基于三维程控的无人机协同编队飞行研究

摘要

基于三维程控飞行策略,对多无人机(UAV)协同编队飞行控制进行研究,提出一种多机同方位任务需求的编队控制方法.采用“长机-僚机”编队结构模式控制编队飞行,以编队中的长机航迹坐标为基准坐标系实现了僚机与长机相对位置一致的控制;实现了编队中所有无人机同时到达指定位置并保持速度相对稳定的控制.通过航路规划和编队遥调,实现了人工干预与自动控制结合的编队飞行策略.仿真结果表明,该方法具有较好的可实施性、管理性、应用性和安全性.%Based on the three-dimensional programmed control flight strategy,the cooperative formation control of multi-UAV is studied,a method of formation control for the multi-UAV and same direction mission requirements is proposed.Using the leader-follower structure formation model to control formation flight,taking the for mation trace coordinate of leader UAV as the datum coordinate system,it is achieved that the relative position of wind UAV is consistent with leader.All UAVs can arrive at the designated position at the some time and keep the speed relatively stable.Through the route planning and formation remote control,the formation flight strategy combining manual intervention and automatic control is realized.The simulation results show that the proposed method is feasible,manageable,applicable and secure.