Method and system for performing mission by using swarm aerial vehicle

Abstract

The present disclosure relates to a method for performing a mission by using a swarm aerial vehicle, and a system therefor. The method for performing a mission by using a swarm aerial vehicle, according to one embodiment of the present disclosure, may comprise the steps of: acquiring target information corresponding to a mission of the swarm aerial vehicle; using the target information so as to generate a flight plan of the swarm aerial vehicle; and transmitting a flight control signal to at least one from among the swarm aerial vehicles on the basis of the flight plan. Here, the flight plan can include at least one piece of information about a collision angle and a collision time point of the respective swarm aerial vehicles with respect to a target.

Description

Mission execution method and system using swarm aircraft

[0001] The present disclosure relates to a method and system for performing a mission using a swarm of aircraft. More specifically, it relates to a method for performing a mission using a plurality of unmanned aerial vehicles and a system to which the method is applied.

[0002] With the recent advancement of unmanned aerial vehicle (UAV) technology, there is growing interest in technologies that operate multiple UAVs in a swarm to perform a single mission. Such swarm aircraft can enhance mission effectiveness by approaching the same target from various directions or by having multiple aircraft perform the task cooperatively.

[0003] However, in conventional swarm aircraft operation methods, differences in flight performance, energy status, or maneuverability characteristics of each aircraft were not sufficiently considered, nor were target characteristics, such as vulnerable areas, systematically reflected. This could lead to problems such as inefficient flight paths, discrepancies in target arrival times, or reduced mission effectiveness.

[0004] Accordingly, swarm operation technology is required that can efficiently plan and control flight paths and arrival times by comprehensively considering the characteristics of the target and the status of each aircraft constituting the swarm.

[0005] The technical problem that the present disclosure aims to solve is to provide a method and system for operating a swarm of aircraft that enables a swarm of aircraft composed of multiple unmanned aerial vehicles to effectively perform a mission against a single target.

[0006] Another technical problem that the present disclosure aims to solve is to provide a method and system for operating a swarm of aircraft that can efficiently plan the approach direction and flight path for each aircraft by comprehensively considering the characteristics of the target and the state of each aircraft constituting the swarm of aircraft.

[0007] Another technical problem that the present disclosure aims to solve is to provide a method and system for operating a swarm of aircraft that can mitigate the problem of discrepancies in target arrival times that may occur due to differences in flight performance or maneuver characteristics among the aircraft constituting the swarm, and can flexibly control the arrival timing of the aircraft to meet mission objectives.

[0008] The technical problems of the present disclosure are not limited to those mentioned above, and other unmentioned technical problems will be clearly understood by a person skilled in the art of the present disclosure from the description below.

[0009] A method for performing a mission using a swarm of aircraft according to an embodiment of the present disclosure for solving the above technical problem may include the steps of acquiring target information corresponding to the mission of the swarm of aircraft, generating a flight plan of the swarm of aircraft using the target information, and transmitting a flight control signal to at least one of the swarm of aircraft based on the flight plan. In this case, the flight plan may include at least one of information regarding the collision angle and the collision time of each of the swarm of aircraft with respect to the target.

[0010] In one embodiment, the target information may include at least one of information regarding the location, shape, direction, and vulnerable area of ​​the target.

[0011] In one embodiment, the collision angle may include an elevation angle based on the vertical axis and an azimuth angle based on the horizontal axis.

[0012] In one embodiment, the collision angle may be set based on a vulnerable area of ​​the target.

[0013] In one embodiment, the vulnerable area may be divided into a plurality of sub-regions corresponding to the number of swarm aircraft. Additionally, each of the plurality of sub-regions may be assigned to each aircraft constituting the swarm aircraft. Furthermore, the collision angle and the collision time may be set differently for each aircraft constituting the swarm aircraft based on each of the plurality of sub-regions.

[0014] In one embodiment, the plurality of sub-regions may be divided based on at least one of the flight capability, energy state, and onboard equipment of the aircraft.

[0015] In one embodiment, the flight plan may include information regarding the flight path of each of the plurality of aircraft constituting the swarm aircraft. In this case, the flight path may be set differently for each aircraft.

[0016] In one embodiment, the collision point may be set so that a plurality of aircraft constituting the swarm aircraft sequentially reach the target at different times.

[0017] In one embodiment, the collision time may be set such that a plurality of aircraft constituting the swarm of aircraft reach the target within a first time interval.

[0018] In one embodiment, the length of the first time interval may be determined based on at least one of the number of the plurality of aircraft, flight capability, and energy state.

[0019] In one embodiment, the length of the first time interval may be dynamically adjusted based on situational information obtained during flight.

[0020] In one embodiment, the target information may include at least one of information regarding the location, shape, direction, and vulnerable area of ​​the target, and the length of the first time interval may be set based on the target information.

[0021] In one embodiment, the flight plan may be configured such that a plurality of aircraft constituting the swarm aircraft are assigned to different targets.

[0022] In one embodiment, the collision time may be set so that the plurality of aircraft reach substantially the same time for different targets.

[0023] In one embodiment, the collision point may be set so that the plurality of aircraft sequentially reach different targets at different times.

[0024] In one embodiment, the flight control signal may include speed control information for controlling the flight speed of a first aircraft constituting the swarm aircraft.

[0025] In one embodiment, the first aircraft may include flight control means for controlling speed during flight. In this case, the flight control means may control the flight speed using a plurality of control surfaces provided on the first aircraft.

[0026] In one embodiment, the plurality of control surfaces may be configured to be controlled independently in the vertical direction to increase drag during flight, thereby decelerating the flight speed of the first aircraft.

[0027] In one embodiment, the flight control signal may be transmitted to the swarm aircraft before the flight of the swarm aircraft.

[0028] In one embodiment, the flight plan may be updated based on situational information acquired during flight, and the flight control signal may be transmitted during the flight of the swarm aircraft based on the updated flight plan.

[0029] A mission execution system using a swarm of aircraft according to another embodiment of the present disclosure for solving the above technical problem may include one or more processors and a memory for storing a computer program executed by said one or more processors, and when said computer program is executed, said one or more processors may perform: an operation of acquiring target information corresponding to the mission of the swarm of aircraft, an operation of generating a flight plan of said swarm of aircraft using said target information, and an operation of transmitting a flight control signal to at least one of said swarm of aircraft based on said flight plan. At this time, said flight plan may include at least one of information regarding the collision angle and the collision time of each of said swarm of aircraft with respect to the target.

[0030] According to the present embodiment, since a swarm of aircraft composed of multiple unmanned aerial vehicles can be operated cooperatively against a single target, the efficiency and probability of success of mission execution can be effectively improved.

[0031] According to the present embodiment, since the approach direction and flight path are planned by comprehensively considering the characteristics of the target and the state of each aircraft constituting the swarm aircraft, flexible and stable mission execution against the target can be achieved even in various operational environments.

[0032] According to the present embodiment, even if the aircraft constituting the swarm aircraft approach each other via different paths, the time of arrival at the target can be precisely adjusted to suit the mission objective, thereby effectively dispersing or gradually weakening the target's protective capabilities.

[0033] According to the present embodiment, since operation is possible by taking into account differences in flight performance, maneuverability characteristics, and energy state for each aircraft, the operational stability of the entire swarm of aircraft is improved, and the reliability of mission execution can be enhanced even under various conditions.

[0034] The effects according to the technical concept of the present disclosure are not limited to those mentioned above, and other unmentioned effects will be clearly understood by a person skilled in the art from the description below.

[0035] FIG. 1 is a diagram showing the configuration of a mission execution system using a swarm of aircraft according to one embodiment of the present disclosure.

[0036] FIG. 2 is a flowchart illustrating a method for performing a mission using a swarm of aircraft according to one embodiment of the present disclosure.

[0037] FIG. 3 is an illustrative diagram for explaining a method of setting a collision angle that may be referenced in some embodiments of the present disclosure.

[0038] FIG. 4 is an illustrative diagram for explaining the flight path of a swarm of aircraft, which may be referenced in some embodiments of the present disclosure.

[0039] Figure 5 is an example of a simulation result showing the collision timing control of a swarm of aircraft against a target.

[0040] Figure 6 is an example diagram of the movement state according to the flight characteristics of the swarm aircraft.

[0041] FIG. 7 is an exemplary diagram of the shape of an aircraft and flight control means provided in the aircraft, which may be referenced in some embodiments of the present disclosure.

[0042] FIG. 8 is an exemplary diagram of a structure in which a plurality of aircraft are mounted on a launcher for launching a swarm of aircraft, which may be referenced in some embodiments of the present disclosure.

[0043] FIG. 9 is a hardware configuration diagram of a computing system according to some embodiments of the present disclosure.

[0044] Hereinafter, preferred embodiments of the present disclosure will be described in detail with reference to the attached drawings. The advantages and features of the present invention and the methods for achieving them will become clear by referring to the embodiments described below in detail together with the attached drawings. However, the technical concept of the present invention is not limited to the following embodiments but can be implemented in various different forms. The following embodiments are provided merely to complete the technical concept of the present invention and to fully inform those skilled in the art of the scope of the present invention, and the technical concept of the present invention is defined only by the scope of the claims.

[0045] In describing the present disclosure, if it is determined that a detailed description of related known configurations or functions could obscure the essence of the invention, such detailed description is omitted.

[0046] Unless otherwise defined, terms used in the following embodiments (including technical and scientific terms) may be used in a meaning commonly understood by those skilled in the art to which this disclosure pertains, but this may vary depending on the intent of those skilled in the art, case law, the emergence of new technology, etc. The terms used in this disclosure are for describing the embodiments and are not intended to limit the scope of this disclosure.

[0047] In the following embodiments, singular expressions include plural concepts unless the context clearly specifies them as singular. Additionally, plural expressions include singular concepts unless the context clearly specifies them as plural.

[0048] In addition, terms such as first, second, A, B, (a), (b), etc. used in the following embodiments are used merely to distinguish one component from another, and the essence, order, or sequence of the said component is not limited by such terms.

[0049] Hereinafter, various embodiments of the present disclosure will be described in detail with reference to the attached drawings.

[0050] FIG. 1 is a diagram showing the configuration of a mission execution system using a swarm of aircraft according to one embodiment of the present disclosure.

[0051] As illustrated in FIG. 1, a mission execution system using a swarm of aircraft according to some embodiments of the present disclosure may include a user terminal (100) and a mission execution management device (200), and the user terminal (100) and the mission execution management device (200) may communicate through a network. Here, the network may be implemented as any type of wired or wireless network, such as a Local Area Network (LAN), a Wide Area Network (WAN), a mobile radio communication network, a satellite communication network, etc., but is not limited thereto.

[0052] The user terminal (100) may refer to a computing device used by a user for establishing a mission plan or monitoring the execution of a mission. For example, the user terminal (100) may be implemented as a computing device of various forms, such as a desktop, laptop, tablet, or portable terminal, and may be implemented as any device. In some embodiments, the user terminal (100) may receive input such as the type of mission, an overview of the target, and mission conditions, and transmit them to the mission execution management device (200), or receive and display information regarding the results of generating a flight plan or flight control signal generated from the mission execution management device (200).

[0053] The mission execution management device (200) may refer to a computing device / system for supporting the mission execution of a swarm of aircraft according to the present disclosure. For example, the mission execution management device (200) may be configured to process information related to the mission execution of the swarm of aircraft and to manage the operation of the swarm of aircraft based on the results.

[0054] More specifically, the mission execution management device (200) may acquire target information corresponding to the mission of the swarm aircraft, generate a flight plan of the swarm aircraft using the target information, and perform the operation of transmitting a flight control signal to at least one of the swarm aircraft based on the flight plan. At this time, the flight plan may include at least one of information regarding the collision angle and collision time of each swarm aircraft with respect to the target.

[0055] The mission execution management device (200) may be implemented as at least one computing device. For example, all functions of the mission execution management device (200) may be implemented in a single computing device, or the first function of the mission execution management device (200) may be implemented in a first computing device and the second function may be implemented in a second computing device. Alternatively, specific functions of the mission execution management device (200) may be implemented in multiple computing devices. A computing device may encompass any device equipped with computing functions, and an example of the hardware configuration of such a computing device may be described with reference to FIG. 9, which is described later.

[0056] Up to this point, devices (100, 200) supporting a mission execution system using a swarm of aircraft according to some embodiments of the present disclosure have been described schematically with reference to FIG. 1. Hereinafter, a method for performing a mission using a swarm of aircraft according to some embodiments of the present disclosure will be described in more detail with reference to FIG. 2 and subsequent drawings. However, for the sake of convenience of understanding, the explanation will continue assuming that the methods described below are performed in the environment exemplified in FIG. 1.

[0057] FIG. 2 is a flowchart illustrating a method for performing a mission using a swarm of aircraft according to one embodiment of the present disclosure. However, this is merely a preferred embodiment for achieving the purpose of the present disclosure, and it is understood that some steps may be added or deleted as necessary.

[0058] As illustrated in FIG. 2, a method for performing a mission using a swarm of aircraft according to one embodiment of the present disclosure may start at step S10 of acquiring target information corresponding to the mission of the swarm of aircraft.

[0059] In this case, the swarm aircraft may refer to a collection of aircraft in which multiple unmanned aircraft are operated as a group to perform a single mission. The unmanned aircraft refers to an aircraft capable of remote control or autonomous flight without a pilot on board, and may include, for example, drones, unmanned aerial vehicles (UAVs), loitering munitions, or similar flight means. The swarm aircraft may be composed of unmanned aircraft of the same type, or it may be composed of a mixture of multiple types of unmanned aircraft with different flight performance, onboard equipment, or roles.

[0060] Hereinafter, unless otherwise specified, the term "aircraft" is assumed to mean an unmanned aerial vehicle. Additionally, flight control means for controlling the shape and flight speed of the aircraft will be described in detail with reference to FIG. 7.

[0061] In the present disclosure, a mission may refer to an objective-oriented operation or action set to be performed by a swarm of aircraft. In one embodiment, the mission may include a precision attack mission against a specific target, and may be a mission planned to effectively collide with a target by having multiple aircraft cooperate with each other to approach the target simultaneously or with a time delay. However, the technical concept of the present disclosure is not limited to attack missions and may be equally applicable to various missions related to surveillance, disruption, threat, or target neutralization.

[0062] In one embodiment, the target information may include at least one of information regarding the location, shape, direction, and vulnerable area of ​​the target.

[0063] More specifically, the target's location information represents the spatial coordinates where the target exists and may be provided in the form of absolute coordinates such as latitude, longitude, and altitude, or in the form of relative distance and bearing information with respect to a reference point. Additionally, if the target is moving, it may include not only the current location but also the predicted location after a certain period of time.

[0064] The shape information of a target is information indicating the external or structural characteristics of the target, and may include information for identifying whether the target corresponds to a type of building, vehicle, facility, or other structure. For example, the shape information of the target may include information regarding the target's overall outer shape, size, height, or structural arrangement composed of multiple components.

[0065] The directional information of a target may be information indicating its directionality when the target is positioned facing a specific direction or is in motion. For example, if the target is a moving object, the direction of movement or the angle of travel may be included as directional information, and even if it is a fixed structure, directional information corresponding to the front, side, or rear of the target may be included.

[0066] Vulnerable area information may refer to areas with a relatively high impact or attack potential based on the target's structural characteristics, protection status, or functional importance. For example, if the target is a structure, areas where specific equipment is concentrated, entrances, roofs, or parts with relatively weak protection may be designated as vulnerable areas. Additionally, if the target is a mobile vehicle, areas near the propulsion unit, control unit, or energy supply unit may be designated as vulnerable areas.

[0067] In some embodiments, the target information may further include at least one of the following: information regarding the location, shape, orientation, and vulnerable area of ​​the target, as well as information regarding the target's movement status, protection status / defense characteristics, information regarding functionally important areas, information regarding the target's surrounding environment, and priority information.

[0068] Target movement status information is information indicating whether the target is stationary or moving, and if it is moving, it may include information related to movement speed, direction of movement, or change in position over time. For example, if the target is a moving object, the target information may further include information regarding the target's movement speed, direction of movement, or acceleration.

[0069] Information on the protection status or defensive characteristics of a target may refer to information regarding the level of defense or defensive deployment that the target possesses against external collisions or attacks. For example, target information may include information regarding the strength of defense in a specific direction, the presence of defensive devices, or areas or time periods where defense is relatively weak.

[0070] Information on the functionally critical areas of a target may refer to information regarding areas that play a key role in the normal performance of the target's functions. For example, target information may further include information regarding areas where communication equipment is deployed, energy supply units, or key components responsible for control functions are located.

[0071] Target surrounding environment information is information related to the external environment near the target and may include information regarding factors that may affect the approach or flight path of the aircraft. For example, target information may further include environmental information regarding the terrain around the target, adjacent structures, or obstacles that may restrict flight.

[0072] Target priority or importance information may refer to information for identifying targets that should be considered relatively preferentially among multiple targets or multiple areas within the same target. For example, target information may include priority information regarding targets requiring priority response among multiple targets, or areas within the same target requiring priority access or collision.

[0073] In summary, target information refers to information regarding targets that are the subject of the mission to be performed by the swarm aircraft, and can be utilized as basic data for generating a flight plan in subsequent stages. Meanwhile, some of the target information may be provided as preliminary information prior to mission execution, or it may be updated based on information acquired or updated during the mission execution process. In this case, the updated target information can be referenced again during the subsequent flight plan generation or modification stages to allow the flight path or collision timing of the swarm aircraft to be flexibly adjusted according to the situation.

[0074] In step S20, the mission execution management device may generate a flight plan for the swarm of aircraft based on the target information obtained in step S10. At this time, the flight plan may refer to planning information that comprehensively defines in what direction the multiple aircraft constituting the swarm of aircraft will approach the target, along what path they will fly, and at what point in time they will reach or collide with the target.

[0075] In one embodiment, the flight plan may include at least one of flight path information, information regarding the collision angle, and information regarding the collision time, which are individually set for each aircraft constituting the swarm aircraft. In this case, the collision angle may include an elevation angle with respect to the vertical axis and an azimuth angle with respect to the horizontal axis. Even if the swarm aircraft targets the same target, they may be operated to have different approach directions or different collision times for each aircraft.

[0076] In one embodiment, the flight plan may be generated based on a vulnerable area of ​​the target. For example, a mission execution management device may refer to vulnerable area information included in the target information to identify an area on the target that is relatively high in terms of collision or attack effect, and generate a flight plan so that the approach of the swarm of aircraft is centered on the vulnerable area. In particular, information regarding the collision angle included in the flight plan may be generated based on the vulnerable area.

[0077] In one embodiment, the mission execution management device may divide the vulnerable area of ​​a target into a plurality of sub-regions corresponding to the number of aircraft constituting the swarm aircraft. At this time, each of the plurality of sub-regions may be assigned to each aircraft constituting the swarm aircraft.

[0078] At this time, the division of the sub-region can be performed by dividing and assigning angles corresponding to the area to multiple aircraft based on the range occupied by the vulnerable area of ​​the target. For example, the azimuth angle based on the horizontal axis centered on the vulnerable area can be divided evenly according to the number of aircraft constituting the swarm, and the elevation angle based on the vertical axis can also be set to be divided evenly. Accordingly, an approach direction having a different azimuth angle and / or elevation angle can be assigned to each aircraft constituting the swarm. That is, based on the sub-region assigned to each aircraft, the collision angle can be set differently for each aircraft constituting the swarm.

[0079] Furthermore, the division of the aforementioned sub-regions is not limited to predefined rules and may be divided arbitrarily depending on mission situations or operational conditions. For example, the angular range corresponding to the vulnerable area may be set to be randomly assigned to the aircraft constituting the swarm, and accordingly, the approach direction for each aircraft may be set non-deterministically.

[0080] FIG. 3 is an illustrative diagram for explaining a method of setting a collision angle that may be referenced in some embodiments of the present disclosure.

[0081] As illustrated in FIG. 3, a vulnerable area with a high collision or attack effect may be set on the target, and multiple aircraft constituting the swarm aircraft may be planned to approach the vulnerable area from different directions.

[0082] First, referring to box 3a, it can be seen that the horizontal azimuth angles centered on the vulnerable areas (31, 32) are divided into multiple angles and assigned to each aircraft. That is, the aircraft can be configured to approach in dispersed directions on a plane centered on the target. At this time, the first vulnerable area (31) can be configured such that the azimuth angles are divided evenly according to the number of aircraft, and the second vulnerable area (32) can be configured such that the azimuth angles are divided unevenly or arbitrarily.

[0083] Next, referring to box 3b, it can be seen that the vertical elevation angles based on the vulnerable areas (31, 32) are divided into multiple angles and assigned to each aircraft. That is, on a plane centered on the target, some aircraft may be set to approach at a relatively high altitude, while others may be set to approach via a path with a low altitude or a different elevation angle. At this time, the first vulnerable area (31) may be set so that the elevation angles are divided evenly according to the number of aircraft, and the second vulnerable area (32) may be set so that the elevation angles are divided unevenly or arbitrarily.

[0084] That is, as illustrated in FIG. 3, the collision angle can be set as a combination of azimuth and elevation, and each aircraft constituting the swarm can be planned to fly in an approach direction having different azimuth and / or elevation angles while targeting the same vulnerable area.

[0085] Below, various methods for a mission execution management device to divide a target's vulnerable area into multiple sub-regions will be explained in detail.

[0086] In some embodiments, the plurality of sub-regions may be divided considering at least one of the flight capability, energy state, and onboard equipment of the aircraft. That is, the sub-regions may be divided evenly according to the number of aircraft constituting the swarm aircraft, but are not necessarily limited thereto, and may be divided unevenly according to the characteristics of each aircraft.

[0087] For example, when a swarm of aircraft is composed of multiple aircraft with similar flight capabilities, the angle range corresponding to the vulnerable area is divided equally among the number of aircraft, and a sub-area having the same level of access burden can be assigned to each aircraft.

[0088] At this time, the flight capability may refer to a performance level in which the aircraft can stably perform a given flight path, and may be evaluated, for example, by at least one of maximum flight speed, acceleration and deceleration capability, ascent and descent performance, maneuver limit, control precision, or flight stability.

[0089] Additionally, the aforementioned approach burden may refer to the difficulty of flight conditions required for the aircraft to approach a target, and this may be determined by at least one of the length of the flight path, the magnitude of altitude change, the level of maneuver required, energy consumption, the risk of protection, or the necessity of evasive maneuvers during the approach. Additionally, the aforementioned risk of protection may refer to the degree of probability that the aircraft will be lost or fail to perform its mission due to the protection or defensive elements of the target during the process of the aircraft approaching or colliding with the target.

[0090] On the other hand, when a swarm of aircraft is composed of multiple aircraft with different flight capabilities, it can be configured so that sub-regions with relatively high access difficulty or complex flight paths are assigned to aircraft with superior flight capabilities, and sub-regions with relatively low access burdens are assigned to aircraft with limited flight capabilities.

[0091] In one embodiment, the energy state of the aircraft may be reflected in the sub-region division. For example, a sub-region corresponding to a relatively long flight path or an approach path with large altitude changes may be assigned to an aircraft with sufficient residual energy, and a sub-region capable of a short flight distance or a gentle approach may be assigned to an aircraft with insufficient residual energy.

[0092] In one embodiment, sub-regions may be assigned differently depending on the type of equipment mounted on the aircraft. For example, a sub-region in a direction where such characteristics can be effectively utilized may be assigned to an aircraft equipped with sensors or weapons advantageous for approach from a specific direction, and a sub-region for general access may be assigned to an aircraft equipped with only relatively simple equipment.

[0093] In other words, the division of sub-regions is not limited to a method of simply mechanically dividing angles, but can be flexibly determined by comprehensively considering the state and characteristics of the aircraft constituting the swarm aircraft.

[0094] Meanwhile, differences in flight capability or maneuver characteristics among aircraft may cause differences in actual flight trajectories, altitude changes, and target arrival times even if the same collision angle or similar flight path is set, and differences in movement states due to these differences in flight characteristics can be explained with reference to Fig. 6.

[0095] Figure 6 is an example diagram of the movement state according to the flight characteristics of the swarm aircraft.

[0096] As shown in FIG. 6, if the maneuverable range or elevation control conditions of the aircraft are different, differences in flight trajectory, altitude change, and arrival time may occur even when flying toward the same target.

[0097] Box 6a, illustrated in Fig. 6, shows how the relationship between altitude and horizontal distance changes depending on the elevation control conditions of the aircraft. In the case where there is no limitation on elevation or maneuver (No Limitation), a relatively free trajectory is formed, whereas when elevation control is limited to a specific angle (e.g., δ=80°, δ=90°, δ=100°), it can be seen that the curvature of the flight trajectory and the maximum altitude change.

[0098] In addition, Box 6b shows the relationship between the remaining distance and time to the target under the same conditions, and it can be seen that the time required to reach the target differs depending on whether there is no limitation on elevation or maneuver (No Limitation) or if elevation control is limited to a specific angle (e.g., δ=80°, δ=90°, δ=100°). In other words, it can be seen that even if the same flight plan is applied, there may be a difference in the time of collision depending on the aircraft's maneuverability or control angle limitations.

[0099] As such, depending on differences in elevation control conditions or maneuverability of each aircraft, deviations in the shape of the flight path and the time of arrival at the target may occur even when the same flight plan is applied.

[0100] In one embodiment, the mission execution management device can generate a flight path for each aircraft to correspond to the collision angle for each aircraft set as above. In this case, the flight path may refer to a spatial path along which the aircraft moves from a starting point to a target, and may be set differently for each aircraft to satisfy the azimuth and elevation angles assigned to each aircraft.

[0101] For example, some aircraft may have their flight paths set to approach while maintaining a relatively high altitude, while others may have their flight paths set to approach at a low altitude followed by a rapid ascent or descent. Additionally, depending on differences in azimuth, flight paths may be set so that aircraft approach the target from different sides or directions.

[0102] FIG. 4 is an illustrative diagram for explaining the flight path of a swarm of aircraft, which may be referenced in some embodiments of the present disclosure.

[0103] As illustrated in FIG. 4, as the number of aircraft constituting the swarm increases, the number of flight paths approaching the vulnerable area of ​​the target increases, and different approach paths can be assigned to each aircraft.

[0104] First, referring to box 4a in FIG. 4, a flight path is illustrated when the swarm of aircraft consists of a single aircraft. In this case, the single aircraft can be configured to approach a vulnerable area of ​​the target along a single flight path.

[0105] Next, referring to box 4b, a flight path is illustrated when the swarm of aircraft consists of two aircraft. In this case, the two aircraft may each have different flight paths set to target the same vulnerable area but approach from different directions.

[0106] Additionally, referring to box 4c, a case is illustrated in which a swarm of aircraft consists of three aircraft, and each aircraft can be configured to approach along a dispersed flight path with different azimuths and / or elevations centered on a vulnerable area.

[0107] Furthermore, referring to the 4d box, it is illustrated that the swarm consists of four aircraft, and it can be seen that flight paths are set so that multiple aircraft approach the target from more finely divided directions.

[0108] That is, as illustrated in Fig. 4, as the number of aircraft constituting the swarm increases, the approach path toward the vulnerable area of ​​the target can be set to be diversified in correspondence with the number of aircraft, thereby enabling multiple aircraft to effectively strike the same target while spatially dispersed.

[0109] In summary, the above flight plan may include flight path information that is set differently for each of the multiple aircraft constituting the swarm aircraft. In this case, each aircraft may be set to fly toward the same target but approach it from different directions and altitudes.

[0110] In one embodiment, the mission execution management device may set the collision point of each aircraft by considering the flight path of each aircraft. That is, the collision point is not set independently of the collision angle or flight path, but can be determined integrally by considering the time required for the aircraft to move along the flight path, the aircraft's flight capability, and energy state.

[0111] For example, among multiple aircraft approaching the same target, some may be configured to approach along a relatively long flight path, while others may be configured to approach along a short path. In this case, to compensate for the difference in flight path lengths, the mission execution management device may set the collision point so that the multiple aircraft reach the target at the same time by setting the flight speeds of each aircraft differently or by adjusting the path to include waiting periods.

[0112] As another example, the mission execution management device may set the collision timings by dispersing them so that multiple aircraft sequentially reach the target within a predetermined first time interval. For instance, by planning for the first aircraft to collide with the target first, followed by the second and third aircraft colliding consecutively at regular time intervals, the mission can be executed in a manner that progressively weakens the target's defense capabilities or induces confusion.

[0113] At this time, the length of the first time interval may be set based on at least one of the number of aircraft constituting the swarm aircraft, the flight capability of each aircraft, and the energy state.

[0114] For example, as the number of aircraft constituting a swarm increases, it is necessary to disperse the collision timing so that multiple aircraft approach the target without interfering with each other; therefore, the length of the first time interval may be set to be relatively long. Additionally, in cases where aircraft with superior flight capabilities and those with relatively lower flight capabilities are mixed, the length of the first time interval may be set to be extended to account for the arrival delay of the aircraft with lower flight performance. Furthermore, if the residual energy state of some aircraft is low, the length of the first time interval may be set to be relatively long to prevent those aircraft from performing excessive acceleration or high maneuverability.

[0115] Figure 5 is an example of a simulation result showing the collision timing control of a swarm of aircraft against a target.

[0116] As shown in FIG. 5, even if multiple aircraft constituting a swarm of aircraft approach a target along different flight paths, the time taken for each flight path and the flight speed can be controlled so that the time to reach the target can be controlled.

[0117] First, the horizontal trajectory graph (5a) illustrates multiple flight paths set according to different azimuth and elevation angles relative to the target, showing the pattern of each aircraft approaching the target along different paths. By referring to the horizontal trajectory graph (5a), it can be seen that the shape and length of the path to the target are set differently for each aircraft as their departure position and approach direction are different.

[0118] Next, the altitude change graph (5b) shows the process of each aircraft flying while changing its altitude over time, and the remaining distance graph (5c) shows the remaining distance to the target over time. Referring to the altitude change graph (5b), it can be seen that some aircraft follow a path that descends gradually from a relatively high altitude, while others are set to fly along a path that has a rapid change in altitude from a low altitude. Additionally, referring to the remaining distance graph (5c), it can be seen that although the flight path length and altitude change of each aircraft constituting the swarm differ from one another, the flight speed or travel time along the path is adjusted so that the remaining distance all converges to zero at a specific target point.

[0119] That is, according to the simulation results shown in Fig. 5, it can be confirmed that even if there are multiple aircraft with different flight paths, altitude changes, and travel distances, the collision point can be precisely controlled so that they reach the target at the same time through control of flight speed and travel time along the path.

[0120] In summary, when the number of aircraft in the swarm is relatively small and the flight performance of each aircraft is similar, the first time interval can be set short to operate in a manner close to simultaneous collision. On the other hand, when the number of aircraft in the swarm is large or there is a significant variation in flight capability or energy state among the aircraft, the first time interval can be set relatively long to allow for a delay in the arrival of some aircraft.

[0121] In one embodiment, the length of the first time interval may be set based on target information. For example, if the target is large or the vulnerable area is widely distributed, the first time interval may be set short so that multiple aircraft arrive almost simultaneously. Conversely, if the target's protection characteristics are concentrated in a specific direction or if a time-delayed approach is advantageous depending on the target's orientation, the first time interval may be set relatively long so that multiple aircraft approach at different times.

[0122] Meanwhile, in some embodiments, the length of the first time interval may be dynamically adjusted based on situational information acquired during flight. For example, if a target moves during flight and the predicted position changes, or if the remaining energy of a specific aircraft decreases rapidly, the mission execution management device may reset the length of the first time interval and readjust the collision time of each aircraft accordingly. Accordingly, the arrival timing of the swarm of aircraft can be flexibly changed to suit the situation even during mission execution.

[0123] In summary, the flight plan generated in step S20 is planning information integrally set so that the collision angle, flight path, and collision time are correlated based on the vulnerable area of ​​the target, and can be utilized as reference information for generating flight control signals and actually controlling the swarm aircraft in subsequent steps.

[0124] Additionally, the mission execution management device may set the collision timing so that multiple aircraft sequentially reach the same target at different times. For example, the flight speed or waiting time along the path may be adjusted so that after the first aircraft reaches the target and collides with it, the second and third aircraft reach the target consecutively at regular time intervals.

[0125] This sequential collision method compels the target to continuously maintain a defensive posture, thereby progressively weakening its defensive capabilities or inducing disruption effects. Consequently, it can provide tactical advantages by securing time for friendly forces to execute follow-up operations and enhancing mission sustainability. In other words, the operation of swarm aircraft can be flexibly executed not only by synchronizing target arrival times to a single point in time, but also in the form of temporally dispersed sequential approaches depending on the mission objective.

[0126] Next, in step S30, the mission execution management device may transmit a flight control signal to at least one of the swarm aircraft based on the flight plan generated in step S20. At this time, the flight control signal is a signal for controlling each aircraft constituting the swarm aircraft to actually fly according to the flight plan, and may include control information that directly induces the flight operation of the aircraft.

[0127] In one embodiment, the flight control signal may include control information related to the flight path, flight speed, flight direction, altitude change, or collision time of the aircraft. For example, the flight control signal may include flight direction information corresponding to the azimuth and elevation angles assigned to each aircraft, speed control information to reach a specific time, and information regarding waiting sections along the path.

[0128] In one embodiment, the flight control signal may be transmitted in advance prior to the flight of the swarm of aircraft. For example, before the swarm of aircraft is launched, a flight control signal containing information regarding the flight path, collision angle, and collision time corresponding to each aircraft may be transmitted in advance, thereby enabling the aircraft to fly autonomously according to the flight plan immediately after launch.

[0129] In another embodiment, the flight control signal may be transmitted during the flight of the swarm of aircraft. For example, if the flight plan is updated based on situational information acquired during flight, the mission management device may transmit a flight control signal corresponding to the updated flight plan to the aircraft in flight. Subsequently, the aircraft may adjust its flight behavior to match the updated collision angle or collision time by changing its existing flight path or speed.

[0130] In one embodiment, the flight control signal may include speed control information for controlling the flight speed of a first aircraft constituting a swarm of aircraft.

[0131] For example, if there is a possibility that the first aircraft will reach the target before other aircraft, the mission execution management device may transmit speed control information to reduce the flight speed of the first aircraft. Conversely, if the arrival of the first aircraft is predicted to be delayed, speed control information to increase the flight speed may be transmitted.

[0132] In one embodiment, the first aircraft may include flight control means for controlling speed during flight. In this case, the flight control means may include a plurality of control surfaces provided on the first aircraft, and the plurality of control surfaces may be configured to control the flight speed of the first aircraft by controlling independently in the vertical direction to increase or decrease drag during flight.

[0133] For example, if some of the multiple control surfaces are controlled to spread upward and others downward, air resistance increases as the exposed surface area relative to the aircraft's direction of travel increases, and as a result, drag increases, which may cause the flight speed to decrease.

[0134] Hereinafter, with reference to FIG. 7, the structure and arrangement of aircraft constituting a swarm of aircraft according to some embodiments of the present disclosure will be described in more detail.

[0135] As illustrated in FIG. 7, the aircraft (70) constituting the swarm of aircraft of the present disclosure is an example of an unmanned aircraft and can be operated by autonomous flight or remote control. In this case, the aircraft (70) may include a plurality of control means for controlling attitude, speed, or flight characteristics during flight.

[0136] In one embodiment, the aircraft (70) may include a plurality of control surfaces (71a, 71b, 72a, 72b) disposed on the upper and lower parts of the wings or fuselage. The control surfaces may be independently controlled in the up and down directions during flight, thereby controlling the drag, lift, or attitude of the aircraft. For example, if some control surfaces (71a, 71b) are controlled to extend upward and other control surfaces (72a, 72b) are controlled to extend downward, the exposed surface area relative to the direction of travel of the aircraft increases, thereby increasing air resistance and, as a result, the flight speed may be reduced. Conversely, if the control surfaces are folded or maintained in a neutral position, the drag is reduced, thereby increasing the flight speed.

[0137] Meanwhile, at the bottom of FIG. 7, an example is illustrated in which multiple aircraft (70) are arranged and operated while maintaining a certain direction and angle. Such an arrangement exemplifies that the swarm of aircraft may be prepared in an aligned state on the same launch environment or support structure, or configured so that multiple aircraft are launched under similar initial conditions. Accordingly, flight control signals transmitted from a mission execution management device are applied to the multiple aircraft simultaneously or individually, so that the swarm of aircraft can be operated collectively according to the planned flight path and collision time.

[0138] Meanwhile, the method of transmitting flight control signals and controlling speed described for the first aircraft may also be applied to other aircraft constituting the swarm aircraft, either simultaneously or individually, according to the same or similar procedures.

[0139] In summary, the method for performing a mission using a swarm of aircraft according to the present disclosure acquires target information including information regarding the location, shape, direction, and vulnerable area of ​​a target, generates a flight plan based on the target information such that different collision angles, flight paths, and collision times are correlated for each of the plurality of aircraft constituting the swarm of aircraft, and then transmits a flight control signal corresponding to the flight plan, thereby controlling the swarm of aircraft to approach and collide with the target at different directions and times.

[0140] Accordingly, by integrally controlling the approach direction and collision timing of the swarm of aircraft based on the target's vulnerable areas, the target's defense capabilities can be effectively dispersed or neutralized. Furthermore, flexible operation considering the flight capabilities and energy status of each aircraft becomes possible. Moreover, since the collision timing can be synchronously or distributedly controlled within a predetermined time interval, the probability of mission success and operational stability can be enhanced.

[0141] Finally, with reference to FIG. 8, the launch and operation environment of a swarm of aircraft according to some embodiments of the present disclosure will be described.

[0142] As illustrated in FIG. 8, a plurality of aircraft constituting a swarm of aircraft can be launched collectively or sequentially through a launcher (80). The launcher (80) may be configured to support or guide the plurality of aircraft at a certain angle and direction, and may support the aircraft in securing a stable initial flight attitude immediately after launch.

[0143] In one embodiment, the launcher (80) may be configured to be arranged so that a plurality of aircraft are spaced apart at a certain distance from each other so as not to interfere with one another. Additionally, the launcher (80) may be configured to control the launch order, launch angle, or initial velocity conditions of the aircraft. For example, some of the aircraft in the swarm may be set to be launched at the same time, while others may be set to be launched sequentially at a predetermined time interval.

[0144] In summary, the launcher (80) serves as a means of providing initial deployment and launch conditions for the aircraft in the actual operational environment of the swarm aircraft, and can support the smooth execution of the flight plan generated by the mission execution management device into physical flight operations. Accordingly, the swarm aircraft can be systematically operated to conform to the flight plan from the launch stage.

[0145] Up to now, with reference to FIGS. 1 to 8, a method and system for performing a mission using a swarm of aircraft according to some embodiments of the present disclosure have been described. According to the present disclosure, target information including information regarding the location, shape, direction, and vulnerable area of ​​a target is obtained, and based on the target information, a flight plan can be generated for each of the plurality of aircraft constituting the swarm of aircraft, in which the approach direction, flight path, and time of arrival at the target are considered together.

[0146] More specifically, approach directions are set such that multiple aircraft have different azimuth and elevation angles based on the target's vulnerable area, and correspondingly, flight paths for each aircraft can be generated individually. At this time, by considering aircraft-specific characteristics such as the number of aircraft, flight capability, energy status, or onboard equipment, approach paths and operational conditions suitable for each aircraft's performance can be assigned to each aircraft.

[0147] In addition, according to the present disclosure, considering differences in flight path length, maneuver characteristics, and flight performance of each aircraft, the timing of multiple aircraft reaching or colliding with a target can be controlled to be the same or distributed within a predetermined time interval. Accordingly, even if multiple aircraft approach a target at different azimuth and elevation angles, the flight path and speed of each aircraft are adjusted so that the timing of reaching the target can be precisely aligned according to the mission objective or adjusted stepwise at predetermined time intervals.

[0148] Furthermore, since flight plans or collision timing can be dynamically adjusted based on situational information acquired during flight, it is possible to flexibly respond to target movements, changes in aircraft status, or changes in the mission environment. Accordingly, the swarm aircraft can perform missions adaptively according to the situation while maintaining the planned operational flow from launch to the end of the mission.

[0149] Meanwhile, in some embodiments, the mission execution management device may operate a swarm of aircraft targeting multiple targets. In such cases, the flight plan may be configured so that multiple aircraft constituting the swarm are selectively assigned to different targets. For example, in a battlefield environment where a first target and a second target exist simultaneously, if 10 aircraft are operated, the mission execution management device may distribute the aircraft by assigning 4 aircraft to the first target and the remaining 6 aircraft to the second target based on the results of situational awareness.

[0150] In this case, the allocation ratio of aircraft can be dynamically determined according to the mission situation based on the target's priority, size, level of protection, or operational objective. For example, if the first target is determined to have higher protection, the flight plan can be dynamically adjusted so that a relatively larger number of aircraft are assigned to the first target to neutralize it. Additionally, if the suppression of the second target is a primary mission objective that enables friendly forces to proceed with a subsequent mission, the flight plan can be adjusted so that a large number of aircraft are preferentially assigned to the second target.

[0151] In some embodiments, the operation of a swarm of aircraft against multiple targets may be performed differently depending on the collision time setting method.

[0152] In one embodiment, the mission execution management device can control the flight speed and path of aircraft assigned to a first target and a second target so that they reach their respective targets at substantially the same time. For example, even if an aircraft heading toward the first target and an aircraft heading toward the second target fly different paths, the final collision point can be adjusted to occur within the same timeframe, thereby providing a simultaneous strike effect against multiple targets. This simultaneous strike operation can provide a higher operational effectiveness compared to a single-target attack by neutralizing the processing capabilities of the enemy defense network in a short period of time or by simultaneously pressuring dispersed defense resources.

[0153] In another embodiment, the mission execution management device may configure aircraft assigned to multiple targets to arrive at the targets sequentially at different times. For example, some aircraft assigned to a first target may collide first to neutralize or distract the enemy's initial defense system, and then aircraft assigned to a second target or remaining targets may be configured to subsequently approach and collide after a predetermined time interval. This sequential operation method can provide tactical advantages by minimizing the redeployment time for target defense resources or by continuously disrupting the enemy's response system, thereby inducing sustained disruption and defense attrition effects.

[0154] In summary, the mission execution method and system using a swarm of aircraft according to the present disclosure can effectively improve the approach efficiency to a target and the probability of mission success by integrally controlling the approach direction, flight path, and arrival time of multiple aircraft centered on the vulnerable area of ​​the target. Furthermore, flexible operation considering performance differences between aircraft becomes possible, enabling stable and effective swarm flight operation even in various mission environments.

[0155] Furthermore, the mission execution method and system using a swarm of aircraft according to the present disclosure can support the operation of the swarm of aircraft in various ways in a mission environment where one or more targets exist. Since a swarm of aircraft composed of multiple aircraft can be flexibly operated and controlled to include not only simultaneous strikes on multiple targets but also sequential strikes and mixed operational methods combining simultaneous and sequential strikes, attack plans optimized for various mission objectives and environments can be established. Accordingly, even with the use of a limited number of aircraft, multiple targets can be effectively suppressed or disrupted, increasing the probability of success for swarm-based mission execution while maximizing operational efficiency.

[0156] FIG. 9 is a hardware configuration diagram of a computing system according to some embodiments of the present disclosure. A mission execution system (1000) using a swarm of aircraft illustrated in FIG. 9 may include one or more processors (1100), a system bus (1600), a communication interface (1200), a memory (1400) for loading a computer program (1500) executed by the processor (1100), and a storage (1300) for storing the computer program (1500).

[0157] The processor (1100) controls the overall operation of each component of the mission execution system (1000) using swarm aircraft. The processor (1100) can perform operations on at least one application or program for executing methods / operations according to various embodiments of the present disclosure. The memory (1400) stores various data, commands and / or information. The memory (1400) can load one or more computer programs (1500) from the storage (1300) to execute methods / operations according to various embodiments of the present disclosure. The bus (1600) provides communication functions between components of the mission execution system (1000) using swarm aircraft. The communication interface (1200) supports internet communication of the mission execution system (1000) using swarm aircraft. The storage (1300) can store one or more computer programs (1500) non-temporarily. A computer program (1500) may include one or more instructions in which methods / operations according to various embodiments of the present disclosure are implemented. When the computer program (1500) is loaded into memory (1400), a processor (1100) may perform methods / operations according to various embodiments of the present disclosure by executing the one or more instructions.

[0158] In some embodiments, the mission execution system (1000) using a swarm of aircraft described with reference to FIG. 9 may be configured using one or more physical servers included in a server farm based on cloud technology such as a virtual machine. In this case, at least some of the components shown in FIG. 9, such as the processor (1100), memory (1400), and storage (1300), may be virtual hardware, and the communication interface (1200) may also be configured as a virtualized networking element such as a virtual switch.

[0159] Various embodiments of the present disclosure and effects according to those embodiments have been described with reference to FIGS. 1 through 9. The effects according to the technical concept of the present disclosure are not limited to those mentioned above, and other unmentioned effects will be clearly understood by a person skilled in the art from the description below.

[0160] The technical concept of the present disclosure described above may be implemented as computer-readable code on a computer-readable medium. The computer program recorded on the computer-readable recording medium may be transmitted to another computing device via a network such as the Internet and installed on the other computing device, thereby being used on the other computing device.

[0161] Although operations are depicted in a specific order in the drawings, it should not be understood that the operations must necessarily be executed in the specific order depicted or in a sequential order, or that all depicted operations must be executed to obtain the desired result. In certain situations, multitasking and parallel processing may be advantageous. Although embodiments of the present disclosure have been described above with reference to the attached drawings, those skilled in the art will understand that the present invention may be practiced in other specific forms without altering the technical concept or essential features thereof. Therefore, the embodiments described above should be understood as illustrative in all respects and not restrictive. The scope of protection of the present invention shall be interpreted by the claims below, and all technical concepts within the equivalent scope shall be interpreted as being included within the scope of rights of the technical concept defined by the present disclosure.

Claims

1. In a method performed by a computing device A step of acquiring target information corresponding to the mission of the swarm aircraft; A step of generating a flight plan for the swarm aircraft using the above target information; and The method includes the step of transmitting a flight control signal to at least one of the swarm aircraft based on the above flight plan, The above flight plan is, including at least one of information regarding the collision angle and collision time of each of the swarm aircraft with respect to the target, Method of performing a mission using swarm aircraft.

2. In Paragraph 1, The above target information is, including at least one of information regarding the location, shape, orientation, and vulnerable area of ​​a target Method of performing a mission using swarm aircraft.

3. In Paragraph 1, The above collision angle is, Including the elevation angle relative to the vertical axis and the azimuth angle relative to the horizontal axis, Method of performing a mission using swarm aircraft.

4. In Paragraph 1, The above collision angle is, That which is set based on the vulnerable area of ​​the above target, Method of performing a mission using swarm aircraft.

5. In Paragraph 4, The above vulnerable area is divided into a plurality of sub-regions corresponding to the number of the swarm aircraft, and Each of the above plurality of sub-regions is assigned to each of the aircraft constituting the swarm aircraft, and The above collision angle and the above collision time are set differently for each aircraft constituting the swarm aircraft based on each of the plurality of sub-regions, Method of performing a mission using swarm aircraft.

6. In Paragraph 5, The above plurality of sub-regions are, A type that is divided based on at least one of the flight capability, energy state, and onboard equipment of the aircraft. Method of performing a mission using swarm aircraft.

7. In Paragraph 1, The above flight plan is, It includes information on the flight paths of each of the plurality of aircraft constituting the above-mentioned swarm aircraft, and The above flight path is set differently for each aircraft, Method of performing a mission using swarm aircraft.

8. In Paragraph 1, The above collision point is, A plurality of aircraft constituting the above-mentioned swarm of aircraft are configured to reach a target sequentially at different times. Method of performing a mission using swarm aircraft.

9. In Paragraph 1, The above collision point is, A plurality of aircraft constituting the above-mentioned swarm of aircraft are configured to reach a target within a first time interval. Method of performing a mission using swarm aircraft.

10. In Paragraph 9, The length of the first time interval mentioned above is, Determined based on at least one of the number, flight capability, and energy state of the plurality of aircraft mentioned above, Method of performing a mission using swarm aircraft.

11. In Paragraph 9, The length of the first time interval mentioned above is, It is dynamically adjusted based on situational information acquired during flight, Method of performing a mission using swarm aircraft.

12. In Paragraph 9, The above target information is, It includes at least one of information regarding the location, shape, orientation, and vulnerable area of ​​a target, and The length of the first time interval mentioned above is, That which is established based on the above target information, Method of performing a mission using swarm aircraft.

13. In Paragraph 1, The above flight plan is, A plurality of aircraft constituting the above-mentioned swarm of aircraft are configured to be assigned to different targets. Method of performing a mission using swarm aircraft.

14. In Paragraph 13, The above collision point is, The plurality of aircraft are configured to reach each other's different targets at substantially the same time, Method of performing a mission using swarm aircraft.

15. In Paragraph 13, The above collision point is, The above plurality of aircraft are configured to sequentially reach different targets at different times. Method of performing a mission using swarm aircraft.

16. In Paragraph 1, The above flight control signal is, Speed ​​control information for controlling the flight speed of a first aircraft constituting the above-mentioned swarm aircraft, Method of performing a mission using swarm aircraft.

17. In Paragraph 16, The above-mentioned first aircraft is, It includes flight control means for controlling speed during flight, and The above flight control means is, Controlling flight speed using a plurality of control surfaces provided in the first aircraft, Method of performing a mission using swarm aircraft.

18. In Paragraph 17, The above plurality of control surfaces are, Configured to be independently controlled in the vertical direction to increase drag during flight, thereby decelerating the flight speed of the first aircraft, Method of performing a mission using swarm aircraft.

19. In Paragraph 1, The above flight control signal is, That which is transmitted to the swarm aircraft before the flight of the swarm aircraft, Method of performing a mission using swarm aircraft.

20. In Paragraph 1, The above flight plan is, Updated based on situational information acquired during flight, and The above flight control signal is, Transmitted during the flight of the swarm aircraft based on the above-mentioned updated flight plan, Method of performing a mission using swarm aircraft.

21. One or more processors; and It includes memory for storing computer programs executed by one or more of the above processors, and When the above computer program is executed, the above one or more processors: An operation to acquire target information corresponding to the mission of a swarm of aircraft; The operation of generating a flight plan for the swarm aircraft using the above target information; and Performing the operation of transmitting a flight control signal to at least one of the swarm aircraft based on the above flight plan, The above flight plan is, including at least one of information regarding the collision angle and collision time of each of the swarm aircraft with respect to the target, Mission execution system using swarm aircraft.

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