CN112947564B - Multi-unmanned aerial vehicle collaborative flight indirect control method based on single-machine completion degree - Google Patents
Multi-unmanned aerial vehicle collaborative flight indirect control method based on single-machine completion degree Download PDFInfo
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Abstract
The invention discloses a multi-unmanned aerial vehicle collaborative flight indirect control method based on single-machine completion degree, relates to a multi-unmanned aerial vehicle collaborative flight control method based on single-machine completion degree, and aims to provide a multi-unmanned aerial vehicle collaborative flight indirect control method based on single-machine completion degree, plan a corresponding air route for each unmanned aerial vehicle in a formation according to the formation control requirement, and calculate the due transverse direction target completion degree and vertical direction target completion degree; in the flight process, collecting actual transverse and vertical movement completion information of the unmanned aerial vehicle, comparing the actual transverse and vertical movement completion information with the corresponding transverse and vertical target completion degrees and the corresponding vertical target completion degrees to obtain a transverse and vertical completion degree difference value and a vertical completion degree difference value of the unmanned aerial vehicle at the collecting moment, and sending a corresponding speed control instruction by the automatic pilot according to the transverse and vertical completion degree difference value to complete the control of the single unmanned aerial vehicle; compared with the traditional control strategy of a captain-bureaucratic formation, the unmanned aerial vehicle formation control strategy has the advantages of control coupling among the unmanned aerial vehicles, low control complexity, no limitation on formation scale and formation, high reliability and the like.
Description
Technical Field
The invention relates to a control method for multi-unmanned aerial vehicle collaborative flight, in particular to a control method for keeping multi-unmanned aerial vehicle flying in a fixed formation cluster, belongs to the field of flight guidance and control, and particularly relates to an indirect control method for multi-unmanned aerial vehicle collaborative flight based on single-machine completion.
Background
The ability that many unmanned aerial vehicle formations flight can improve unmanned aerial vehicle and accomplish more complicated task can reduce the total energy consumption of system, and in addition, the fault-tolerant rate is higher when many unmanned aerial vehicle formations flight is carried out the task. Many unmanned aerial vehicle formation flight has many advantages, but compare the stand-alone flight, the flight of many machine formations provides more challenges to flight control, and many machine cooperative control is important content. The strategy for controlling the formation of the fans-bureaucratic machines is a mainstream control method, which defines that all the fans are looking at the fans and controls the relative position relation between the fans and the bureau so as to ensure the overall cooperation. The control strategy algorithm is relatively simple, but the calculation burden of a long machine on-board computer is overlarge, and meanwhile, the dependence of the system on the long machine is overlarge, so that the formation control is easy to crash. There are also some methods of formation flight control, but they all have more or less control coupling or the disadvantage of a straight-line increase in control system complexity as the formation scale increases. Therefore, it would be of great practical value to develop a control method that would enable the release or reduction of the bureaucratic control coupling and the achievement of cooperative flight.
Disclosure of Invention
The invention aims to provide a multi-unmanned aerial vehicle cooperative flight indirect control method based on single-machine completion degree based on the problems of coupling control, excessive dependence on a long plane and the like of the co-control of a long wing plane, and the single-machine cooperative flight indirect control method controls a single machine to complete a specified flight task at a specified time, thereby indirectly realizing multi-machine cooperation, eliminating control coupling and simplifying a control algorithm.
The invention relates to a multi-unmanned aerial vehicle collaborative flight indirect control method based on single-machine completion degree, wherein each unmanned aerial vehicle in a formation automatically controls the speed of the unmanned aerial vehicle through an automatic pilot of the unmanned aerial vehicle;
planning a corresponding air route for each unmanned aerial vehicle in the formation before the formation takes off according to the formation control requirement, calculating the corresponding transverse and lateral target completion degree of each unmanned aerial vehicle at each air route section at each moment, and generating a transverse and lateral target completion degree function C for each unmanned aerial vehicle TL (t) and using the function as a control reference corresponding to lateral movement of the drone;
because the vertical motion and the transverse lateral motion of each unmanned aerial vehicle are synchronously carried out, each unmanned aerial vehicle is drivenThe vertical direction target completion degree of each navigation path section at each moment is defined as a function C of the transverse and lateral actual completion degree in the flight process TH (C RL ) And using the function as a control reference for vertical motion;
collecting the transverse lateral movement and vertical movement actual completion information of each unmanned aerial vehicle in formation, and collecting the collected transverse lateral movement actual completion information of each unmanned aerial vehicle and the transverse lateral target completion function C of the corresponding unmanned aerial vehicle in the flight process TL (t) comparing the due transverse and lateral target completion degrees at the collecting moment to obtain a transverse and lateral completion degree difference value of the unmanned aerial vehicle at the collecting moment; the collected actual completion information of each unmanned aerial vehicle in the vertical direction and the target completion degree C of the corresponding unmanned aerial vehicle in the vertical direction TH (C RL ) Comparing the due vertical direction target completion degrees at the collecting time to obtain a vertical completion degree difference value of the unmanned aerial vehicle at the collecting time;
according to above-mentioned horizontal direction completion difference and perpendicular completion difference, unmanned aerial vehicle sends corresponding speed control instruction for unmanned aerial vehicle's horizontal direction completion difference and perpendicular completion difference are zero, accomplish single unmanned aerial vehicle's control promptly, guarantee that every unmanned aerial vehicle does the predetermined flight, thereby the indirect control formation keeps the flight of predetermined formation, thereby realizes the control to whole unmanned aerial vehicle formation.
Preferably, the formation distance control requirement and the unmanned aerial vehicle speed limit are comprehensively considered, the flight distance expected to be finished in the horizontal direction of each air route section at each moment of each unmanned aerial vehicle is given before formation take-off, and the ratio of the flight distance expected to be finished in each air route section at each moment to the length of the corresponding air route section in the horizontal direction is used as the horizontal target finish degree of the unmanned aerial vehicle at the corresponding moment on the corresponding air route section;
projecting the navigation section where the unmanned aerial vehicle is located at the moment t to the XOY plane of the ground coordinate system, and marking the coordinate of the expected position of the unmanned aerial vehicle in the navigation section as R (x) r ,y r ) Ta is the starting point of the navigation section with the coordinate (x) a ,y a ) Tb is the end point of the route section and has the coordinate of (x) b ,y b ) On the local navigation sectionThe transverse target completion degree of the previous navigation road section is 1, the transverse target completion degree of the later navigation road section is 0, and the transverse target completion degree function of the unmanned aerial vehicle on the navigation road section is as shown in formula (1):
preferably, during the flight, the collected actual completion information of the lateral movement of each unmanned aerial vehicle is specifically the lateral actual completion degree C RL Transverse lateral actual finish C RL The ratio of the finished route length of the unmanned aerial vehicle in the horizontal direction to the total length of the route in the horizontal direction;
projecting the navigation section of the unmanned aerial vehicle to the XOY plane of the ground coordinate system, and marking the coordinate of the actual position of the unmanned aerial vehicle as P (x) p ,y p ) The starting point of the underway section of the unmanned aerial vehicle at the moment is T 0 ，T 0 The coordinate is (x) 0 ,y 0 ) The end point of the route is T 1 ，T 1 The coordinate is (x) 1 ,y 1 ) Passing P point as T 0 T 1 Perpendicular line of (A) and (B) cross 0 T 1 At point Q, the Q coordinate is (x) q ,y q ). The actual transverse finishing degrees of the navigation sections before the navigation section are all 1, and the actual transverse finishing degrees of the navigation sections are all 0; actual transverse direction completion degree C of current navigation section RL Expressed as formula (2):
according to the triangular geometric relationship, the actual transverse completion degree of the navigation section is changed from P and T 0 、T 1 The position coordinates of the three points are expressed by formula (3):
preferably, during flight, each collectedActual completion information of vertical movement of the unmanned aerial vehicle, specifically vertical direction actual completion C RH Vertical direction actual completion C RH The ratio of the finished route length of the unmanned aerial vehicle in the vertical direction to the total length of the route in the vertical direction of the section is obtained;
projecting the navigation path section of the unmanned aerial vehicle to the XOZ plane of the ground coordinate system, wherein P is the actual position of the unmanned aerial vehicle at the time t, and the coordinate is (x) p ，z p )，T 0 Is the starting point of the section of the unmanned plane on the voyage at the moment, and has the coordinate of (x) 0 ，z 0 )，T 1 Is the end point of the navigation section and has the coordinate of (x) 1 ，z 1 ) The actual degree of completion in the vertical direction of the navigation section before the current navigation section is all 1, the actual degree of completion in the vertical direction of the navigation section after the current navigation section is all 0, and the actual degree of completion in the vertical direction of the current navigation section C RH Expressed as formula (4):
preferably, the method for calculating the target completion degree of each unmanned aerial vehicle in the vertical direction corresponding to each route section at each moment is as follows:
because the vertical motion and the transverse motion of the unmanned aerial vehicle must be coordinated, and the linear property of the straight-line section airway is considered, the target completion degree of the unmanned aerial vehicle in the vertical direction on any airway section at any moment in actual flight is equal to the actual completion degree of the unmanned aerial vehicle in the transverse direction on the same airway section at the same moment. Vertical direction target completion function C TH As shown in the following formula (5).
C TH (C RL )＝C RL (5)。
Preferably, the unmanned aerial vehicle autopilot issues corresponding instructions as:
the horizontal speed control instruction of the unmanned aerial vehicle is as follows:
V L ＝V L0 (1+(k Lp +k Li *(1/s)+k Ld *s)*(C RL -C TL ))
the vertical speed control command is as follows:
V H ＝V H0 (1+(k Hp +k Hi *(1/s)+k Hd *s)*(C RH -C TH ))
wherein, V L0 Control reference value, V, for horizontal velocity of unmanned aerial vehicle H0 Control reference value for vertical velocity of unmanned aerial vehicle, wherein k Lp ，k Li ，k Ld For the horizontal velocity PID control parameter, k, of the unmanned aerial vehicle Hp ，k Hi ，k Hd And the control parameter is a PID control parameter of the vertical speed of the unmanned aerial vehicle.
Compared with the traditional control strategy of a Changji-bureaucratic formation, the invention has the advantages of inorganic control coupling, low control complexity, unlimited formation scale and formation, high reliability and the like.
Drawings
Fig. 1 is a schematic diagram of the present invention.
FIG. 2 is a schematic diagram of lateral target completion.
FIG. 3 is a schematic diagram of lateral actual completion.
Fig. 4 is a diagram illustrating the actual completion in the actual vertical direction.
Fig. 5 is a projection of three navigation path segments where three unmanned aerial vehicles are expected to be located at time t in the ground coordinate system xoy plane in the embodiment.
Fig. 6 is a cross-sectional view of the actual flight path segment of the drone a in the embodiment.
Detailed Description
The invention relates to a multi-unmanned aerial vehicle cooperative flight indirect control method based on single-machine completion degree, wherein each unmanned aerial vehicle in a formation automatically controls the speed of the unmanned aerial vehicle through an automatic pilot:
planning a corresponding air route for each unmanned aerial vehicle in the formation before the formation takes off according to the formation control requirement, calculating the corresponding transverse and lateral target completion degree of each unmanned aerial vehicle at each air route section at each moment, and generating a transverse and lateral target completion degree function C for each unmanned aerial vehicle TL (t) and using the function as a control reference corresponding to lateral movement of the drone;
because the vertical movement and the transverse movement of each unmanned aerial vehicle are synchronously carried out,therefore, the vertical direction target completion degree of each unmanned aerial vehicle in each navigation path section at each moment is defined as a function C of the transverse and lateral actual completion degree in the flight process TH (C RL ) And using the function as a control reference for vertical motion;
collecting the transverse lateral movement and vertical movement actual completion information of each unmanned aerial vehicle in formation, and collecting the collected transverse lateral movement actual completion information of each unmanned aerial vehicle and the transverse lateral target completion function C of the corresponding unmanned aerial vehicle in the flight process TL (t) comparing due lateral target completion degrees at the collecting time to obtain a lateral completion degree difference value of the unmanned aerial vehicle at the collecting time; the collected actual completion information of each unmanned aerial vehicle in the vertical direction and the target completion degree C of the corresponding unmanned aerial vehicle in the vertical direction TH (C RL ) Comparing the due vertical direction target completion degrees at the collecting time to obtain a vertical completion degree difference value of the unmanned aerial vehicle at the collecting time;
according to the transverse completion degree difference value and the vertical completion degree difference value, the automatic pilot of the unmanned aerial vehicle sends a corresponding speed control command, so that the transverse completion degree difference value and the vertical completion degree difference value of the unmanned aerial vehicle are zero, the control of a single unmanned aerial vehicle is completed, each unmanned aerial vehicle is guaranteed to fly in a predetermined mode, the formation is controlled indirectly to keep flying in a predetermined formation mode, and the control of the whole unmanned aerial vehicle formation is achieved.
Comprehensively considering the formation distance control requirement and the unmanned aerial vehicle speed limit, giving the flight distance expected to be finished in the horizontal direction of each navigation path section at each moment of each unmanned aerial vehicle before formation take-off, and taking the ratio of the flight distance expected to be finished in each navigation path section at each moment and the length in the horizontal direction of the corresponding navigation path section as the horizontal target finish degree of the unmanned aerial vehicle at the corresponding moment on the corresponding navigation path section;
projecting the navigation path section where the unmanned aerial vehicle is located at the time t to the XOY plane of the ground coordinate system, and marking the coordinate of the expected position of the unmanned aerial vehicle in the navigation path section as R (x) r ,y r ) Ta is the starting point of the navigation section and has the coordinate of (x) a ,y a ) Tb is the end point of the route section and has the coordinate of (x) b ,y b ) As shown in fig. 2, the horizontal direction target completion degrees of the sections before the current route section are all 1, the horizontal direction target completion degrees of the sections after the current route section are all 0, and the horizontal direction target completion degree function of the unmanned aerial vehicle on the route section is as shown in formula (1):
in the flight process, the actual completion information of the transverse and lateral movement of each unmanned aerial vehicle is collected, specifically the transverse and lateral actual completion degree C RL Horizontal lateral actual degree of completion C RL The ratio of the finished route length of the unmanned aerial vehicle in the horizontal direction to the total length of the route in the horizontal direction;
projecting the navigation section of the unmanned aerial vehicle to the XOY plane of the ground coordinate system, and marking the coordinate of the actual position of the unmanned aerial vehicle as P (x) p ,y p ) The starting point of the navigation road section where the unmanned aerial vehicle is located at the moment is T 0 ，T 0 The coordinate is (x) 0 ,y 0 ) The end point of the route is T 1 ，T 1 The coordinate is (x) 1 ,y 1 ) Passing P point as T 0 T 1 Perpendicular line of (A) and (B) cross 0 T 1 At point Q, the Q coordinate is (x) q ,y q ). The actual transverse finishing degrees of the navigation sections before the navigation section are all 1, and the actual transverse finishing degrees of the navigation sections are all 0; actual transverse direction completion degree C of current navigation section RL Expressed as formula (2):
according to the triangular geometric relationship, the actual transverse completion degree of the navigation section is changed from P and T 0 、T 1 The position coordinates of the three points are expressed by formula (3):
actual vertical movement of each collected drone during flightCompletion information, specifically vertical direction actual completion C RH Vertical direction actual completion C RH The ratio of the finished route length of the unmanned aerial vehicle in the vertical direction to the total length of the route in the vertical direction of the section is obtained;
projecting the navigation section of the unmanned aerial vehicle to the XOZ plane of the ground coordinate system, wherein P is the actual position of the unmanned aerial vehicle at the time t, and the coordinate is (x) p ,z p )，T 0 Is the starting point of the underway section where the unmanned plane is located at the moment, and the coordinate is (x) 0 ,z 0 )，T 1 Is the end point of the navigation section with the coordinate (x) 1 ,z 1 ) The actual completion degrees in the vertical direction of the navigation sections before the navigation section are all 1, the actual completion degrees in the vertical direction of the navigation sections after the navigation section are all 0, and the actual completion degree in the vertical direction of the navigation section C is RH Expressed as formula (4):
the method for calculating the completion degree of the target in the vertical direction of each navigation path section of each unmanned aerial vehicle at each moment is as follows:
because the vertical motion and the transverse motion of the unmanned aerial vehicle must be coordinated, and the linear property of the straight-line-section airway is considered, the target completion degree of the unmanned aerial vehicle in the vertical direction on any airway section at any moment in actual flight is equal to the actual completion degree of the unmanned aerial vehicle in the transverse direction on the same airway section at the same moment. Target completion function C in vertical direction TH As shown in the following formula (5).
C TH (C RL )＝C RL (5)。
The unmanned aerial vehicle autopilot sends out corresponding instruction and does:
the horizontal speed control instruction of the unmanned aerial vehicle is as follows:
V L ＝V L0 (1+(k Lp +k Li *(1/s)+k Ld *s)*(C RL -C TL ))
the vertical speed control command is as follows:
V H ＝V H0 (1+(k Hp +k Hi *(1/s)+k Hd *s)*(C RH -C TH ))
wherein, V L0 Control reference value, V, for horizontal velocity of unmanned aerial vehicle H0 Control reference value for vertical velocity of unmanned aerial vehicle, wherein k Lp ，k Li ，k Ld For the horizontal velocity PID control parameter, k, of the unmanned aerial vehicle Hp ，k Hi ，k Hd And the control parameter is a PID control parameter of the vertical speed of the unmanned aerial vehicle.
The air route for the cooperative flight of the multiple unmanned aerial vehicles is formed by connecting multiple sections of straight-line sections.
The present invention will be described in detail below by way of examples. Assuming that three unmanned aerial vehicles A, B and C are required to climb along the straight line in a coordinated manner according to the herringbone formation, all the fairway sections are straight line sections, and the front-back distance is kept at 50m. At any time T, T shown in FIG. 5 Aa T Ab 、 T Ba T Bb 、T Ca T Cb The three line segments represent projections of three randomly parallel unmanned aerial vehicles on the ground coordinate system xoy plane. Using passing-through road sections T Aa T Ab The vertical plane of the unmanned aerial vehicle cuts the three-dimensional space established by the ground coordinate system to obtain a section view of a real navigation section of the unmanned aerial vehicle A, as shown in fig. 6. Wherein T is s For the entry point of the route section, the position coordinate under the ground coordinate system is (x) s ，y s ，z s )，T e As an exit point, a position coordinate in the ground coordinate system of (x) e ，y e ，z e ) The position coordinate of the unmanned aerial vehicle a in the ground coordinate system expected to be reached at the time t is (x) r ，y r ，z r ). The three-section flight path length is 1000m, the preset flight speed of the unmanned aerial vehicle is 50m/s, and the fact that the B unmanned aerial vehicle flies over a flight path point T is assumed Ba Is t 0 。
Then according to the requirement of the formation in the shape of Chinese character 'ren', the A unmanned aerial vehicle is at T moment Aa T Ab The transverse side target completion function of the navigation section is as shown in formula (6):
similarly, the B and C unmanned aerial vehicles are in the corresponding navigation road section T at the moment T Ba T Bb 、T Ca T Cb The target completion function for the lateral direction is equation (7) and equation (8), respectively:
the corresponding vertical direction target completion functions are respectively:
C ATH ＝C ARL
C BTH ＝C BRL
C CTH ＝C CRL
wherein: c ARL 、C BRL 、C CRL The actual transverse and lateral motion completion degrees of the unmanned aerial vehicles A, B and C are respectively ARH 、C BRH 、C CRH The actual completion degree of the vertical direction movement of the unmanned aerial vehicle A, B and C is respectively.
The actual completion degrees of the two movement directions of the unmanned aerial vehicle A and the corresponding control instructions are calculated in the following manner, and the calculation methods of B and C are completely consistent and are not repeated. Suppose that the real-time position of the unmanned aerial vehicle A at the time t in the ground coordinate system is (x) A ，y A ，z A ) The coordinate of the entry point of the covered road section is (x) A0 ，y A0 ，z A0 ) The coordinates of the exit point are (x) A1 ，y A1 ，z A1 ) Then the horizontal direction actual completion degree and the vertical direction actual completion degree of the current navigation route section are respectively expressed by the formula (9) and the formula (10), and C of all previous navigation route sections ARL And C ARH All 1, C of all following road sections ARL And C ARH All 0:
in actual flight, the autopilot device of each unmanned aerial vehicle in the formation sends a speed control command according to the deviation between the actual completion degree of the section of the corresponding unmanned aerial vehicle on the way in real time and the target completion degree of the section of the way at the data collection time, so that the deviation of the section of the way is zero, and the unmanned aerial vehicle is ensured to perform scheduled flight, thereby indirectly controlling the formation to keep the scheduled formation flight, and further realizing the control of the whole unmanned aerial vehicle formation.
The horizontal speed control instruction of the unmanned aerial vehicle A at the moment is as follows:
V AL ＝V AL0 (1+(k ALp +k ALi *(1/s)+k ALd *s)*(C ARL -C ATL ))
the vertical speed control command at this moment is as follows:
V AH ＝V AH0 (1+(k AHp +k AHi *(1/s)+k AHd *s)*(C ARH -C ATH ))
wherein, V AL0 Control reference value, V, for unmanned aerial vehicle A horizontal velocity AH0 Control reference value, k, for unmanned aerial vehicle A vertical velocity ALp ，k ALi ，k ALd For the horizontal velocity PID control parameter, k, of the unmanned aerial vehicle AHp ，k AHi ，k AHd And the control parameter is a PID control parameter of the vertical speed of the unmanned aerial vehicle.
Claims (6)
1. The utility model provides an indirect control method of many unmanned aerial vehicles collaborative flight based on unit completion, every unmanned aerial vehicle in the formation carries out automatic control to self speed through self autopilot which characterized in that:
planning a corresponding air route for each unmanned aerial vehicle in the formation before the formation takes off according to the formation control requirement, calculating the corresponding transverse and lateral target completion degree of each unmanned aerial vehicle at each air route section at each moment, and generating a transverse and lateral target completion degree function for each unmanned aerial vehicle
And taking the function as a control reference corresponding to the transverse lateral movement of the unmanned aerial vehicle;
because the vertical motion and the transverse motion of each unmanned aerial vehicle are synchronously carried out, the target completion degree of each unmanned aerial vehicle in the vertical direction corresponding to each navigation route section at each moment is defined as a function of the actual completion degree of the transverse motion in the flight process
And using the function as a control reference for vertical motion;
in the flight process, collecting the transverse lateral movement and vertical movement actual completion information of each unmanned aerial vehicle in formation, and collecting the transverse lateral movement actual completion information of each unmanned aerial vehicle and the transverse lateral target completion degree function of the corresponding unmanned aerial vehicle
Comparing the due transverse and lateral target completion degrees at the collecting time to obtain a transverse and lateral completion degree difference value of the unmanned aerial vehicle at the collecting time;
the collected actual completion information of each unmanned aerial vehicle in the vertical direction and the target completion degree of the corresponding unmanned aerial vehicle in the vertical direction
Comparing the target completion degrees in the due vertical direction at the collecting time to obtain a vertical completion degree difference value of the unmanned aerial vehicle at the collecting time;
according to above-mentioned horizontal side completion difference and perpendicular completion difference, unmanned aerial vehicle autopilot sends corresponding speed control instruction for unmanned aerial vehicle's horizontal side completion difference and perpendicular completion difference are zero, accomplish single unmanned aerial vehicle's control promptly, guarantee that every unmanned aerial vehicle does predetermined flight, thereby indirect control formation keeps predetermined formation flight, thereby the realization is to the control of whole unmanned aerial vehicle formation.
2. The method according to claim 1, wherein the method comprises the following steps: comprehensively considering the formation distance control requirement and the unmanned aerial vehicle speed limit, giving the flight distance expected to be finished in the horizontal direction of each navigation path section at each moment of each unmanned aerial vehicle before formation take-off, and taking the ratio of the flight distance expected to be finished in each navigation path section at each moment and the length in the horizontal direction of the corresponding navigation path section as the horizontal target finish degree of the unmanned aerial vehicle at the corresponding moment on the corresponding navigation path section;
projecting the navigation path section where the unmanned aerial vehicle is located at the time t to the XOY plane of the ground coordinate system, and marking the coordinate of the expected position of the unmanned aerial vehicle in the navigation path section as R (x) r ,y r ) Ta is the starting point of the navigation section with the coordinate (x) a ,y a ) Tb is the end point of the navigation section and has the coordinate of (x) b ,y b ) The transverse direction target completion degree of the navigation road section before the navigation road section is 1, the transverse direction target completion degree of the later navigation road section is 0, and the transverse direction target completion function of the unmanned aerial vehicle on the navigation road section is as shown in formula (1):
3. the method of claim 2, wherein the indirect control method based on single-machine completion degree for cooperative flight of multiple unmanned aerial vehicles is characterized in that: in the flight process, the actual completion information of the transverse and lateral movement of each unmanned aerial vehicle is collected, specifically the transverse and lateral actual completion degree C RL Transverse lateral actual finish C RL The length of the finished route of the unmanned aerial vehicle in the horizontal direction and the total water of the route of the sectionThe ratio of the lengths in the horizontal direction;
projecting the navigation section of the unmanned aerial vehicle to the XOY plane of the ground coordinate system, and marking the coordinate of the actual position of the unmanned aerial vehicle as P (x) p ,y p ) The starting point of the navigation road section where the unmanned aerial vehicle is located at the moment is T 0 ，T 0 The coordinate is (x) 0 ,y 0 ) The end point of the route is T 1 ，T 1 The coordinate is (x) 1 ,y 1 ) Passing P point as T 0 T 1 Perpendicular line of (A), cross 0 T 1 At point Q, the Q coordinate is (x) q ,y q )；
The actual transverse finishing degrees of the navigation sections before the navigation section are all 1, and the actual transverse finishing degrees of the navigation sections are all 0; actual transverse direction completion degree C of current navigation section RL Expressed as formula (2):
according to the triangular geometric relationship, the actual transverse finishing degree of the navigation road section is changed from P and T 0 、T 1 The position coordinates of the three points are expressed by formula (3):
4. the method of claim 3, wherein the indirect control method based on single-machine completion degree for multi-unmanned aerial vehicle collaborative flight is characterized in that: in the flight process, the collected actual completion information of the vertical motion of each unmanned aerial vehicle is specifically the actual completion degree C in the vertical direction RH Vertical direction actual completion C RH The ratio of the finished route length of the unmanned aerial vehicle in the vertical direction to the total length of the route in the vertical direction of the section is obtained;
navigating the unmanned aerial vehicleThe road section is projected to the XOZ plane of the ground coordinate system, P is the actual position of the unmanned aerial vehicle at the time t, and the coordinate is (x) p ,z p )，T 0 Is the starting point of the section of the unmanned plane on the voyage at the moment, and has the coordinate of (x) 0 ,z 0 )，T 1 Is the end point of the navigation section and has the coordinate of (x) 1 ,z 1 ) The actual completion degrees in the vertical direction of the navigation sections before the navigation section are all 1, the actual completion degrees in the vertical direction of the navigation sections after the navigation section are all 0, and the actual completion degree in the vertical direction of the navigation section C is RH Expressed as formula (4):
5. the method of claim 4, wherein the indirect control method based on single-machine completion degree for multi-unmanned aerial vehicle collaborative flight is characterized in that: the method for calculating the corresponding vertical direction target completion degree of each airway segment of each unmanned aerial vehicle at each moment comprises the following steps:
because the vertical motion and the horizontal motion of the unmanned aerial vehicle must be coordinated, and the linear property of the straight-line section airway is considered, the target completion degree of the unmanned aerial vehicle in the vertical direction on any airway section at any moment in actual flight is equal to the actual completion degree of the unmanned aerial vehicle in the horizontal direction on the same airway section at the same moment, and a function of the target completion degree in the vertical direction
As shown in the following formula (5):
6. the method of claim 5, wherein the method comprises the following steps: the unmanned aerial vehicle autopilot sends out corresponding instruction and does:
the horizontal speed control instruction of the unmanned aerial vehicle is as follows:
the vertical speed control command is as follows:
wherein,
a reference value is controlled for the horizontal speed of the unmanned aerial vehicle,
a reference value is controlled for the vertical velocity of the drone, wherein,
is a PID control parameter of the horizontal speed of the unmanned plane,
and the control parameter is a PID control parameter of the vertical speed of the unmanned aerial vehicle.
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