CN108268054A - Sub- track bee colony aircraft layer-stepping cooperative control method - Google Patents

Abstract

A layered cooperative control method for a suborbital swarm aircraft relates to a layered cooperative control method for a suborbital swarm aircraft. The invention aims to solve the problem of the amount of data and the complexity of the control algorithm for the existing centralized formation control strategy interaction information , It is prone to conflicts, the performance pressure of the missile-borne computer is high, and the calculation efficiency is relatively low. The suborbital swarm aircraft hierarchical cooperative control method of the present invention, a large number of aircraft form a large formation control method using a hierarchical formation control method, specifically a single Leader layered Leader-Follower formation control method, in the aircraft A plurality of deputy queen bee aircrafts are set in the group, and each deputy queen bee aircraft leads the worker bee aircraft of a small aircraft group. carry out information exchange. The invention is used for suborbital swarm vehicles.

Description

A hierarchical cooperative control method for suborbital swarm vehicles

technical field

The invention relates to a layered cooperative control method of a suborbital swarm aircraft.

Background technique

Formation flight control technology is the technical basis for multi-bomb coordinated operations. Formation flight control includes formation maintenance and formation change. Coordinated operations of missiles require that waves of missiles launched from different aircraft, different launch positions, and different launch times can be assembled at the predetermined time and place to form a formation that is conducive to coordinated operations. After the missile arrives at the assembly point according to the time requirement, it forms a preliminary fan formation; but in order to form a stable preset formation, it is necessary to know the precise relative positions between the follower missile and the leader missile, and the follower missile and the follower missile. Then maintain and adjust the formation formation. In order to simplify the configuration of subordinate missiles and reduce combat costs, it may not be necessary to configure a complete navigation and positioning system for each missile. The subordinate missiles only need to know their position relative to the leading missile through relative navigation and positioning systems to meet the requirements of the control system. Input requirements to avoid loss and collision. Formation control is to maintain and change the formation. When missiles need to evade air defense positions or intercept weapons, the missile group will inevitably have to do some maneuvers, such as turning, climbing, diving or dispersing. Since the coordinated operation of missiles requires missiles to Even in the process of maneuvering, it can maintain the formation as much as possible and ensure the relative positions of the follower bomb and the leader bomb. Therefore, the formation flight control technology has become the technical basis for the realization of coordinated operations.

At present, the research on formation flight control has spread to fighter planes, unmanned aerial vehicles, satellites and other fields. The hot spots of aircraft formation flight research mainly focus on spacecraft, aircraft, etc., and the more representative ones are the research on satellite formation flight control and the research on UAV formation flight control.

Spacecraft formation flight is a new space operation mode of spacecraft that emerged in the late 1990s with the development of computer technology, new materials, and new energy technologies. In the center force field, multiple spacecraft with the same orbital period fly close to each other, and can form a specific relative motion orbit with each other. The spacecraft cooperate with each other and are closely connected to form a large "virtual satellite" in a distributed manner. (or "distributed satellite system", "distributed spacecraft system"), resulting in the so-called "emergence" phenomenon in system theory, and its performance far exceeds that of the traditional single spacecraft system. Spacecraft formation flight has won the favor of the world's aerospace powers since its birth due to its huge technological advantages and broad application prospects. It is known as a technology that represents the future development trend of aerospace and has become a hot research field today.

The application advantages of spacecraft formation flight are mainly reflected in the following aspects:

Improve the overall performance of the application system

Formation flight simplifies space exploration tasks that are difficult for a single spacecraft, can greatly increase the radar aperture of interferometry, and can simultaneously observe mission targets in a large discrete space, which is very important for earth observation of.

Improve application system reliability

Formation flight systems are generally composed of many spacecraft, and considering redundancy in the system design stage can make the system more robust when it is damaged. If a spacecraft in the system is damaged, only the link related to it will be affected, and the entire system will not die. Damaged individuals can be removed from the system in time, and the system can be restored by reconfiguring or adding new spacecraft.

Enhance system adaptability

The size of the spacecraft formation configuration, the number of spacecraft in the formation, and even the loads carried by the spacecraft can be changed according to the mission requirements. As long as appropriate adjustments are made on the basis of the original spacecraft, the spacecraft formation system can have new functions or higher Performance, so as to complete the replacement of old and new tasks with a shorter cycle, lower cost and higher reliability.

Reduce single life cycle cost consumption

Formation flight uses multiple spacecraft to complete the task, which will inevitably promote the design and manufacture of spacecraft to adopt a standardized process, and the cost of a single spacecraft can naturally be reduced, thereby reducing the cost of the entire system. With the development of spacecraft modular technology and space-based platform theory, the increase in the number of missions and the relative extension of the life cycle can greatly reduce the cost of spacecraft formation in a single life cycle.

Another major aspect of formation flight research is the formation flight control of UAVs. In the development of modern UAVs, in addition to requiring UAVs to have great maneuverability and high agility, UAVs are also required to have the ability of multi-machine coordinated flight and combat, so the formation flight of UAVs must be studied first. The so-called UAV formation flight is that two or more UAVs fly in a certain formation, and the distance and height difference must be maintained between each aircraft. The aircraft that leads the team is called the leader, while the rest are called For the wingman (follower). The reason for studying multi-UAV formation flight is that multi-UAV formation flight has the following advantages compared with a single aircraft:

If a single UAV fails or is damaged during the mission, it cannot continue to perform the mission, which may delay the precious fighter. But then can continue to finish task by remaining unmanned aerial vehicle for multiple unmanned aerial vehicles.

A single drone can only perform tasks efficiently. For example, when performing reconnaissance or battle damage assessment tasks, a single UAV has a limited field of vision, and it is easy to miss the target. At the same time, it cannot obtain all the information of the target area. Multiple UAVs can meet the requirements when flying in formation.

For the attacking and combating unmanned aerial vehicles (UCAV) that are currently developing rapidly, a single unmanned aerial vehicle cannot form a cluster advantage, and the hit rate of the attack is limited. However, multiple unmanned aerial vehicles attack from different directions at the same time, which can significantly improve the combat effectiveness. effects and success rates.

Considering aerodynamic efficiency and structural strength, formation flying can reduce the overall flight resistance. For short-distance formation flight, the aerodynamic performance equivalent to that of an aircraft with a large aspect ratio can be obtained, and at the same time, the strength of the aircraft will not be reduced, and the weight of the aircraft will not be increased. It has the advantages of good aerodynamic performance and high structural strength.

As seen in research on drone formation flying, formation flying can also improve the overall efficiency of drones. The success rate and the ability to resist emergencies are higher than those of a single aircraft (referred to as solo flight) when multiple aircraft are used to fly in a certain formation. For example, during the execution of a certain mission, if an aircraft fails and cannot continue, it can be returned for maintenance, while the rest of the aircraft still maintain formation flight according to the original plan, so that the mission can be successfully completed; the hit rate can be improved, and the For fighter jets, the formation flight of multiple aircraft can attack the same target in all directions from different angles at the same time, expand the hit range, improve lethality and hit rate, and can also attack multiple enemy targets at the same time, disrupting the enemy's air defense system , to improve the timeliness of the battle.

After the suborbital swarm aircraft enter the assembly area, they will form a coordinated formation. According to different operational requirements, the suborbital swarm aircraft formation will be controlled cooperatively, that is, it is necessary to maintain control over the formation of the suborbital swarm aircraft formation. Aircraft form a certain formation, which has the following advantages:

(1) Improve the penetration capability of the aircraft;

(2) Improve the electronic countermeasure capability of the aircraft;

(3) Improve the search ability and tracking accuracy of the aircraft for moving targets;

(4) Reduce the number of launches of aircraft;

(5) Improve the comprehensive combat effectiveness of the aircraft.

The formation control problem is a geometric problem in the relative dimension of the suborbital swarm aircraft system, which means that during the flight, the suborbital swarm aircraft group establishes and maintains a predetermined geometric shape (ie, formation maintenance), and at the same time adapts to Control techniques for environmental constraints.

Due to mission requirements, the aircrafts in the formation often need to keep their relative positions in the formation basically unchanged. The general keeping strategy is that each aircraft in the formation keeps the relative position of the agreed point in the formation unchanged, and when the agreed point is the queen bee aircraft, this keeping strategy is called follow and keep. In the process of maintaining formation, disturbances may be generated due to some disturbance factors, and the strategy of preventing conflicts is to avoid possible collisions and blocking of information exchange under disturbances.

The traditional formation strategy is generally a single-Leader centralized formation. The data volume of interactive information and the complexity of the control algorithm in the centralized control strategy are prone to conflicts, increasing the performance pressure of the missile-borne computer, and the calculation efficiency is relatively low.

Contents of the invention

The purpose of the present invention is to solve the problems of the existing centralized formation control strategy interaction information, the data volume and the complexity of the control algorithm, which are prone to conflicts, the performance pressure of the missile-borne computer is high, and the calculation efficiency is relatively low. A hierarchical cooperative control method for orbital swarm vehicles.

The hierarchical cooperative control method of the suborbital bee swarm aircraft of the present invention, the control method adopts the formation control method of Leader-Follower, and all worker bee aircraft in the aircraft group are based on the queen bee aircraft, and the center of the relative coordinate system Fixed on the queen bee aircraft, all worker bee aircraft in the aircraft group take the coordinates of the queen bee aircraft in the relative coordinate system as the control reference, and when each worker bee aircraft stabilizes near the required position, the formation required for formation is formed; all The worker bee aircraft only interacts with the queen bee aircraft and accepts the control of the queen bee aircraft;

The large formation control method composed of a large number of aircraft adopts a layered formation control method, specifically a single-Leader layered Leader-Follower formation control method. Multiple deputy queen aircraft are set in the aircraft group, and each deputy queen aircraft leads For the worker bee aircraft of a small aircraft group, the total queen bee aircraft only performs information interaction with the deputy queen bee aircraft, and each deputy queen bee aircraft performs information interaction with the worker bee aircraft in the small aircraft group.

Advantages of the present invention: the layered cooperative control method for suborbital swarm aircraft of the present invention reduces the data volume of interactive information and the complexity of control algorithms in traditional centralized control strategies, is not prone to conflicts, and reduces the burden on missile-borne computers. Performance pressure, improved computational efficiency, simple structure and inherited control precision of centralized strategy.

Description of drawings

Fig. 1 is the schematic diagram of the formation control method of single Leader hierarchical Leader-Follower described in the present invention;

Fig. 2 is the formation formation of suborbital swarm aircraft carried by single missile;

Fig. 3 is the layered formation formation of multiple missiles carrying suborbital swarm aircraft;

Fig. 4 is a schematic diagram of the aircraft in a relative coordinate system;

Figure 5 and Figure 6 are schematic diagrams of the relative positional relationship between the two aircraft in the inertial coordinate system and the relative coordinate system;

Fig. 7 is the ballistic curve simulation figure of queen bee aircraft and worker bee aircraft;

Fig. 8 is the simulation diagram of the distance between the worker bee aircraft 1 and the queen bee aircraft in three directions of the relative coordinate system;

Fig. 9 is the simulation diagram of the distance between the worker bee aircraft 2 and the queen bee aircraft in three directions of the relative coordinate system;

Fig. 10 is the simulation diagram of the spacing between the worker bee aircraft 3 and the queen bee aircraft in three directions of the relative coordinate system;

Fig. 11 is the speed curve simulation figure of queen bee aircraft and worker bee aircraft;

Figure 12 is a simulation diagram of the ballistic curve of a single Leader two-layer formation aircraft formation, where a represents the simulation curve of the total queen bee, b represents the simulation curve of the deputy queen bee 1, c represents the simulation curve of the deputy queen bee 2, d represents the simulation curve of the worker bee 1, and e represents the worker bee 2 simulation curve.

Detailed ways

Specific embodiment one: the present embodiment is described below in conjunction with Fig. 1, the hierarchical cooperative control method of the suborbital swarm aircraft described in the present embodiment, this control method adopts the formation control method of Leader-Follower, all in the aircraft group All worker bee aircraft take the queen bee aircraft as the benchmark, and fix the center of the relative coordinate system on the queen bee aircraft. All worker bee aircraft in the aircraft group take the coordinates of the queen bee aircraft in the relative coordinate system as the control reference. When each worker bee aircraft is in the required position After the nearby is stable, the formation required by the formation is formed; all worker bee aircraft only exchange information with the queen bee aircraft and accept the control of the queen bee aircraft;

The large formation control method composed of a large number of aircraft adopts a layered formation control method, specifically a single-Leader layered Leader-Follower formation control method. Multiple deputy queen aircraft are set in the aircraft group, and each deputy queen aircraft leads For the worker bee aircraft of a small aircraft group, the total queen bee aircraft only performs information interaction with the deputy queen bee aircraft, and each deputy queen bee aircraft performs information interaction with the worker bee aircraft in the small aircraft group.

In this embodiment, the Leader-Follower is the leader-follower mode.

In this embodiment, the aircraft group must maintain a certain formation, and there must be information interaction between the aircraft, which are divided according to the information interaction mode, and a hierarchical Leader-Followe formation control method is adopted.

In this embodiment, the worker bee aircraft do not transmit information to each other or even measure the relative position. Compared with the simple centralized control method, this formation method belongs to the single-point centralized control method.

In this embodiment, when forming a large cluster, the queen bee aircraft should consider the position of each worker bee aircraft, and arranging tasks requires long-term calculation and planning. For this reason, multiple deputy queen bee aircraft can be arranged in the aircraft group. Then lead a small group of worker bee aircraft, so that the total queen bee aircraft only needs to be responsible for several deputy queen bee aircraft, which avoids the confusion that may occur in the formation change process of large cluster formations.

In this embodiment, this formation method reduces the data volume of the interactive information and the complexity of the control algorithm in the traditional centralized control strategy, which is less likely to cause conflicts, reduces the performance pressure of the missile-borne computer, and improves the calculation efficiency. At the same time, the structure is simple and inherits The control accuracy of the centralized strategy is improved.

Specific embodiment two: this embodiment is further described to embodiment one, and the working process of queen bee aircraft is:

The queen bee aircraft obtains absolute position information and communicates with the battlefield command system. The queen bee aircraft conducts unified management of formation, flight, and assignment of attack tasks.

Specific implementation mode three: this implementation mode further explains implementation mode one or two, and the working process of the worker bee aircraft is:

The worker bee aircraft is equipped with a relative position measuring device, which measures the position of the worker bee aircraft relative to the queen bee aircraft or the deputy queen bee aircraft, and obtains mission information from the queen bee aircraft or the deputy queen bee aircraft.

Specific embodiment four: below in conjunction with Fig. 3 illustrate this embodiment, this embodiment is further described to embodiment one, for multi-shot missile carrying suborbital swarm aircraft, selects the formation control method of single Leader hierarchical Leader-Follower as:

The aircraft group is divided into multiple levels, and the aircraft of each small group adopts a single-leader centralized formation, and the formation formed by each sub-queen aircraft of each small group adopts a single-leader centralized formation, which is controlled by the general queen bee aircraft.

In this embodiment, as shown in Figure 2, it is a formation formation of a suborbital swarm aircraft carried by a single missile, and the single-Leader centralized formation control method is selected as follows: 2 penetration aircraft included in the aircraft group: 1 As the aircraft of the queen bee, one aircraft is used as the aircraft of the deputy queen bee; the remaining 2 aircraft contained in the aircraft group are used as the aircraft of worker bees.

Embodiment 5: In this embodiment, Embodiment 1 is further explained. The establishment process of the maintenance control model of the single-Leader layered Leader-Follower formation is as follows:

Assuming that the control system of the aircraft in the aircraft group is closed-loop stable, it can track the velocity V, the ballistic deflection angle ψ _v and the ballistic inclination angle θ, and set them as the first-order inertial links respectively, namely:

Among them: i represents the number of the aircraft; V _i represents the actual speed of the i-th aircraft; V _ci represents the expected speed of the i-th aircraft; _{θ i represents} the actual ballistic inclination of the i-th aircraft; _vi represents the actual trajectory deflection angle of the i-th aircraft; ψ _vci represents the expected trajectory deflection angle of the i-th aircraft; λ _v , λ _θ and Indicates the inertial time coefficient;

In the inertial coordinate system, the kinematic equation of the aircraft is:

Define the relative coordinate system o _r -x _r y _r z _r , the origin of the relative coordinate system is located at the center of mass of the queen bee aircraft, the o _r x _r axis points to the speed direction of the queen bee aircraft, o _r y _r is vertically upward, and the o _r z _r axis is in line with o _r y _r constitutes the right-hand coordinate system, as shown in Figure 4, the relationship between the two aircraft in the inertial coordinate system and the relative coordinate system is shown in Figure 5 and Figure 6, the relationship between the two aircraft in the inertial coordinate system and the relative coordinate system is :

in:

Then the relative position deviation between the two aircraft is:

and then:

in:

and:

but:

in:

For f ₁ expressions where:

In order to make the relative position deviation e 0, the PD control law is selected:

but:

The control amount is:

In the present invention, the simulation process of single Leader formation keeping control is: carry out simulation analysis to formation controller, get control condition as:

Expected distance between queen bee aircraft and worker bee aircraft 1:

The expected distance between the Queen Bee Aircraft and the Worker Bee Aircraft 2:

The desired distance between the Queen Bee Aircraft and the Worker Bee Aircraft 3:

The inertial time constant of the aircraft following the ballistic control system is:

_λv = 1.21

λ _θ = 2.65

The movement state of the queen bee aircraft:

1. Initial speed: V _l = 6700m/s;

2. Initial position: X _l0 = -10000m, Y _l0 = 110000m, Z _l0 = -19000m;

3. The change law of ballistic deflection angle is: Among them: the initial value of the ballistic deflection angle is: ψ _vl0 = 45°, and the amplitude is frequency is

4. The changing law of the ballistic inclination is: θ(t)=θ ₀ +A _θ sin(F _θ t), where: the initial value of the ballistic inclination is: θ _l0 = 30°, the amplitude is A _θ = 15°, the frequency F _θ = 1.5°/s;

The motion state of worker bee aircraft 1:

1. Initial speed: V _f = 6500m/s;

2. Initial ballistic inclination: θ=10°;

3. Initial trajectory deflection angle: ψ _v = 20°

4. The initial position of the worker bee aircraft is given by the initial position and relative distance of the queen bee aircraft, namely:

Bringing in the initial conditions of the queen bee aircraft, the initial position of the worker bee aircraft 1 can be obtained:

X _f10 = -55708m

Y _f10 = -5000m

Z _f10 = -15718m.

The movement state of the drone 2:

1. Initial speed: V _f = 6300m/s;

2. Initial ballistic inclination: θ=20°;

3. Initial ballistic deflection angle: ψ _v = 30°

4. The initial position of the worker bee aircraft is given by the initial position and relative distance of the queen bee aircraft, namely:

Bringing in the initial conditions of the queen bee aircraft, the initial position of the worker bee aircraft 2 can be obtained:

X _f20 = -13282m

Y _f20 = -5000m

Z _f20 =26708m.

The movement state of the drone 3:

1. Initial speed: V _f = 6300m/s;

2. Initial ballistic inclination: θ=20°;

3. Initial trajectory deflection angle: ψ _v = 20°

4. The initial position of the worker bee aircraft is given by the initial position and relative distance of the queen bee aircraft, namely:

Bringing in the initial conditions of the queen bee aircraft, the initial position of the worker bee aircraft 3 can be obtained:

X _f20 = -58990m

Y _f20 = -25000m

Z _f20 = 29990m.

The simulation results are as follows: Fig. 7 is the simulation diagram of the ballistic curve of the queen bee aircraft and the worker bee aircraft, and Fig. 8-10 are respectively the simulation diagrams of the distances between the three worker bee aircraft and the queen bee aircraft in three directions of the relative coordinate system; Fig. 11 is the simulation diagram of the distance between the queen bee aircraft and the The simulation diagram of the speed curve of the worker bee aircraft.

For the present invention, although the calculation example does not consider the engineering constraints, it is only designed from the perspective of the formation-keeping controller, but it can be seen from the simulation results that the formation-keeping control is relatively ideal, and the trajectory curves of each aircraft are relatively smooth , and the speed range is not large, which can meet the actual control requirements. Therefore, the formation control scheme is suitable for the speed range proposed by the present invention and is feasible.

In the present invention, the single Leader two-layer formation keeping control simulation process is:

For the situation where there are a large number of aircraft formations, it is very cumbersome to apply a centralized control method, and it is easy to cause confusion in formation transformation. Therefore, the aircraft group can be divided into several small formations, a queen bee aircraft is set in each formation, and then the queen bee aircraft of each formation is controlled as a new formation, so that confusion can be avoided. The formation control of the suborbital suborbital swarm aircraft targeted by the present invention is simulated below.

The formation keeping controller is simulated and analyzed, and the simulation conditions are as follows:

The expected distance between the total queen bee aircraft and the deputy queen bee aircraft 1:

Desired distance between the total queen bee aircraft and the deputy queen bee aircraft 2:

The inertial time constant of the aircraft following the ballistic control system is:

_λv = 3.21

λ _θ = 5.65.

The motion state of the total queen bee aircraft:

1. Initial speed: V _l = 6700m/s;

2. Initial position: X _l0 = 20000m, Y _l0 = 150000m, Z _l0 = 19000m;

3. The change law of ballistic deflection angle is: Among them: the initial value of the ballistic deflection angle is: ψ _vl0 = 45°, and the amplitude is frequency is

4. The changing law of the ballistic inclination is: θ(t)=θ ₀ +A _θ sin(F _θ t), where: the initial value of the ballistic inclination is: θ _l0 = 30°, the amplitude is A _θ = 15°, the frequency F _θ = 5°/s;

The motion state of vice queen aircraft 1:

1. Initial speed: V _l1 = 6500m/s;

2. Initial ballistic inclination: θ=10°;

3. Initial trajectory deflection angle: ψ _v = 20°

4. The initial position of deputy queen bee aircraft 1 is given by the initial position and relative distance of the total queen bee aircraft, namely:

Substituting the initial conditions of the total queen bee aircraft, the initial position of the deputy queen bee aircraft 1 can be obtained:

X _l10 = -33670m

Y _l10 = 152331m

Z _l10 = 16134m

The motion state of Vice Queen Aircraft 2:

1. Initial speed: V _l2 = 6300m/s;

2. Initial ballistic inclination: θ=20°;

3. Initial ballistic deflection angle: ψ _v = 30°

4. The initial position of the secondary queen bee aircraft 2 is given by the initial position and the relative distance of the total queen bee aircraft, namely:

Substituting the initial conditions of the total queen bee aircraft, the initial position of the deputy queen bee aircraft 2 can be obtained:

X _l20 = 22890m

Y _l20 = 152338m

Z _l20 = 72695m

Simulation conditions of the formation controller where the vice queen aircraft 1 is located:

The expected distance between the deputy queen bee aircraft 1 and the worker bee aircraft 1:

Expected distance between vice queen aircraft 1 and worker bee aircraft 2:

The inertial time constant of the aircraft following the ballistic control system is:

_λv = 3.21

λ _θ = 5.65

The motion state of worker bee aircraft 1:

1. Initial speed: V _f = 6500m/s;

2. Initial ballistic inclination: θ=10°;

3. Initial ballistic deflection angle: ψ _v = 20°

4. The initial position of worker bee aircraft 1 is given by the initial position and relative distance of deputy queen bee aircraft 1, namely:

Substituting the initial conditions of the deputy queen bee aircraft 1, the initial position of the worker bee aircraft 1 can be obtained:

X _f10 = -78379m

Y _f10 = 166813m

Z _f10 = -10146m

The movement state of the drone 2:

1. Initial speed: V _f = 6300m/s;

2. Initial ballistic inclination: θ=20°;

3. Initial ballistic deflection angle: ψ _v = 30°

4. The initial position of worker bee aircraft 2 is given by the initial position and relative distance of deputy queen bee aircraft 1, namely:

Substituting the initial conditions of the deputy queen bee aircraft 1, the initial position of the worker bee aircraft 2 can be obtained:

X _f20 = -51010m

Y _f20 = 166820m

Z _f20 = 65018m

The simulation results are shown in Figure 12. It can be seen from the simulation results that the first layer (the queen bee aircraft layer) has a relatively ideal formation maintenance effect, the position between the deputy queen bee aircraft and the total queen bee aircraft can be kept very stable near the expected value, and the ballistic curves of the three queen bee aircraft It is relatively smooth and easy to realize flight control; the second layer (worker bee aircraft layer), formation maintenance is also relatively ideal, the position between the two worker bee aircraft and the deputy queen bee aircraft 1 is kept near the expected value, and the deviation is controlled within the allowable range. Ballistic curve is smooth. The simulation results prove that the single-leader layered formation control has a good effect on the control of large cluster formations, and formation maintenance is easy to implement and feasible.

Claims (5)

1. sub- track bee colony aircraft layer-stepping cooperative control method, which is characterized in that

The control method uses the approach to formation control of Leader-Follower, all worker bee aircraft in aircraft group All on the basis of queen bee aircraft, the center of relative coordinate system is fixed on queen bee aircraft, all works in aircraft group Bee aircraft is with coordinate of the queen bee aircraft in relative coordinate system benchmark in order to control, when each worker bee aircraft is in desired position Required formation of forming into columns is formed after nearby stablizing；All worker bee aircraft are only handed over queen bee aircraft into row information Mutually, receive the control of queen bee aircraft；

A large amount of aircraft form big formation control method using layer-stepping approach to formation control, specially list Leader layer-steppings The approach to formation control of Leader-Follower sets multiple secondary queen bee aircraft, each pair queen bee flight in aircraft group Device leads the worker bee aircraft of a bug group, and total queen bee aircraft only carries out information exchange with secondary queen bee aircraft, Each pair queen bee aircraft carries out information exchange with the worker bee aircraft in the bug group of place.

2. Asia track bee colony aircraft layer-stepping cooperative control method according to claim 1, which is characterized in that queen bee flies The course of work of row device is：

Queen bee aircraft obtains absolute location information, and is communicated with Battlefield Command System, and queen bee aircraft is to forming into columns, flying Row, distribution strike mission are managed collectively.

3. Asia track bee colony aircraft layer-stepping cooperative control method according to claim 1 or 2, which is characterized in that work The course of work of bee aircraft is：

Worker bee aircraft is equipped with relative position measurement device, and relative position measurement device measures worker bee aircraft and flies relative to queen bee The position of row device or secondary queen bee aircraft, and obtain mission bit stream from queen bee aircraft or secondary queen bee aircraft.

4. Asia track bee colony aircraft layer-stepping cooperative control method according to claim 1, which is characterized in that for more Send out guided missile and carry sub- track bee colony aircraft, select the approach to formation control of list Leader layer-steppings Leader-Follower for：

Aircraft group is divided into many levels, the aircraft of each groupuscule uses list Leader centralization formations, each groupuscule The formation that secondary queen bee aircraft is formed uses list Leader centralization formations, by total queen bee flying vehicles control.

5. Asia track bee colony aircraft layer-stepping cooperative control method according to claim 1, which is characterized in that single The holding Controlling model of Leader layer-stepping Leader-Follower formations establishes process and is：

It, being capable of tracking velocity V, trajectory deflection angle ψ if the flight control in aircraft group is closed-loop stabilization_vAnd trajectory Inclination angle theta, and set it respectively as first order inertial loop, i.e.,：

Wherein：I represents aircraft number；V_iRepresent i-th piece of aerocraft real speed；V_ciRepresent i-th piece of aircraft desired speed； θ_iRepresent i-th piece of aerocraft real trajectory tilt angle；θ_ciRepresent i-th piece of aircraft desired trajectory inclination angle；ψ_viRepresent i-th piece of aircraft Actual trajectory drift angle；ψ_vciRepresent i-th piece of aircraft desired trajectory drift angle；λ_v、λ_θWithRepresent inertia time coefficient；

Under inertial coodinate system, the kinematical equation of aircraft is：

Define relative coordinate system o_r-x_ry_rz_r, relative coordinate system origin is located at queen bee aircraft barycenter, o_rx_rAxis is directed toward queen bee flight The directional velocity of device, o_ry_rStraight up, o_rz_rAxis and o_ry_rRight-handed coordinate system is formed, two pieces of aircraft are in inertial coodinate system and phase Relationship to coordinate system is：

Wherein：

Then the relative position deviation between two pieces of aircraft is：

And then：

Wherein：

And：

Then：

Wherein：

For f₁Expression formula, wherein：

In order to which relative position deviation e is made to be 0, PD control rule is selected：

Then：

Controlled quentity controlled variable is：