be noted that the UWB signal quality and satellite directional signal quality can be selected by the strength, bit error rate, packet loss rate, etc. of the signal, and the specific selection is not limited to this.

[0075] In an embodiment, in an indoor environment or an area where satellite signals are blocked, UWB positioning technology is used, 4 UWB base stations are needed to be arranged, and the 4 UWB base stations are preferably on the same horizontal plane. The distance between the base stations is arranged according to the number of UAVs, for example, if the number of UAVs is 100, the distance between the 4 base stations is 20X20 meters, and the repeater is placed outside the positioning area of the 4 UWB base stations and close to the UAV control system.

[0076] Specifically, if UWB positioning technology is used, the UAV-related parameters include but are not limited to: battery level, positioning information, ID number, etc.

[0077] In an embodiment, in an outdoor environment, RTK positioning technology is used, and an RTK reference station is needed to be arranged. The RTK reference station is preferably arranged on an open and unobstructed horizontal ground and is not close to the highway. When the number of UAVs is greater than 200, 2 or more repeaters need to be arranged (considering the stability of the UAV accessing the repeater WI FI, generally each repeater is best connected to 100 or less UAVs).

[0078] Specifically, if RTK positioning technology is used, the UAV-related parameters include but are not limited to: battery level, positioning information (magnetic angle, GNSS satellite), RTK reference station-related information (RTK reference station battery level, RTK reference station firmware, etc.).

[0079] In some embodiments, referring to Figure 3 , Figure 3 is a structural schematic diagram of the RTK positioning unit provided by the embodiment of the present application;

[0080] The RTK positioning unit 140 comprises a satellite directional antenna 141, an RTK chip 142, an interference filtering circuit 143 and an RTK power divider 144; the satellite directional antenna 141 is used to collect satellite directional signals, the satellite directional signals are divided into two paths by the RTK power divider 144 and input to the interference filtering circuit 143, the satellite directional signals are processed by the interference filtering circuit 143 and then input to the RTK chip 142 for positioning processing by the RTK power divider 144, and the positioning information of the unmanned aerial vehicle is obtained.

[0081] The satellite directional antenna 141, the RTK chip 142, the interference filtering circuit 143 and the RTK power divider 144 are integrated on one circuit board, which can improve assembly flexibility and reduce coaxial line loss.

[0082] In one embodiment, the satellite directional antenna 141 is a GNSS antenna, and the interference filtering circuit 143 comprises two-stage low-noise amplifiers and a band-pass filter, which can filter out out-of-band interference signals, improve the GNSS in-band signal-to-noise ratio CNO value, and ensure the anti-interference ability and the ability to maintain positioning accuracy of the GNSS signal in a complex electromagnetic field environment.

[0083] For example: the GNSS signals received by the satellite directional antenna 141 are divided into two paths by the RTK power divider 144, enter the first-stage low-noise amplifier to be boosted by 18 decibels, and then enter the band-pass filter to filter out the out-of-band interference signals, and then enter the second-stage low-noise amplifier to be boosted by 18 decibels again, so that the GNSS signals are amplified by 36 decibels, which can effectively reduce the out-of-band signal interference.

[0084] In some embodiments, referring to Figure 4 , Figure 4 is another structural schematic diagram of the unmanned aerial vehicle formation system provided by the embodiment of the application, which comprises an UBW positioning unit 110, a communication unit 120 and a master control unit 130, an RTK positioning unit 140 and a sensor unit 150, and the sensor unit 150 is used to obtain unmanned aerial vehicle parameters of the unmanned aerial vehicle; wherein the unmanned aerial vehicle parameters comprise flight speed, flight angle and altitude;

[0085] The master control unit 130 is further used to control the communication unit 120 to transmit the unmanned aerial vehicle parameters to the unmanned aerial vehicle control system; and control the unmanned aerial vehicle to fly in formation according to the flight control information, the positioning information and the unmanned aerial vehicle parameters.

[0086] Specifically, the sensor unit 150 comprises a speed sensor 151, a gyroscope 152 and a barometer 153.

[0087] The speed sensor 151 is used to collect the flight speed.

[0088] The gyroscope 152 is used to collect the flight angle.

[0089] The barometer 153 is used to collect the altitude.

[0090] In one embodiment, the master control unit 130 in the unmanned aerial vehicle formation system provided by the embodiments of the present application is mainly composed of an MR100 chip, and the RTK chip 142 adopts a UM980, so that the processing capability and positioning accuracy of the system can be improved.

[0091] The embodiments described in the embodiments of the present application are used to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application. It can be known by those skilled in the art that, with the evolution of technology and the appearance of new application scenarios, the technical solutions provided by the embodiments of the present application are also applicable to similar technical problems.

[0092] The device embodiments described above are only schematic, and units described as separate components can or can not be physically separate, that is, can be located in one place, or can be distributed on multiple network units. Part or all of the modules can be selected according to actual needs to achieve the purpose of the embodiments of the present application.

[0093] The terms "first", "second", "third", "fourth" and the like (if any) in the specification of the present application and the above drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion.

[0094] It should be understood that in the present application, "at least one" means one or more, and "multiple" means two or more. "And / or" is used to describe the association relationship of the associated objects, which means that there can be three relationships, for example, "A and / or B" can mean that there are three cases of only A, only B and A and B at the same time, where A and B can be singular or plural. The character " / " generally represents an "or" relationship between the front and rear associated objects. "At least one of the following" or similar expressions means any combination of these items, including any combination of single or multiple items. For example, at least one of a, b or c can mean a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0095] In several embodiments provided in the present application, it should be understood that the disclosed apparatus can be implemented in other manners. For example, the embodiments of the apparatus described above are merely schematic; the division of the units is merely logical function division; an actual implementation can be another division manner, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections can be indirect couplings or communication connections through some interfaces, devices or units, and can be in electrical, mechanical or other forms.

[0096] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, that is, can be located in one place, or can be distributed on multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiments.

[0097] In addition, each functional unit in each embodiment of the present application can be integrated into a processing unit, or each unit can exist physically, or two or more units can be integrated into one unit. The integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0098] The preferred embodiments of the embodiments of the present application are described above with reference to the accompanying drawings, and the scope of the rights of the embodiments of the present application is not limited thereto. Any modifications, equivalent replacements and improvements made by those skilled in the art without departing from the scope and essence of the embodiments of the present application shall be within the scope of the rights of the embodiments of the present application.

Claims

1. A drone formation system, characterized in that, The system is applied to a UAV, and comprises: a UWB positioning unit, which comprises a UWB antenna, a UWB chip, a UWB channel switching unit and at least two UWB signal channels, the UWB antenna is used to receive and send UWB signals, the UWB signal channels are used to transmit the UWB signals, the UWB channel switching unit is used to switch the UWB signal channels, and the UWB chip is used to determine positioning information of the UAV according to the UWB signals; a communication unit, which is in communication connection with a UAV control system and is used to receive a formation dance file sent by the UAV control system; a main control unit, which is connected with the UWB positioning unit and the communication unit, is used to control the communication unit to transmit the positioning information of the UAV to the UAV control system, analyzes the formation dance file to obtain flight control information, and controls the UAV to fly in formation according to the flight control information and the positioning information; the main control unit is further used to calculate a UWB signal packet loss rate according to the UWB signals, and control the UWB channel switching unit to switch the UWB signal channels according to the UWB signal packet loss rate.

2. The drone formation system of claim 1, wherein, If the UWB signal packet loss rate is greater than a preset packet loss threshold, the main control unit controls the UWB channel switching unit to switch the UWB signal channels.

3. The drone formation system of claim 1, wherein, The system further comprises: an RTK positioning unit, which is used to receive satellite directional signals and determine positioning information of the UAV according to the satellite directional signals.

4. The drone formation system of claim 3, wherein, The main control unit is further used to evaluate a UWB signal quality of the UWB signals to obtain the UWB signal quality, evaluate a satellite directional signal quality of the satellite directional signals to obtain the satellite directional signal quality, and select to obtain the positioning information by using the UWB positioning unit or by using the RTK positioning unit according to the UWB signal quality and the satellite directional signal quality.

5. The drone formation system of claim 4, wherein, In a case where the satellite directional signal quality is lower than a preset satellite directional signal quality threshold, the main control unit controls to turn on the UWB positioning unit and turn off the RTK positioning unit.

6. The drone formation system of claim 4, wherein, In a case where the UWB signal quality is lower than a preset UWB signal quality threshold, the main control unit controls to turn on the RTK positioning unit and turn off the UWB positioning unit.

7. The UAV formation system according to claim 3, wherein in a case where the UAV is in an outdoor environment, the main control unit controls to turn on the RTK positioning unit and turn off the UWB positioning unit; in a case where the UAV is in an indoor environment, the main control unit controls to turn on the UWB positioning unit and turn off the RTK positioning unit.

8. The drone formation system of claim 3, wherein, The RTK positioning unit comprises a satellite directional antenna, an RTK chip and an interference filtering circuit; the satellite directional antenna is used to collect the satellite directional signal; the interference filtering circuit processes the satellite directional signal and inputs the processed signal to the RTK chip for positioning processing to obtain the positioning information of the unmanned aerial vehicle. The satellite directional antenna, the RTK chip and the interference filtering circuit are integrated on one circuit board.

9. The drone formation system of claim 3, wherein, The system further comprises a sensor unit configured to acquire unmanned aerial vehicle parameters of the unmanned aerial vehicle; the unmanned aerial vehicle parameters comprise a flight speed, a flight angle and an altitude. The main control unit is further configured to control the communication unit to transmit the unmanned aerial vehicle parameters to the unmanned aerial vehicle control system; and control the unmanned aerial vehicle to perform formation flight according to the flight control information, the positioning information and the unmanned aerial vehicle parameters.

10. The drone formation system of claim 9, wherein, The sensor unit comprises a speed sensor, a gyroscope and a barometer. The speed sensor is configured to collect the flight speed. The gyroscope is configured to collect the flight angle. The barometer is configured to collect the altitude.

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