CN113359838A

CN113359838A - Multi-UAV cooperative flight control system and method

Info

Publication number: CN113359838A
Application number: CN202110707200.0A
Authority: CN
Inventors: 李向阳; 张志利; 杜文正; 高钦和; 刘志浩; 汪潇
Original assignee: Rocket Force University of Engineering of PLA
Current assignee: Rocket Force University of Engineering of PLA
Priority date: 2021-06-25
Filing date: 2021-06-25
Publication date: 2021-09-07
Anticipated expiration: 2041-06-25
Also published as: CN113359838B

Abstract

The invention discloses a multi-UAV cooperative flight control system and method, comprising a plurality of unmanned aerial vehicles UAV and a multi-unmanned aerial vehicle system MUAVS composed of a plurality of unmanned aerial vehicles; the MUAVS is divided into different hierarchical structures, and the In different levels, multiple UAVs are formed into corresponding groups; one UAV in the group is used as the control node UAV; all UAVs in the group perform tasks together, and build a MUAVS distributed architecture based on a multi-layer structure; The data structure of the global state control information model (CIM_MUAVS) is stored in each UAV in the MUAVS distributed architecture. When any UAV causes the MUAVS communication network to become partially connected, the multi-layer distributed MUAVS is triggered. The intelligent self-organizing network mechanism ensures that the UAV itself is replaced in time and network communication is carried out after the failure or damage of the UAV itself, or the automatic search network is carried out in the state of partial network connectivity to make the MUAVS connect normally, and ensure the smooth completion of each UAV flight mission. .

Description

Multi-UAV cooperative flight control system and method

Technical Field

The invention belongs to the technical field of unmanned aerial vehicle control, and particularly relates to a multi-UAV cooperative flight control system and method.

Background

Unmanned Aerial Vehicles (UAVs) have the characteristics of zero casualties, strong operational capability, low operation cost and the like, have the advantages of shape size, flight speed, maneuverability and the like, and can replace the problem that an Unmanned Aerial Vehicle (UAV) performs high-difficulty operational tasks such as boring, severe, dangerous, deep and the like in various fields such as sea, land, air and the like, so that the UAV gradually becomes important weaponry in modern high-technology local war. In the face of increasingly diverse complex tasks and highly complex battlefield environments, it is difficult for a single UAV to independently and efficiently complete the tedious and complex combat tasks. However, a plurality of UAVs are used to form a Multi-UAV System (MUAVS) for cooperative combat, which can improve the success probability of tasks through dynamic allocation and scheduling inside the System, and improve the quality and capability of task execution through resource sharing and mutual cooperation among members. Therefore, the realization of high information sharing, high task integration and high resource optimization becomes an important development trend of future battle modes.

However, during the execution of actual combat missions, MUAVS usually adopts a distributed architecture, and the task environment is complex, the required battlefield elements are numerous, and the corresponding information communication and data calculation are also complex. If a scientific and efficient cooperative control method is lacked, the UAVs in the distributed MUAVS are mutually contradictory and conflicted in the aspects of time, space and tasks, so that the established tasks cannot be smoothly completed. In addition, for various disturbances and uncertainties of the outside, especially when each UAV can only obtain limited local information, the MUAVS system needs a decision space with high complexity and a decision capability with strong real-time performance to meet the reliability and robustness of cooperative control under the limited communication condition, and ensure optimal task allocation, formation control, trajectory planning, collision avoidance, and the like. Therefore, the cooperative control of the distributed MUAVS becomes a hotspot and difficult problem in the current application research field.

Aiming at the problem of cooperative flight control of multiple UAVs under the condition of local information communication, the invention provides the schemes of system architecture, network communication, cooperative formation, flight path planning, danger avoidance, consistency realization and the like of the distributed MUAVS, and realizes efficient and reliable cooperative control of the distributed MUAVS.

Disclosure of Invention

The invention aims to solve the problems and provides a multi-UAV cooperative flight control system which has the advantages of efficient and reliable cooperative control action on distributed MUAVS.

In order to achieve the purpose, the invention provides the following technical scheme: a multi-UAV cooperative flight control system comprises a plurality of UAVs and a multi-UAV system MUAVS consisting of a plurality of UAVs; dividing the MUAVS into different hierarchies, and forming a plurality of UAVs into corresponding groups in different hierarchies; using one UAV in a group as a control node UAV, wherein the control node UAV is in data communication with the UAV in the group or the control node UAV in other groups; all UAVs in the group execute tasks together, and a MUAVS distributed system architecture based on a multilayer structure is constructed; the data structure of a global state control information model CIM _ MUAVS is stored in each UAV in the MUAVS distributed system architecture with the multilayer structure, and when any UAV causes the MUAVS communication network to become a partially communicated state, the intelligent ad hoc network mechanism of the multilayer distributed MUAVS is triggered and the MUAVS is normally communicated.

Compared with the prior art, the invention has the following beneficial effects:

1. the invention establishes a multi-UAV distributed cooperative control system structure based on a multilayer structure through a MUAVS distributed system architecture of the multilayer structure, for each UAV, the information of local (or all, according to the number and network capacity of the UAVs) nodes, network topology characteristic information and task environment characteristic information in the MUAVS can be acquired through an autonomous cooperative control support network and an information acquisition system, then the information is analyzed and processed through a formation decision and control system, node cost, grouping cost and group cost are balanced according to a formation principle and an efficiency index, so that task planning/target allocation, cooperative formation control, collision avoidance decision, cooperative track planning and threat avoidance control are carried out, formation guide and formation optimization indexes of the multi-UAV cooperative control are formed, and finally the multi-UAV cooperative formation flight control system and the node flight control system are passed, and finishing the MUAVS cooperative flight control according to the formation guidance requirement and the collision avoidance strategy.

2. According to the invention, by setting the multi-layer distributed MUAVS intelligent ad hoc network mechanism, when internal communication of UAV groups is blocked or fails due to any UAV, the multi-layer distributed MUAVS intelligent ad hoc network mechanism is triggered, and the current UAV uses the time step length T_sAnd k (k is a positive integer) continuously and repeatedly sending network connection requests to a plurality of UAV nodes in the group, and selecting the UAV nodes meeting the communication requirement in the shortest time to connect so as to ensure that the MUAVS is normally communicated, thereby ensuring that the coordinated flight control of the MUAVS is successfully completed.

3. According to the invention, by setting the multi-layer distributed MUAVS intelligent ad hoc network mechanism, when any control node UAV is blocked or fails in communication with other UAV groups due to reasons, the multi-layer distributed MUAVS intelligent ad hoc network mechanism is triggered, and the control node UAV controls the node UAV according to the time step length T_sAnd/l (l is a positive integer not greater than k) continuously and repeatedly sends network connection requests to other UAV packet control nodes UAVs, and selects the control node UAV meeting the communication requirement to connect in the shortest time, so that MUAVS is normally communicated, the control information of the global state can be completely stored and updated consistently, and the flight mission can be completed smoothly.

4. According to the invention, by setting a multilayer distributed MUAVS intelligent ad hoc network mechanism, in each UAV group, when any non-communication control node UAV has a function loss due to self failure and damage, the intelligent ad hoc network mechanism of the multilayer distributed MUAVS is triggered, and when the task priority of the non-communication control node UAV is lowest, the current UAV group state control information vector group does not update the non-communication control node UAV any more; when the task priority level of the non-communication control node UAV is not the lowest, selecting the UAV with lower task priority level in the current packet or other packets and the minimum row number in the CIM _ MUAVS data structure, and exchanging the task target information of the UAV with lower task priority level and the minimum row number in the CIM _ MUAVS data structure with the task target information of the non-communication control node UAV, so that MUAVS is normally communicated, and the smooth completion of the flight task is ensured.

5. According to the invention, by setting a multi-layer distributed MUAVS intelligent ad hoc network mechanism, in each UAV group, when the communication control node UAV has lost functions due to self failure and damage, the multi-layer distributed MUAVS intelligent ad hoc network mechanism is triggered, and the UAV with lower task priority and the minimum row number in a CIM _ MUAVS data structure is selected in the current group and is used as a new control node UAV of the current UAV group, so that the MUAVS is normally communicated; and when the UAVs with lower task priority levels and the minimum row number in the CIM _ MUAVS data structure exist in other groups, the UAVs with lower task priority levels and the minimum row number in the CIM _ MUAVS data structure acquire the priority task target information stored by the UAV group new communication control node UAVs and exchange the priority task target information with the original task target information of the UAVs to establish a new control node UAV, so that the completion of the cooperative flight control of MUAVS is ensured to be successfully completed.

Drawings

FIG. 1 is a schematic diagram of a MUAVS distributed architecture based on a multi-layer structure according to the present invention;

FIG. 2 is a schematic diagram of a multi-UAV distributed cooperative control architecture based on a multi-layer structure according to the present invention;

FIG. 3 is a schematic diagram of a topology model of a multi-UAV communication network in a partially connected state according to the present invention;

FIG. 4 is a schematic diagram of a topology of a MUAVS communication network under the multi-layer distributed architecture of the present invention;

fig. 5 is a flowchart of the intelligent ad hoc network mechanism for triggering multi-layer distributed MUAVS when any UAV causes blocked or failed intra-UAV packet communication;

fig. 6 is a flowchart of the intelligent ad hoc network mechanism for triggering multi-layer distributed MUAVS when any UAV packet communication control node is blocked or disabled from communicating with other UAV packets due to some reason;

fig. 7 is a flowchart of an intelligent ad hoc network mechanism for triggering multi-layer distributed MUAVS when a non-communication control node UAV fails or is damaged to cause a loss of function;

fig. 8 is a flowchart of an intelligent ad hoc network mechanism for triggering the multi-layer distributed MUAVS when the communication control node UAV fails or is damaged to cause a loss of function.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example 1

As shown in fig. 1 to 4, the present invention provides a multi-UAV cooperative flight control system, which includes a plurality of unmanned UAVs and a multi-UAV system MUAVS composed of a plurality of drones; each UAV can be regarded as an intelligent node and has independent information processing and information interaction capabilities; a plurality of unmanned aerial vehicles form a multi-unmanned aerial vehicle system MUAVS, and a plurality of UAVs can communicate with each other. The cooperative control architecture of the MUAVS mainly comprises a centralized structure, a distributed structure, a hierarchical structure and the like. Although the centralized structure has a relatively stable organization form and a cooperative mechanism, the complexity of problem solving cannot be reduced, and the requirement of a control decision process on the integrity and the dependency of information is high. The multi-UAV cooperative control method adopting a distributed and hierarchical structure is the mainstream research direction at present. In order to realize cooperative control of multiple UAVs, it is necessary to establish a multi-UAV distributed cooperative control architecture based on a multi-layer structure, and the multi-UAV distributed cooperative control architecture of the present invention is constructed according to the following steps, as shown in fig. 1, specifically:

firstly, a multi-unmanned aerial vehicle system MUAVS consisting of a plurality of unmanned aerial vehicles;

then, dividing MUAVS into different hierarchical structures, and forming a plurality of UAVs into corresponding groups in different hierarchies;

taking one UAV in the group as a control node UAV, and enabling the control node UAV to be in data communication with the UAV in the group or the UAVs in other groups;

all UAVs in the group execute tasks together, and a MUAVS distributed system architecture based on a multilayer structure is constructed;

as shown in fig. 1, the control node group shown in the first layer is composed of control nodes in each group in the second layer, and the control node UAV performs data communication with other UAVs in the group, and simultaneously performs data communication with the control nodes UAV of other groups, so as to ensure the integrity of the entire MUAVS communication.

As shown in fig. 2, the multi-UAV autonomous cooperative control support network architecture is based on a MUAVS distributed architecture of a multi-layer structure. According to the number of UAVs and the network capacity, for each UAV, each UAV needs to acquire information of local or all UAVs in the MUAVS, network topology characteristic information, and task environment characteristic information through an autonomous cooperative control support network and an information acquisition system. And analyzing and processing the information through a formation decision and control system, balancing node cost, grouping cost and group cost according to a formation principle and an efficiency index, so as to perform task planning/target allocation, cooperative formation control, collision avoidance decision, cooperative track planning and threat avoidance control, form formation guide and formation optimization indexes of multi-UAV cooperative control, and finally complete MUAVS cooperative flight control according to formation guide requirements and collision avoidance strategies through a cooperative formation flight control system and a node flight control system.

The key of the multi-UAV cooperative control lies in effective and reliable information interaction communication, but in an actual strong-confrontation environment, conditions are often harsh, and the characteristics of limited bandwidth, high packet loss rate, time delay, strong confrontation and the like exist, which usually causes the communication network topology and the communication state to change, so that a plurality of UAVs in the MUAVS are in a partial communication state. Meanwhile, the high-speed movement of the UAVs and the possible faults, damages and the like enable the cooperative control of the UAVs to be carried out only in a partially communicated network environment with delay. The direct consequence of this is that the state information between multiple UAVs is inconsistent or incomplete, increasing the difficulty and complexity of the problem of autonomous cooperative control of multiple UAVs.

To describe the partially connected state of MUAVS, a directed graph is used to build a communication network topology model between multiple UAV nodes in MUAVS (taking 3 UAV nodes as an example), as shown in fig. 3. It can be seen that communications among UAVs in a), b) and c) in fig. 3 are all in a partially communicated state, and when a certain UAV node fails or is damaged, internal communication failure and final task execution failure of MUAVS are easily caused.

As shown in fig. 4, for MUAVS adopting a multi-layer distributed architecture, the communication connection relationship between UAVs can be described as the network topology shown in fig. 4, and the communication relationship between UAVs in the MUAVS distributed architecture of the multi-layer structure is the network topology; the network topology structure specifically comprises: UAV₁、UAV₂、…、UAV_i、…、UAV_mA respective communication control node UAV that is a first layer communication network and that is grouped into a plurality of UAVs in a second layer communication network; namely: UAV1 as UAV1, UAV12, …, UAV1j, …, UAV_1n1Grouped communication control nodes UAV, UAV2 as UAV2, UAV22, …, UAV2j, …, UAV_2n2Grouped communication control nodes UAVs UAVi as UAVi, UAVi2, …, UAVij, …, UAVs_iniGrouped communication control nodes UAVms, UAVm as UAVm, UAVm2, …, UAVmj, …, UAV_mnmA grouped communication control node UAV; and according to the composition scale of the MUAVS and the total number of the UAVs, the other UAVs in each group of the second-layer communication network serve as communication control nodes UAVs of a plurality of UAV groups in the next-layer communication network.

Under normal working conditions, in the communication network topology structure shown in fig. 4, UAVs which are compiled to different levels, different groups and communication control nodes thereof can directly or indirectly communicate information. However, once the UAV serving as a communication control node has a fault or a damage, or has problems of severely limited bandwidth, extremely high packet loss rate, excessively long time delay, and the like due to a communication network, the topology of the MUAVS communication network may be changed into a partially connected state. In order to avoid the loss of control or task failure state of the MUAVS due to local information communication, an intelligent ad hoc network mechanism needs to be established to ensure that the UAV serving as a communication control node can be replaced in time for networking communication after self failure and damage, or automatic search networking is performed in a network communication state with severely limited bandwidth, extremely high packet loss rate and overlong time delay.

In the process of executing the task, the required state control information of the plurality of UAVs includes the current spatial position, the flight attitude, the flight speed/acceleration, the flight duration, the assumed task, the target point position, the task requirement, the task execution state and the like. The establishment process of the global state control information model CIM _ MUAVS comprises the following steps: for any UAVi node in MUAVS (1 ≦ i ≦ n, n is the total number of UAVs in MUAVS), its state control information model CIM _ UAVi (t) at time t is described as the combination of UAVi flight state information and task target information:

CIM_UAV_i(t)＝[P_i(t),A_i(t),V_i(t),W_i(t),T_i(t),M_i(t),D_i(t),R_i(t),S_i(t)]

wherein, P_i(t)、A_i(t)、V_i(t)、W_i(T) and T_i(t) is UAV_iFlight status information of;

M_i(t)、D_i(t)、R_i(t) and S_i(t) is UAV_iTask target information of (1);

P_i(t) is UAV_iThe air position coordinate at the time t adopts a geodetic coordinate system and comprises longitude, latitude and elevation information, namely P_i(t)＝[x_i(t),y_i(t),z_i(t)]；

A_i(t) is UAV_iThe attitude of the flight in the air at time t, including pitch, roll and yaw angle information, i.e. A_i(t)＝[p_i(t),r_i(t),h_i(t)]；

V_i(t) is UAV_iInformation of the flight velocity vector at time t, V_i(t)＝[vx_i(t),vy_i(t),vz_i(t)]The unit is m/s;

W_i(t) is UAV_iFlight acceleration vector information at time t, W_i(t)＝[wx_i(t),wy_i(t),wz_i(t)]In the unit of m/s²；

T_i(t) is UAV_iThe accumulated flight time at the time t is s;

M_i(t) is UAV_iThe specific task information assumed At time t is a sequence of instruction information, such as snooping (Re/reconciletre), probing (De/Detect), Attack (At/attach), evaluation (Ev/evaluation), and the like.

D_i(t) is UAV_iThe azimuth information of the target point corresponding to the task born at the moment t is described by longitude, latitude and elevation of a geodetic coordinate system, namely D_i(t)＝[dx_i(t),dy_i(t),dz_i(t)]；

R_i(t) is UAV_iThe task M assumed at time t_iThe priority level and the execution requirement information corresponding to (t) are instruction information sequences, the task priority level is represented by 1,2,3 and … to be gradually reduced, and the task execution requirement is described by Mandatory (Ma/Mandatory) and adjustable (Ad/Adjust).

S_i(t) is UAV_iThe task M assumed at time t_iAnd (t) corresponding execution state information comprises different states of execution (E/Execute), completion (F/Finish), cancellation (C/Cancel), Release (R/Release) and the like.

Then at time t, the global state control information model CIM _ MUAVS for the entire MUAVS is described as:

in view of the fact that existing UAV hardware has strong processing, storage and communication performance, the data structure of CIM _ MUAVS is stored in each UAV of MUAVS, but for storage and update of specific state control information vector in CIM _ MUAVS, corresponding division and dynamic adjustment are performed according to different division of work of each UAV. For any UAV grouping shown in fig. 5, each UAV is responsible for storing and updating its own state control information vector, and is in a specific step T_sUAV transmitted to corresponding communication control node₁、UAV₂、…、UAV_i、…、UAV_mThe UAV state control information vectors are stored and updated to form state control information vector groups of the respective UAV groups, and the state control information vector groups are distributed to each UAV node in the groups to store and update other UAV state control information vectors outside the UAV node, so that the state control information vectors of a plurality of UAVs in the groups are ensured to be stored and updated in a specific step length T_sAnd performing synchronous updating. At the same time, each packet communication control node UAV₁、UAV₂、…、UAV_i、…、UAV_mAs a first layer network node shown in fig. 2, it needs to be at a certain time interval T_JAnd step length T_sAnd performing mutual storage backup and consistent update on the state control information vector groups of the respective groups, thereby ensuring that the global state control information can realize complete storage and consistent update under the condition that the MUAVS is normally communicated.

Specifically, a data structure of a global state control information model CIM _ MUAVS is stored in each UAV in a MUAVS distributed system architecture of a multilayer structure, when any UAV causes a MUAVS communication network to be changed into a partially communicated state due to reasons, an intelligent ad hoc network mechanism of the multilayer distributed MUAVS is triggered and the MUAVS is enabled to be normally communicated, so that task planning/target allocation, cooperative formation control, collision avoidance decision, cooperative track planning and threat avoidance control are carried out, formation guide and formation optimization indexes of multi-UAV cooperative control are formed, and finally the cooperative flight control of the MUAVS is completed through a cooperative formation flight control system and a node flight control system according to formation guide requirements and collision avoidance strategies.

Example 2

Due to the problems of serious bandwidth limitation, extremely high packet loss rate, overlong time delay and the like caused by the communication network, the topology structure of the MUAVS communication network is changed into a partial communication state. In order to avoid the loss of control or task failure state of MUAVS due to local information communication, an intelligent ad hoc network mechanism of multi-layer distributed MUAVS needs to be established; specifically, when any UAV causes blocked or failed UAV packet internal communication due to reasons, the intelligent ad hoc network mechanism of the multi-layer distributed MUAVS is triggered, and the current UAV uses the time step T_sMultiple UAV sections within/k (k is a positive integer) consecutive multi-directional groupingsAnd starting a network connection request, and selecting UAV nodes meeting the communication requirement in the shortest time to connect so that MUAVS is normally communicated.

Specifically, as shown in fig. 5, the following steps are performed:

s1: in each UAV group, when any UAV causes the internal communication of the UAV group to be blocked or disabled due to reasons, the current UAV can be in a time step T_sAnd k (k is a positive integer) continuously initiating network connection requests to a plurality of UAV nodes in the group for a plurality of times, and selecting the UAV nodes meeting the communication requirements for connection in the shortest time.

S2: once the connection is successful, the UAVs recover the full communication state in a grouping mode, and the current UAV can acquire the next update timestamp t + delta t of the state control information of the UAVs in time_s(T_sPositive integer multiple of).

Further, determining the current UAV state control information and target completion, and taking further action:

s201: if the current UAV state control information is closer to the target completion, then at t + Δ t_sThe state control information vector stored in the packet communication control node is updated at a moment, and is distributed and stored in the packet.

S202: if the current UAV state control information is more off target completion, then at t + Δ t_sAnd acquiring the state control information vector stored in the packet communication control node at any moment, recovering the state control information vector (except the air position coordinate information), and updating, distributing and storing the subsequent state control information on the basis of the recovered state control information vector.

According to the steps, the complete storage and the consistent updating of the global state control information can be guaranteed, so that the MUAVS is normally communicated, and further the smooth completion of the cooperative flight control of the MUAVS is guaranteed.

Example 3

Due to the problems of serious bandwidth limitation, extremely high packet loss rate, overlong time delay and the like caused by the communication network, the topology structure of the MUAVS communication network is changed into a partial communication state. In order to avoid loss of control or task failure of MUAVS due to local information communication, it is necessary to avoid the MUAVS from losing control or task failureEstablishing an intelligent ad hoc network mechanism of the multi-layer distributed MUAVS; specifically, when any control node UAV is blocked or fails in communication with other UAV groups due to reasons, the intelligent ad hoc network mechanism of the multi-layer distributed MUAVS is triggered, and the control node UAV controls the UAV according to the time step T_sAnd/l (l is a positive integer not greater than k) continuously and repeatedly initiating network connection requests to other UAV group control nodes UAVs, and selecting the control node UAV meeting the communication requirement for connection in the shortest time so that MUAVS is normally communicated. Specifically, as shown in fig. 6, the following steps are performed:

s3: when any UAV group communication control node is blocked or disabled from communicating with other UAV groups due to reasons, updating and storing of state control information of each UAV in the group are not affected normally, and the UAV of the current group communication control node is in a time step T_sAnd/l (l is a positive integer not greater than k) continuously and repeatedly initiating network connection requests to other UAV packet communication control nodes UAV, and selecting the UAV nodes meeting the communication requirements for connection in the shortest time.

S4: once the connection is successful, the whole MUAVS restores the full-communication state, and the current UAV packet communication control node can acquire the next backup and update time stamp t + delta t of the respective packet state control information vector group in time_J(T_JPositive integer multiple of).

Further, determining each grouping state control information vector group and task completion condition stored by the current UAV grouping communication control node UAV, and taking further action:

s401: if each group of grouped state control information vectors stored by the current UAV grouped communication control node UAV is closer to the completion of the task, the current UAV grouped communication control node UAV is at t + delta t_JTime of day in time steps T_sAnd performing mutual storage backup and consistent updating on the state control information vector groups of the respective groups.

S402: if each group of the grouped state control information vectors stored by the current UAV grouped communication control node deviates from the task completion, the current UAV grouped communication control node is at t + delta t_JTime of day in time steps T_sObtaining state control information vectors stored at other UAV packet communication control nodes UAVsAnd recovering the UAV grouping state control information vector group stored by the UAV grouping state control information vector group (except the aerial position coordinate information).

S403: after the state control information vector group of the UAV group is recovered to the optimal state, the next updating time t + delta t of the state control information in the group is_sThe packet communication control node UAV distributes the current packet state control information vector group to the other UAVs in the group, recovers the state control information vectors of the other UAVs (except for the aerial position coordinate information), and updates, distributes and stores the subsequent state control information based on the recovered state control information vectors.

Example 4

Due to the problems of serious bandwidth limitation, extremely high packet loss rate, overlong time delay and the like caused by the communication network, the topology structure of the MUAVS communication network is changed into a partial communication state. In order to avoid the loss of control or task failure state of MUAVS due to local information communication, an intelligent ad hoc network mechanism of multi-layer distributed MUAVS needs to be established; specifically, in each UAV group, when any non-communication control node UAV has a function loss due to self failure and damage, an intelligent ad hoc network mechanism of the multi-layer distributed MUAVS is triggered, and when the priority level of the UAV task of the non-communication control node is lowest, the current UAV group state control information vector group does not update the non-communication control node UAV any more; when the task priority level of the non-communication control node UAV is not the lowest, selecting the UAV with lower task priority level in the current packet or other packets and the minimum number of rows in the CIM _ MUAVS data structure, and interchanging the task target information of the UAV with lower task priority level and the minimum number of rows in the CIM _ MUAVS data structure with the task target information of the non-communication control node UAV so that MUAVS is normally communicated. Specifically, as shown in fig. 7, the following steps are performed:

s5: in each UAV group, when a non-communications control node UAV fails to function due to its own malfunction or damage, all UAVs in the group are in a full-connectivity state, and as the group communications control node UAV backups and stores a state control information vector group of each UAV group, after any UAV fails, the current UAV group is still in a full-connectivity state, but task execution of the failed UAV will be suspended.

Further, according to the task priority level, taking the following actions:

s501: if the task priority level is lowest in the current UAV group, the next updating time t + delta t of the state control information is carried out_sThe other UAVs keep state control information of the UAVs and do not change, the current UAV group state control information vector group does not update the failed UAV any more, and only the row vector corresponding to the existing UAV is updated and stored and distributed; meanwhile, the current UAV grouping communication control node searches whether a UAV with a lower task priority level exists in other groups or not by using other UAV grouping state control information vector groups stored and backed up by the current UAV grouping communication control node.

S502: if there is a UAV in the current UAV group that is lower than its task priority, then at t + Δ t_sAt any moment, the UAV with lower task priority and the minimum row number in the CIM _ MUAVS data structure can timely acquire task target information in the state control information vector of the invalid UAV, exchange part of the original task target information of the UAV, update the information in the current UAV grouping state control information vector group, and store the information in the state control information vector group of the current UAV grouping without updating after the original task target information replaced by the UAV is combined with the flight state information of the invalid UAV; meanwhile, the current UAV grouping communication control node searches whether a UAV with a lower task priority level exists in other groups or not by using other UAV grouping state control information vector groups stored and backed up by the current UAV grouping communication control node.

S503: after the processing of the step S501 or S502, if no UAV with lower task priority level exists in other UAV groups, keeping the existing processing result; if UAVs with lower task priority levels exist in other groups, controlling the next backup and update time t + delta t of the information vector group at each UAV group state_JTask priority lower in other UAV packets and in CIM _ MUAVSAnd the UAV with the minimum row number in the data structure can timely acquire the priority task target information stored by the current UAV grouped communication control node UAV, exchange the priority task target information with the original task target information of the UAV, update the state control information vector group of the UAV group where the UAV is positioned, and store the replaced original task target information and the flight state information of the invalid UAV into the state control information vector group of the current UAV group without updating after combining.

Example 5

Due to the problems of serious bandwidth limitation, extremely high packet loss rate, overlong time delay and the like caused by the communication network, the topology structure of the MUAVS communication network is changed into a partial communication state. In order to avoid the loss of control or task failure state of MUAVS due to local information communication, an intelligent ad hoc network mechanism of multi-layer distributed MUAVS needs to be established; specifically, in each UAV group, when the communication control node UAV has lost functions due to self failure and damage, triggering an intelligent ad hoc network mechanism of the multilayer distributed MUAVS, selecting the UAV with lower task priority and the minimum row number in a CIM _ MUAVS data structure in the current group and using the UAV as a new control node UAV of the current UAV group, so that the MUAVS is normally communicated; when the UAVs with lower task priority levels and the minimum row number in the CIM _ MUAVS data structure exist in other groups, the UAVs with lower task priority levels and the minimum row number in the CIM _ MUAVS data structure acquire the priority task target information stored by the UAV group new communication control node UAV and exchange the priority task target information with the original task target information of the UAVs. Specifically, as shown in fig. 8, the following steps are performed:

s6: in each UAV group, when the communication control node UAV has a function loss due to self fault and damage, the task execution is stopped, the inside of the current UAV group or the positions between the current UAV group and other UAV groups are changed into a partial communication state, but a plurality of UAVs in the group still store a group state control information vector group updated recently; according to the stored UAV grouping state control information vector group, a new communication control node UAV is established according to the following steps:

s601: at the next update time t + Δ t of the current UAV packet internal state control information_sAnd searching and selecting the UAV with lower task priority level and the minimum row number in the CIM _ MUAVS data structure as a new communication control node UAV of the current UAV group by the other UAVs according to the stored UAV group state control information vector group.

S602: and the new communication control node UAV is formed to timely acquire task target information in the state control information vector of the invalid communication control node UAV, exchange the original task target information part of the new communication control node UAV, update the original task target information in the current UAV grouped state control information vector group, and store the original task target information which is replaced into the current UAV grouped state control information vector group without updating after combining the original task target information with the flight state information of the invalid communication control node UAV.

S603: new communication control node UAV of current UAV group by time step T_sAnd/l (l is a positive integer not greater than k) continuously and repeatedly initiating network connection requests to other UAV packet communication control nodes UAV, and selecting the UAV nodes meeting the communication requirements for connection in the shortest time.

S604: once the connection is successful, the existing UAV of the MUAVS recovers the full-communication state, and the current UAV packet communication control node can timely acquire the next backup and update time stamp t + delta t of the respective packet state control information vector group_JAnd then updating or recovering the state control information vector groups of the respective groups according to the implementation method of S401-S403, and performing mutual storage backup.

S605: if no UAV with task priority level lower than that of the invalid communication control node UAV in the current UAV group exists in other UAV groups, keeping the existing processing result; if UAVs with lower task priority levels exist in other groups, the UAV group state control information vector group is backed up and updated again at the time t + delta t_J+T_JUAVs with lower task priority among other UAV groups and the smallest number of rows in the CIM _ MUAVS data structure will doThe method comprises the steps of timely obtaining priority task target information stored by a current UAV grouping new communication control node UAV, exchanging the priority task target information with original task target information of the UAV grouping, updating a state control information vector group of the UAV grouping where the UAV is located, storing the replaced original task target information into the state control information vector group of the current UAV grouping after combining with flight state information of a failure communication control node UAV, not updating, ensuring that the global state control information can be completely stored and consistently updated, enabling MUAVS to be normally communicated, and further ensuring that coordinated flight control of MUAVS is successfully completed.

According to the invention, by establishing a multi-layer structure-based MUAVS distributed system architecture and an intelligent ad hoc network mechanism of the multi-layer distributed MUAVS, when the topological structure of the MUAVS communication network is changed into a partially communicated state due to the problems of serious limitation of bandwidth, extremely high packet loss rate, overlong time delay and the like caused by the communication network, the intelligent ad hoc network mechanism of the multi-layer distributed MUAVS is triggered, so that the MUAVS is ensured to be normally communicated, and the normal internal communication of the MUAVS and the smooth completion of the final flight task of each UAV are ensured.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A multi-UAV collaborative flight control system, comprising a plurality of UAVs and a multi-UAV system MUAVS composed of a plurality of UAVs;

The MUAVS is divided into different hierarchical structures, and multiple UAVs are formed into corresponding groups in different hierarchical levels;

Taking a UAV in the group as the control node UAV, the control node UAV performs data communication with the UAV in the group or the control node UAV in other groups;

All UAVs in the group perform tasks together and build a MUAVS distributed architecture based on a multi-layer structure;

The data structure of the global state control information model CIM_MUAVS is stored in each UAV in the multi-layered MUAVS distributed architecture. When any UAV causes the MUAVS communication network to become partially connected for some reason, the multi-layer distributed distributed system is triggered. The intelligent self-organizing network mechanism of MUAVS makes MUAVS connect normally.

2. a kind of multi-UAV cooperative flight control system according to claim 1, is characterized in that: the communication relation between each UAV in the MUAVS distributed architecture of described multilayer structure is network topology structure; _The topological structure is specifically: _UAV ₁ , _UAV ₂ , . As a communication control node UAV of UAV ₁ , UAV ₁₂ , ..., UAV _1j , ..., UAV _1n1 packets, UAV ₂ as a communication control node UAV of UAV ₂ , UAV ₂₂ , ..., UAV _2j , ..., UAV _2n2 packets, UAV _i As a communication control node UAV for UAV _i , UAV _i2 , ..., UAV _ij , ..., UAV _ini grouping, UAV _m as a communication control node UAV for UAV _m , UAV _m2 , ..., UAV _mj , ..., UAV _mnm grouping; according to MUAVS The composition scale and the total number of UAVs, other UAVs in each group of the second-layer communication network are used as the communication control nodes UAV of multiple UAV groups in the next-layer communication network.

3. A kind of multi-UAV cooperative flight control system according to claim 1, is characterized in that: the establishment process of described global state control information model CIM_MUAVS is: for any UAVi node in MUAVS (1≤i≤n, n is the total number of UAVs in MUAVS), and its state control information model CIM_UAVi(t) at time t is described as the combination of UAVi flight state information and mission target information:

CIM_UAV _i (t)=[P _i (t),A _i (t),V _i (t),W _i (t),T _i (t),M _i (t),D _i (t),R _i (t),S _i (t)]

Wherein, P _i (t), A _i (t), V _i (t), Wi (t) and T _i (t _{) are the flight status information of UAV i} _;

M _i (t), D _i (t), R _i (t) and S _i (t) are the mission target information of UAV _i ;

P _i (t) is the aerial position coordinate of UAV _i at time t, using the geodetic coordinate system, including longitude, latitude and elevation information, that is, P _i (t)=[x _i (t), y _i (t), z _i (t)];

A _i (t) is the air flight attitude of UAV _i at time t, including pitch, roll and yaw angle information, that is, A _i (t)=[ _pi (t), _{ri (t), h i} ₍ t )];

V _i (t) is the flight speed vector information of UAV _i at time t, V _i (t)=[vx _i (t), vy _i (t), vz _i (t)] unit is m/s;

Wi (t _{) is the flight acceleration vector information of UAV i} _at time t, Wi (t)=[wx _i (t), wy _i (t), wz _i ₍ t)], the unit is m/s ² ;

T _i (t) is the cumulative flight duration of UAV _i at time t, in s;

M _i (t) is the specific task information undertaken by UAV _i at time t, and is the instruction information sequence;

D _i (t) is the orientation information of the target point corresponding to the task undertaken by UAV _i at time t, which is described by the longitude, latitude and elevation of the geodetic coordinate system, that is, D _i (t)=[dx _i (t),dy _i (t), dz _i (t)];

R _i (t) is the priority level and execution requirement information corresponding to the task Mi ₍ t) undertaken by UAV _i at time t, and is the instruction information sequence;

S _i (t) is the execution state information corresponding to the task Mi ₍ t) undertaken by UAV _i at time t;

Then at time t, the global state control information model CIM_MUAVS of the entire MUAVS is described as:

4. a kind of multi-UAV cooperative flight control system according to claim 1, is characterized in that: each UAV is respectively responsible for the storage and update of own state control information vector, and sends to corresponding communication control node UAV with specific step size T _s _1. _UAV ₂ _, . The vector is stored and updated to ensure that the state control information vectors of multiple UAVs in the group are synchronously updated with a specific step size T _s ; each grouping communication control node UAV ₁ , UAV ₂ , ..., UAV _i , ..., UAV _m as the first Layer network nodes need to perform mutual storage backup and consistent update of the respective grouped state control information vector groups at a specific time interval T _J and a step size T _s .

5 . The multi-UAV cooperative flight control system according to claim 1 , wherein the control node UAV performs data communication with other UAVs in the group, and simultaneously performs data communication with the control nodes UAV in other groups. 6 .

6. a kind of multi-UAV cooperative flight control system according to claim 1 is characterized in that: according to UAV quantity and network capability, each UAV obtains partial or all UAVs in MUAVS through autonomous cooperative control support network and information acquisition system information, network topology feature information, and task environment feature information.

7. The realization method of a kind of multi-UAV cooperative flight control system according to any one of claims 1-6, it is characterized in that: when any UAV causes UAV packet internal communication to be blocked or invalid for some reason, triggering multi-layer distributed The intelligent self-organizing network mechanism of MUAVS, the current UAV initiates network connection requests to multiple UAV nodes in the group several times in a row with the time step T _s /k (k is a positive integer), and selects to meet the communication requirements in the shortest time. connected to the UAV node, so that the MUAVS can be connected normally.

8. The realization method of a kind of multi-UAV cooperative flight control system according to any one of claims 1-6, it is characterized in that: when any control node UAV causes communication with other UAV groups to be blocked or invalid for some reason, Trigger the intelligent self-organizing network mechanism of multi-layer distributed MUAVS, the control node UAV initiates to other multiple UAV grouping control nodes UAV with time step T _s /l (l is a positive integer not greater than k) continuously for multiple times Network connection request, and select the control node UAV that meets the communication requirements to connect in the shortest time, so that the MUAVS can be connected normally.

9. The realization method of a kind of multi-UAV cooperative flight control system according to any one of claims 1-6, it is characterized in that: in each UAV grouping, when any non-communication control node UAV causes function due to self-failure, damage When it is lost, the intelligent ad hoc network mechanism of the multi-layer distributed MUAVS is triggered. When the UAV task priority of the non-communication control node is the lowest, the current UAV grouping state control information vector group will no longer conduct the non-communication control node UAV. Update; when the UAV task priority level of the non-communication control node is not the lowest, select the UAV with a lower task priority level in the current group or other groups and the smallest number of rows in the CIM_MUAVS data structure, and make the task priority level lower and In the CIM_MUAVS data structure, the task target information of the UAV with the smallest number of rows is exchanged with the task target information of the non-communication control node UAV, so that the MUAVS can communicate normally.

10. The method for realizing a multi-UAV cooperative flight control system according to any one of claims 1-6, wherein in each UAV grouping, when the communication control node UAV loses its function due to its own failure and damage, Trigger the intelligent ad hoc network mechanism of multi-layer distributed MUAVS, select the UAV with lower task priority and the smallest number of rows in the CIM_MUAVS data structure within the current group, and use it as the new control node UAV of the current UAV group, so that the MUAVS can be connected normally ; When there is a UAV with a lower task priority and the smallest number of rows in the CIM_MUAVS data structure in other groups, the UAV with a lower task priority and the smallest number of rows in the CIM_MUAVS data structure acquires the UAV packet new communication control node UAV The stored priority task target information is exchanged with its own original task target information.